CN111977007A

CN111977007A - Cloud platform, shooting equipment and unmanned vehicles

Info

Publication number: CN111977007A
Application number: CN202010909483.2A
Authority: CN
Inventors: 刘浩; 郭善光
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2016-07-29
Filing date: 2016-07-29
Publication date: 2020-11-24
Anticipated expiration: 2036-07-29
Also published as: WO2018018635A1; CN111977007B; CN107690606A; CN107690606B

Abstract

A cradle head (100) and a shooting device and an unmanned aerial vehicle using the cradle head (100). The cradle head (100) comprises a control element (70) and a plurality of supports which are connected in turn in a rotating manner. Each bracket is provided with an electric element, and the plurality of brackets comprise a mounting part (12) and a bracket component; the control element (70) is capable of controlling the electrical elements, and the electrical elements on the mounting member (12) and the bracket assembly are connected to the control element (70) by separate transmission members (90).

Description

Cloud platform, shooting equipment and unmanned vehicles

Technical Field

The invention relates to a holder, shooting equipment and an unmanned aerial vehicle.

Background

In the process of using an electric pan-tilt to erect an electronic device such as a video camera and a camera for shooting, it is often necessary to electrically connect a control element of the pan-tilt with an electrical element disposed on the pan-tilt so as to transmit data and/or transmit power. The head is usually a two-axis head or a three-axis head, and the electrical element is usually a driving element for each axis of the head. The control elements of the known head are generally electrically connected to the electrical elements by means of a transmission member. In order to reserve a sufficient rotation angle for the rotation of each shaft of the holder, when the control element is electrically connected with each electrical element, a long transmission piece with a relatively complex structure is required to be used for connection. However, because the transmission piece is long and the structure is complicated, in order to avoid the transmission piece from winding, the cradle head needs to reserve enough space for the transmission piece to move, so that the cradle head is large in size and not beneficial to the miniaturization design of the cradle head.

Disclosure of Invention

In view of the above-described situation, it is necessary to provide a tripod head having a relatively small volume, and also to provide a photographing apparatus and an unmanned aerial vehicle using the tripod head.

A cloud platform comprises a control element and a plurality of supports which are sequentially and rotatably connected, wherein each support is provided with an electric element, and the plurality of supports comprise mounting pieces and support assemblies; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

Further, the electric element comprises a first driving piece arranged on the mounting piece, the mounting piece and the first driving piece form a first support of the holder, the support assembly comprises a second support rotatably connected with the mounting piece, and the control element is arranged on the second support.

Further, the second bracket is connected to the first driving member, and the first driving member can drive the second bracket to rotate around a rotation axis relative to the mounting member.

Further, the rotation axis of the first driving piece is a pitch axis of the holder.

Further, the axis of the second support rotating relative to the first support is a pitch axis of the holder.

Furthermore, the holder further comprises a third support rotatably connected to the second support, and the axis of the third support rotating relative to the second support is the heading axis of the holder.

Further, the third bracket comprises a connecting piece rotatably connected to the second bracket and a bearing piece rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device; the bearing piece is a transverse rolling shaft of the holder relative to the axis of the connecting piece.

Further, the control element is disposed on the second bracket between the second bracket and the mounting member.

Furthermore, the transmission piece comprises a first transmission piece, one end of the first transmission piece is connected to the first driving piece, and the other end of the first transmission piece is connected to the control element after being wound outside the first driving piece for a preset number of turns.

Furthermore, the first transmission piece extends to the second bracket after being wound for two circles around the first driving piece, and is electrically connected with the control element.

Further, the second bracket comprises a support connected to the first driving member, and the control element is disposed on the support; the first transmission piece extends along the support piece after being wound on the periphery of the first driving piece and is electrically connected with the control element.

Further, the mounting piece forms an accommodating space, and the second bracket is accommodated in the accommodating space.

Further, the mounting piece is of an n-shaped structure, and the accommodating space is defined by the n-shaped structure.

Further, the control element is accommodated in the accommodating space and is located between the mounting piece and the second bracket.

Further, the installed part includes external portion and set up respectively in first support arm and the second support arm at external portion both ends, first support arm with the second support arm respectively with be predetermined angle setting between the external portion, first support arm, the second support arm with external portion forms jointly accommodating space.

Furthermore, both ends of the supporting member are respectively rotatably connected to the first supporting arm and the second supporting arm.

Furthermore, the first driving member is disposed on the first support arm, one end of the supporting member is connected to the first driving member, and the other end of the supporting member is connected to the second support arm through a pivot.

Furthermore, one end of the second bracket is connected to the first driving member, and the other end of the second bracket is connected to the second supporting arm through a pivot; the transmission piece comprises a second transmission piece, one end of the second transmission piece is connected to the control element, and the other end of the second transmission piece is connected to an external controller after being wound outside the pivot for a preset number of turns.

Further, the control element includes a pan/tilt controller, the pan/tilt controller is used for controlling the pan/tilt movement, and the second transmission member is connected between the pan/tilt controller and the external controller.

Furthermore, the electric element further comprises a second driving piece arranged on the second support, the plurality of supports further comprise a third support, the third support is connected to the second driving piece, and the second driving piece can drive the third support to rotate around a rotation axis relative to the second support.

Further, the rotation axis of the second driving member is perpendicular to the rotation axis of the first driving member.

Furthermore, the rotation axis of the second driving piece is a heading axis of the holder.

Further, the control element is disposed on the second bracket and adjacent to the second driver.

Furthermore, the second support includes a supporting portion, and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm are respectively disposed at a predetermined angle with the supporting portion.

Further, the second driving member is disposed on the supporting portion, and the control element includes a first control element disposed on the supporting portion and electrically connected to the second driving member.

Furthermore, the first driving member is disposed on the first connecting arm, the control element further includes a second control element connected to the first control element, and the second control element is disposed on the first connecting arm and electrically connected to the first driving member.

Further, the control element further comprises an auxiliary controller connected with the first control element, and the auxiliary controller is arranged on the second connecting arm.

Further, the transmission piece further comprises a third transmission piece, and the third transmission piece is connected between the second driving piece and the control element.

Further, the transmission piece further comprises a fourth transmission piece, one end of the fourth transmission piece is connected to the control element, and the other end of the fourth transmission piece extends from the side portion of the second driving piece along the end face of the second driving piece and is connected to the electric element on the second support.

Further, the part of the fourth transmission member extending along the end surface of the second driving member passes through the center of rotation when the second driving member drives the third support to rotate.

Further, the second driving member is a motor, and a portion of the fourth transmission member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.

Furthermore, the third bracket further comprises a connecting piece, the connecting piece is connected to the second driving piece, and the fourth transmission piece extends along the end face of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electric element on the third bracket.

Further, the third bracket further comprises a bearing part which is rotatably connected to the connecting part and used for mounting an electronic device.

Further, the electric element further comprises a third driving piece arranged on the connecting piece, the bearing piece is connected to the third driving piece, the third driving piece can drive the bearing piece to rotate around a rotation axis relative to the connecting piece, and the fourth transmission piece is connected to the third driving piece.

Further, the rotation axis of the third driving member is perpendicular to the rotation axis of the second driving member.

Further, the rotation axis of the third driving piece is a transverse rolling shaft of the holder.

Further, the pan-tilt is a three-axis pan-tilt, and the rotation axis of the first driving member, the rotation axis of the second driving member and the rotation axis of the third driving member respectively correspond to the pitch axis, the course axis and the roll axis of the three-axis pan-tilt.

Furthermore, the transmission member further comprises a fifth transmission member, one end of the fifth transmission member is connected to the control element, and the other end of the fifth transmission member extends along the same extending path as the fourth transmission member and then is connected to the electronic device on the bearing member.

Further, the transmission member further comprises a fifth transmission member, one end of the fifth transmission member is connected to the control element, and the other end of the fifth transmission member extends from the side portion of the second driving member along the end surface of the second driving member and is connected to the electronic device on the bearing member.

Furthermore, after extending along the end surface of the second driving member, the fifth transmission member extends along the outer surface of the connecting member and is connected to the electronic device on the bearing member.

Further, the part of the fifth transmission member extending along the end surface of the second driving member passes through the center of rotation when the second driving member drives the third support to rotate.

Further, the second driving member is a motor, and a portion of the fifth transmission member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.

Further, a portion of the fifth transfer member extending along the connecting member passes through a center of rotation of the carrier member when rotating relative to the connecting member.

Further, the second bracket comprises a supporting piece which can be rotatably connected to the mounting piece, the supporting piece forms a mounting space, and the third bracket is accommodated in the mounting space.

Furthermore, the supporting piece is of a n-shaped structure, and the mounting space is surrounded by the n-shaped structure.

Further, support piece includes the supporting part and set up respectively in first linking arm and second linking arm at supporting part both ends, first linking arm reach the second linking arm respectively with be predetermined angle setting between the supporting part, first linking arm second linking arm reaches outer portion forms jointly installation space.

Furthermore, the second driving member is connected to the supporting portion, so that the third bracket is accommodated in the installation space.

Further, the control element includes a first control element disposed on the support portion, a second control element disposed on the first connecting arm, and an auxiliary controller disposed on the second connecting arm.

Further, the mounting member forms an accommodating space, and the support member is rotatably connected to the mounting member so that the second bracket is accommodated in the accommodating space.

Further, the control element is a control circuit board.

Furthermore, the electric element is a rotating motor, an electronic speed regulator corresponding to the rotating motor is arranged on the control circuit board, and each transmission piece is connected between the rotating motor and the electronic speed regulator corresponding to the rotating motor.

Further, the control element is arranged on the bracket assembly, and the structure of the control element is adapted to the structure of the bracket assembly.

Further, the transmission piece is a data line or a flexible circuit board, which is used for transmitting power or data.

A photographing apparatus includes an electronic device for photographing an image. The shooting equipment further comprises a holder for bearing the electronic device, the holder comprises a control element and a plurality of supports which are sequentially connected in a rotating manner, each support is provided with an electric element, and the plurality of supports comprise mounting pieces and support components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

Further, the control element is a control circuit board.

Further, the electronic device is any one of the following devices: a video camera, a still camera, a video camera, an infrared camera, or a portable communication device.

An unmanned aerial vehicle comprises a fuselage, a cradle head connected to the fuselage and an electronic device connected to the cradle head, wherein the electronic device is used for shooting images, the cradle head can adjust the shooting attitude of the electronic device, the cradle head comprises a control element and a plurality of supports which are connected in sequence in a rotating manner, each support is provided with an electrical element, and the plurality of supports comprise an installation part and a support component; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

Further, the control element is a control circuit board.

Furthermore, the unmanned aerial vehicle also comprises a flight controller and an inertia measurement unit electrically connected with the flight controller, wherein the inertia measurement unit is used for detecting the attitude of the unmanned aerial vehicle so as to allow the flight controller to control the unmanned aerial vehicle to fly according to the attitude.

In the above-mentioned tripod head, the plurality of electric components are used for driving the brackets to generate relative movement, and the electric components are respectively connected to the control component through independent transmission members, which is favorable for optimizing a connection structure and a connection path between the control component and the plurality of electric components, so that any one of the transmission members can be connected to the corresponding driving member through the shortest path without interfering or winding with other transmission members, thereby being favorable for miniaturization of the tripod head.

Drawings

Fig. 1 is a schematic perspective view of a pan/tilt head according to an embodiment of the present invention.

Fig. 2 is a perspective view of the cradle head shown in fig. 1 from another perspective.

Fig. 3 is a perspective view of the tripod head shown in fig. 1 from yet another perspective.

Fig. 4 is a perspective view of a further perspective view of the head shown in fig. 1.

Description of the main elements

Cloud platform 100

First support 10

Mounting member 12

External connection part 121

First support arm 123

Mounting portion 1231

Second support arm 125

First driving member 14

Second bracket 30

Support member 32

Supporting portion 321

First connecting arm 323

Second connecting arm 325

Rotating shaft 3251

Second driving member 34

Third bracket 50

Connecting piece 52

Third drive member 54

Carrier 56

Control element 70

Main controller 72

First control element 721

Second control element 723

Auxiliary controller 74

Conveying member 90

First transmission member 92

Second transfer member 94

Third transfer member 96

Fourth transfer member 98

Fifth transfer member 99

The following detailed description will further illustrate the invention in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The embodiment of the invention provides a cloud platform, which comprises a control element and a plurality of brackets which are sequentially and rotatably connected. Each bracket is provided with an electric element, and the plurality of brackets comprise mounting parts and bracket components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

The embodiment of the invention also provides shooting equipment which comprises an electronic device, wherein the electronic device is used for shooting images. The shooting equipment further comprises a holder for bearing the electronic device, and the holder comprises a control element and a plurality of supports which are connected in sequence in a rotating mode. Each bracket is provided with an electric element, and the plurality of brackets comprise mounting parts and bracket components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

The embodiment of the invention also provides the unmanned aerial vehicle which comprises a body, a cradle head connected to the body and an electronic device connected to the cradle head, wherein the electronic device is used for shooting images, the cradle head can adjust the shooting attitude of the electronic device, and the cradle head comprises a control element and a plurality of supports which are sequentially connected in a rotating manner. Each bracket is provided with an electric element, and the plurality of brackets comprise mounting parts and bracket components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Referring to fig. 1 and fig. 2, a pan/tilt head 100 according to an embodiment of the present invention is used for carrying an image capturing device (not shown) to perform operations such as photographing and recording. The cradle head 100 and the image acquisition device form a shooting device, and the shooting device can be applied to an application platform such as an unmanned aerial vehicle to carry out aerial photography. The shooting equipment can also be applied to a handle to be used as handheld shooting equipment so as to allow a user to manually operate the shooting equipment to take pictures, record videos and the like.

In the present embodiment, the holder 100 is a three-axis holder, which includes a first support 10, a second support 30, and a third support 50. The second bracket 30 is rotatably mounted to the first bracket 10, and the third bracket 50 is rotatably mounted to the second bracket 30.

The first bracket 10 includes a mounting member 12 and a first drive member 14. In the present embodiment, the first driving member 14 is disposed on the mounting member 12 and is used for driving the second bracket 30 to rotate around a first axis.

The mounting member 12 is used for installing the holder 100 on an application platform, and the application platform may be an unmanned aerial vehicle or a handle. In this embodiment, the mounting member 12 is generally of a "Π" configuration. Specifically, the mount 12 includes an external portion 121, a first support arm 123, and a second support arm 125.

The external connection portion 121 is substantially rod-shaped and is used for connecting the application platform. The first support arm 123 and the second support arm 125 are respectively disposed at two ends of the external connection portion 121, and the first support arm 123 and the second support arm 125 are respectively disposed at a predetermined angle with respect to the external connection portion 121, so that the mounting member 12 is substantially n-shaped as a whole. The n-shaped structure makes the mounting member 12 enclose an accommodating space (not shown in the drawings), which is used for accommodating the bracket assembly formed by the second bracket 30 and the third bracket 50, and reserves a sufficient space for the rotation movement of the second bracket 30 and the third bracket 50, so that the structure of the holder 100 is more compact and flexible.

Specifically, in the illustrated embodiment, the first support arm 123 and the second support arm 125 are respectively disposed substantially perpendicular to the external connection portion 121, and form the accommodating space together with the external connection portion 121. In this embodiment, the external connection portion 121, the first support arm 123 and the second support arm 125 are integrally formed. It is understood that, in other embodiments, the external connection portion 121, the first support arm 123 and the second support arm 125 may be assembled together.

Further, an installation part 1231 is disposed on the first support arm 123, and the installation part 1231 is used for installing the first driving member 14. Specifically, the mounting portion 1231 is located at one end of the first support arm 123 far away from the external connection portion 121.

The first driving member 14 is disposed on the mounting portion 1231, and is used for connecting the second bracket 30 and driving the second bracket 30 to rotate around the first axis relative to the mounting portion 12. The first driving member 14 is a rotary motor, which may be any suitable type of motor, such as a brushless motor, a brush motor, etc. In the present embodiment, the first driving member 14 is a brushless motor, and is used as a pitch driving member of the pan/tilt head 100 to drive the second support 30 to rotate around the first axis, which is the pitch axis of the pan/tilt head 100. It is understood that in other embodiments, the first driving member 14 may be a roll driving member or a heading driving member of the pan/tilt head 100 for driving the second support 30 to rotate around the first axis, which may be a roll axis or a heading axis of the pan/tilt head 100, correspondingly.

The second bracket 30 is connected to the first driving member 14 and is substantially accommodated in the accommodating space of the first bracket 10. The second bracket 30 includes a support member 32 and a second driving member 34. In the present embodiment, the supporting member 32 is connected to the first driving member 14, and the second driving member 34 is disposed on the supporting member 32 and is used for driving the third bracket 50 to rotate around a second axis.

In this embodiment, the support member 32 is generally of a "Π" configuration. Specifically, the supporting member 32 includes a supporting portion 321, a first connecting arm 323, and a second connecting arm 325.

The support portion 321 is substantially rod-shaped and is used for mounting the third bracket 50. The first connecting arm 323 and the second connecting arm 325 are respectively disposed at two ends of the supporting portion 321, and the first connecting arm 323 and the second connecting arm 325 are respectively disposed at a predetermined angle with the supporting portion 321, so that the supporting member 32 is substantially n-shaped as a whole. The pi-shaped structure makes the support member 32 enclose an installation space (not shown in the drawings), which is used for accommodating the third bracket 50 and reserving a sufficient space for the rotation movement of the third bracket 50, so that the structure of the holder 100 is more compact and flexible.

Specifically, in the illustrated embodiment, the first connecting arm 323 and the second connecting arm 325 are respectively formed by bending at two ends of the supporting portion 321, the first connecting arm 323 and the second connecting arm 325 and the supporting portion 321 together form the mounting space, and the mounting space is located at a side of the second bracket 30 away from the external connection portion 121. The first connecting arm 323 is connected to the first driving member 14, and the second connecting arm 325 is pivotally connected to the second supporting arm 125 through a rotating shaft 3251. In the present embodiment, the supporting portion 321, the first connecting arm 323, and the second connecting arm 325 are integrally formed. It is understood that, in other embodiments, the supporting portion 321, the first connecting arm 323 and the second connecting arm 325 may be assembled together.

The second driving member 34 is disposed on the supporting portion 321, specifically, on a side of the supporting portion 321 facing the installation space. The second driving member 34 is used for connecting the third bracket 50 and for driving the third bracket 50 to rotate around the second axis relative to the supporting member 32, wherein the second axis is approximately perpendicular to the first axis. The second drive member 34 is a rotary motor, which may be any suitable type of motor, such as a brushless motor, a brush motor, etc. In this embodiment, the second driving member 34 is a brushless motor, and is used as a course driving member of the pan/tilt head 100 to drive the third bracket 50 to rotate around the second axis, where the second axis is a course axis of the pan/tilt head 100. It is understood that in some other embodiments, the second driving member 34 may be a pitch driving member or a roll driving member of the pan/tilt head 100 for driving the third support 50 to rotate around the second axis, which may be a pitch axis or a roll axis of the pan/tilt head 100, correspondingly.

Referring to fig. 3 and fig. 4, the third bracket 50 is connected to the second driving member 34 and is substantially accommodated in the installation space of the second bracket 30. The third bracket 50 includes a connector 52, a third driver 54, and a carrier 56. In the present embodiment, the connecting member 52 is connected to the second driving member 34, the third driving member 54 is disposed on the connecting member 52, and the carrier 56 is connected to the third driving member 54. The bearing member 56 is used for bearing the image capturing device, and the third driving member 54 is used for driving the bearing member 56 to rotate around a third axis, so as to adjust the shooting angle of the image capturing device.

In the illustrated embodiment, one end of the connecting member 52 is connected to the second driving member 34, and the other end extends away from the supporting portion 321.

The third driving member 54 is disposed at an end of the connecting member 52 away from the second driving member 34, and is used for driving the bearing member 56 to rotate around a third axis relative to the connecting member 52, wherein the third axis is substantially perpendicular to the second axis and substantially perpendicular to the first axis. The third drive member 54 is a rotary motor, which may be any suitable type of motor, such as a brushless motor, a brush motor, etc. In the present embodiment, the third driving member 54 is a brushless motor, and is used as a roll driving member of the pan/tilt head 100 to drive the third bracket 50 to rotate around the third axis, which is the roll axis of the pan/tilt head 100. It is understood that in some other embodiments, the third driving member 54 can be used as a pitch driving member or a heading driving member of the pan/tilt head 100 to drive the third support 50 to rotate around the third axis, which can be a pitch axis or a heading axis of the pan/tilt head 100, correspondingly.

The image capturing device is detachably disposed on the bearing member 56, and is used for photographing, recording, and the like. It is understood that the image capturing device is an electronic device, which may be a video camera, a still camera, a video camera, an infrared camera, a portable communication device, or the like.

Referring to fig. 1 again, in order to control the image capturing device to perform the shooting operation, the cradle head 100 further includes a control element 70 and a transmission element 90, wherein the control element 70 is used for controlling the cradle head 100 to adjust to the required working posture and controlling the image capturing device to operate. Specifically, the transmission element 90 is used to connect the control element 70 to the first driving element 14, the second driving element 34 and the third driving element 54, and the control element 70 controls the first driving element 14, the second driving element 34 and the third driving element 54 to operate so as to control the rotation of the second bracket 30, the third bracket 50 and the image capturing device, thereby adjusting the working posture of the pan/tilt head 100 and achieving the purpose of adjusting the shooting angle of the image capturing device. The control element 70 may be a control chip or a control circuit board.

In the illustrated embodiment, the control element 70 is disposed on the support 32 and includes a main controller 72 and an auxiliary controller 74, wherein the main controller 72 is used for controlling the pan/tilt head 100 to adjust to a desired working posture and controlling the image capturing device to work. The auxiliary controller 74 is configured to be connected to the application platform and receive a control command from the application platform or/and a user to assist the main controller 72 in working, and meanwhile, the auxiliary controller 74 is further configured to transmit the image captured by the image capturing device back to the application platform or/and the user. Specifically, all control commands for controlling the cradle head 100 may be integrated on the auxiliary controller 74, and all signals and control information of the cradle head 100 during operation may be acquired, and the auxiliary controller may be electrically connected to the core board or/and the controller or/and the image processor of the application platform through the transmission member 90. When the application platform is an unmanned aerial vehicle, the controller may be a flight controller. The auxiliary controller 74 is electrically connected to the main controller 72. Preferably, the auxiliary controller 74 is electrically connected to the main controller 72 through a flexible circuit board. It is understood that in other embodiments, the primary controller 72 may be integrated with the secondary controller 74.

Referring to fig. 2 to 4, in particular, in the illustrated embodiment, the transmission member 90 is provided in plural, and the transmission members 90 are independent from each other. The first driving member 14, the second driving member 34 and the third driving member 54 are connected to the main controller 72 through independent transmission members 90, respectively, so that the main controller 72 can control a plurality of driving members. It should be understood that the "independent" state of the transmission member 90 is understood as the transmission member 90 having no connection point in physical form where they meet each other, and a plurality of the transmission members 90 can be disposed separately from each other, without interfering with each other, and without being involved. The independent arrangement of the plurality of transmission members 90 is beneficial to the optimization of the connection structure and the connection path between the main controller 72 and the plurality of driving members, so that any one of the transmission members 90 can be connected to the corresponding driving member through the shortest path without interfering or winding with other transmission members 90, thereby being beneficial to the miniaturization and light weight design of the cradle head 100. In this embodiment, the transmission member 90 is a flexible circuit board, which is used for transmitting data and/or transmitting power. It is understood that in other embodiments, the transmission member 90 may be a data line.

Specifically, the main controller 72 includes a first control element 721 and a second control element 723, the first control element 721 is disposed on the supporting portion 321 of the supporting member 32, the second control element 723 is disposed on the first connecting arm 323 of the supporting member 32, and the first control element 721 is electrically connected to the second control element 723. Preferably, the first control element 721 is electrically connected to the second control element 723 through a flexible circuit board. The plurality of transfer members 90 includes a first transfer member 92, a second transfer member 94, a third transfer member 96, a fourth transfer member 98, and a fifth transfer member 99. It is understood that in other embodiments, the first control element 721 and the second control element 723 may be integrated together.

The first control element 721 is provided with an electronic element for controlling the second driving element 34, which may be a controller or an electronic governor, and the like, and the electronic element is used for adjusting the rotation speed and the rotation direction of the second driving element 34. The first control element 721 is connected to the second drive element 34 via the third transmission element 96. Specifically, one end of the third transmission member 96 is connected to the first control element 721, and the other end extends toward the second driving member 34 and is connected to the second driving member 34.

The first control element 721 is further provided with an electronic element for controlling the third driving element 54, wherein the electronic element may be a controller or an electronic speed regulator, and the electronic element is used for adjusting the rotation speed and the rotation direction of the third driving element 54. The first control element 721 is connected to the third drive element 54 via the fourth transmission element 98. Specifically, one end of the fourth transmission member 98 is connected to the first control element 721, and the other end extends toward the second driving member 34, and extends from the side of the second driving member 34, then bends toward the end surface of the second driving member 34, and then continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52 and is connected to the third driving member 54.

In the present embodiment, the portion of the fourth transmission member 98 extending along the end surface of the second driving member 34 passes through the center of rotation of the second driving member 34 when the connecting member 52 is driven to rotate. Therefore, when the portion of the fourth transmission member 98 connected to the third driving member 54 rotates along with the third bracket 50, the rotation/bending amplitude of the portion is smaller relative to the portion connected to the first control element 721, the resistance to rotation/bending is also smaller, and the fourth transmission member 98 is more durable. Meanwhile, since the fourth transmission member 98 passes through the rotation center of the third bracket 50 at the end surface of the second driving member 34, the flexibility and freedom of rotation of the third bracket 50 are not limited by the length of the fourth transmission member 98 in the process that the third bracket 50 rotates from an initial state to a maximum limit angle in a clockwise or counterclockwise direction, and the fourth transmission member 98 is not broken due to the tightening of the rotation of the third bracket 50 and is not piled up or wound; in addition, the end surface of the fourth transmission member 98 passes through the rotation center of the third bracket 50 at the end surface of the second driving member 34, so that when the third bracket 50 rotates relative to the second bracket 30, the resilience of the fourth transmission member 98 after bending is relatively small, which is beneficial for the control element to control the third bracket 50, and the rotation of the third bracket 50 is relatively smooth. In this embodiment, the maximum rotation amount of the third bracket 50 driven by the second driving element 34 relative to the supporting element 32 does not exceed one circle. When the second driving member 34 is a motor, the fourth transmission member 98 extends along the end surface of the second driving member 34 and passes through the rotation axis of the second driving member 34.

The first control element 721 is further provided with an electronic element for controlling the image capturing device, the electronic element may be a control chip or a control circuit board, and the first control element 721 is connected to the image capturing device through the fifth transmission member 99. The fifth transport member 99 is connected from the first control element 721 to a portion of the extension path of the image acquisition device, substantially identical to the extension path of the fourth transport member 98. Specifically, one end of the fifth transmission member 99 is connected to the first control element 721, and the other end extends toward the second driving member 34, and extends from the side of the second driving member 34, then bends toward the end surface of the second driving member 34, then continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52, and then extends along the side of the third driving member 54, and finally is connected to the image capturing device disposed on the carrier 56. It is understood that other electronic components, such as a circuit board or a processor, a controller, etc., may be disposed in the carrier 56, the electronic components are used for connecting with the image capturing device through an interface, and an end of the fifth transmission member 99 away from the first control element 721 may be connected to the electronic components in the carrier 56.

Similar to the fourth transmission member 98, in the present embodiment, a portion of the fifth transmission member 99 extending along the end surface of the second driving member 34 passes through a rotation center of the second driving member 34 when the connecting member 52 is driven to rotate, so that when the fifth transmission member 99 rotates along with the third bracket 50, the rotation/bending amplitude is small, the rotation/bending resistance is small, and the fifth transmission member 99 is durable; meanwhile, the flexibility and freedom of rotation of the third support 50 are not limited by the length of the fifth transmission member 99, and the fifth transmission member 99 is not tightened or broken by the rotation of the third support 50, and is not piled up or wound. When the second driving member 34 is a motor, the fifth transmission member 99 extends along the end surface of the second driving member 34 and passes through the rotation axis of the second driving member 34.

Further, the portion of the fifth transmission member 99 extending along the outer surface of the connecting member 52 passes through the rotation center of the third driving member 54 when the supporting member 56 is driven to rotate (see fig. 3), so that when the supporting member 56 rotates relative to the connecting member 52, the resilience of the fifth transmission member 99 after bending is relatively small, and the control element 70 controls the supporting member 56 and makes the rotation of the supporting member 56 relatively smooth.

The second control element 723 is provided with an electronic element for controlling the first driving element 14, wherein the electronic element may be a controller or an electronic speed regulator, and the electronic element is used for adjusting the rotation speed and the rotation direction of the first driving element 14. The first control element 721 is connected to the first drive element 14 via the first transmission element 92. Specifically, one end of the first transmission member 92 is connected to the second control element 723, and the other end extends along the first connecting arm 323 to the first driving member 14, and is connected to the first driving member 14 after a predetermined number of turns outside the first driving member 14. In this embodiment, the first transmission member 92 is movably disposed around the first driving member 14, and the number of turns is two, so that the flexibility and freedom of rotation of the second bracket 30 will not be limited by the length of the first transmission member 92 during the rotation of the second bracket 30 from an initial state to a maximum limit angle in a first direction or during the rotation of the second bracket 30 to a maximum limit angle in a direction opposite to the first direction, and the first transmission member 92 will not be tightened or broken by the rotation of the second bracket 30, and will not be piled up or wound. In short, the first transmission member 92 is movably disposed around the periphery of the first driving member 14 and then connected to the first driving member 14, so that the first transmission member 92 has a certain length margin to adapt to the change of the relative position or/and the relative distance between the second bracket 30 and the first driving member 14 when the second bracket 30 rotates, thereby making the rotation of the pan/tilt head 100 smoother. In this embodiment, the maximum rotation of the first driving member 14 to drive the second bracket 30 relative to the mounting member 12 is no more than one turn.

It is understood that in other embodiments, the first transmission member 92 can be connected between the second control element 723 and the first driving member 14 in other arrangements, and is not limited to the embodiments described herein. For example, one end of the first transmission member 92 may be connected to the second control element 723, and the other end is connected to the first driving member 14 along the first connecting arm 323 without surrounding the first driving member 14, and a sufficient length margin is reserved for the first transmission member 92, so that the flexibility and freedom of rotation of the second bracket 30 are not limited by the first transmission member 92.

In the present embodiment, the auxiliary controller 74 is a pan/tilt controller, and the auxiliary controller 74 is connected to the application platform through the second transmission member 94. The auxiliary controller 74 can be used for transmitting the image or the picture shot by the image capturing device 200 to the application platform or/and the user through an image transmission device, and also for receiving a control instruction sent by the application platform or/and the user, and controlling the operation of the pan/tilt head 100 or/and the image capturing device according to the control instruction. Specifically, the auxiliary controller 74 integrates a control command for controlling the pan/tilt head 100, which is used for acquiring signals and control information generated by the pan/tilt head 100 during operation, and can be electrically connected to the core board, or/and controller, or/and image processor of the application platform through the second transmission member 94, so as to allow the application platform to control the pan/tilt head 100 according to the signals and control information, or/and allow the pan/tilt head 100 to transmit an image captured by the image capturing device 200 back to the application platform.

Specifically, one end of the second transmission element 94 is connected to the auxiliary controller 74, and the other end of the second transmission element is connected to the controller on the application platform after being wound outside the rotating shaft 3251 for a predetermined number of turns. In this embodiment, the second transmission member 94 is movably disposed around the rotation shaft 3251, and the number of turns is two, so that the flexibility and freedom of rotation of the second bracket 30 will not be limited by the length of the second transmission member 94 during the process of rotating the second bracket 30 from an initial state to a maximum limit angle in a first direction or rotating the second bracket 30 to a maximum limit angle in a direction opposite to the first direction, and the second transmission member 94 will not be tightened or broken by the rotation of the second bracket 30, and will not be piled up or wound. In short, the second transmission member 94 is movably disposed around the periphery of the rotating shaft 3251 and then connected to the application platform, so that the second transmission member 94 has a certain length margin to adapt to a change amount of a relative position or/and a relative distance between the second support 30 and the application platform when the second support 30 rotates, thereby enabling the rotation of the pan/tilt head 100 to be smoother.

It is understood that in other embodiments, the second transmission member 94 may be connected between the auxiliary controller 74 and the application platform in other arrangements, and is not limited to the embodiments of the present invention. For example, one end of the second transmission member 94 can be connected to the auxiliary controller 74, and the other end can be connected to the application platform along the second connection arm 325 without surrounding the rotation shaft 3251, and a sufficient length margin is reserved for the second transmission member 94, so that the flexibility and freedom of rotation of the second support 30 are not limited by the second transmission member 94.

In this embodiment, the first control element 721, the second control element 723 and the auxiliary controller 74 are all circuit boards, and they are electrically connected to each other through a flexible circuit board to form a flexible-rigid composite board. Specifically, the second control element 723 and the auxiliary controller 74 are electrically connected to the first control element 721 via a flexible circuit board, respectively. It is understood that in some embodiments, the second control element 723 and the auxiliary controller 74 may be electrically connected through a flexible circuit board. It is understood that in other embodiments, the arrangement of the first control element 721, the second control element 723 and the auxiliary controller 74 may not be limited to the arrangement described in the above embodiments.

For example, the first control element 721, the second control element 723 and the auxiliary controller 74 may be integrated into a control element, and the control element implements the functions of the first control element 721, the second control element 723 and the auxiliary controller 74. Specifically, the control element may be provided with an electronic element, such as an electronic speed regulator, for controlling the first driving member 14, the second driving member 34, and the third driving member 54, and may also be provided with a controller of the image capturing device, and may be used for transmitting images and/or control commands. The control element may be provided at a suitable location on the support 32, for example, on the support 321, on the first connecting arm 323, on the second connecting arm 325, etc. Even more, the control element may be disposed at a suitable position on the first bracket 10, and the control element is connected to the corresponding driving member through the independent transmission member, and is not limited to the embodiment of the present invention.

For another example, both the first control element 721 and the second control element 723 may be integrated on a control element, and the control element may implement the functions of the first control element 721 and the second control element 723. The control element is electrically connected to the auxiliary controller 74.

In the above-mentioned tripod head 100, the plurality of driving members: the first driving member 14, the second driving member 34 and the third driving member 54 are used as electrical components disposed on each of the supports (the first support 10, the second support 30 and the third support 50) of the pan/tilt head 100, and are used for driving the supports to generate relative motion, and the electrical components are respectively connected to the control component 70 through independent transmission members 90, which is beneficial to optimizing the connection structure and connection path between the control component 70 and the plurality of driving members, so that any one of the transmission members 90 can be connected to the corresponding driving member through the shortest path without interfering or winding with other transmission members 90, thereby being beneficial to the miniaturization and light weight design of the pan/tilt head 100. Through independent each other the transmission piece 90 carries out data/power transmission's mode of setting, rational utilization the supporting structure and the space of cloud platform 100 have avoided when the transmission piece twines the conglobation, have reduced cloud platform 100's whole volume, and have reduced the overall length of transmission piece makes transmission piece 90's resistance reduces, thereby has reduced the holistic consumption of cloud platform 100 has prolonged the duration of a journey of cloud platform 100.

In addition, the first control element 721, the second control element 723 and the auxiliary controller 74 are all circuit boards, and the three are electrically connected to each other through a flexible circuit board to form a hard-soft composite plate type control element 70, and the control element 70 is integrally disposed on the second support 30 and located between the mounting member 12 and the support members formed by the second support 30 and the third support 50, so as to adapt to the structural characteristics of the cradle head 100, effectively utilize the support structure of the cradle head 100, further facilitate the optimization of the connection structure and connection path between the control element 70 and the plurality of driving members, and make the overall volume of the cradle head 100 more compact.

In this embodiment, the cradle head 100 or/and the application platform of the shooting device are an unmanned aerial vehicle, and the cradle head 100 is connected to the unmanned aerial vehicle through the mounting member 12 and carried by the unmanned aerial vehicle to perform a task.

The unmanned aerial vehicle can be a rotor type unmanned aerial vehicle and comprises a vehicle body and a power mechanism arranged on the vehicle body. The power mechanism can comprise a motor and a propeller, and the motor drives the propeller to rotate so as to provide advancing power for the unmanned aerial vehicle. The unmanned aerial vehicle further comprises a controller, an Inertial Measurement Unit (IMU), an electronic speed regulator and an image transmission device. The controller can be a flight controller, and is arranged on the aircraft body and used for controlling the overall flight operation of the unmanned aerial vehicle, including flight speed, flight attitude and the like, and is also used for controlling the movement of the holder so as to adjust the shooting angle of the image acquisition device. The inertial measurement unit may be provided on the fuselage for an attitude of the unmanned aerial vehicle to allow the flight controller to control the unmanned aerial vehicle to fly according to the attitude.

It can be understood that the cradle head 100 is not limited to be applied to the aircraft, and may also be applied to other movable devices or remote control moving devices, such as an automatic obstacle avoidance system of an unmanned vehicle or an unmanned ship, which is not described in detail in this specification.

Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention. Those skilled in the art can also make other changes and the like in the design of the present invention within the spirit of the present invention as long as they do not depart from the technical effects of the present invention. Such variations are intended to be included within the scope of the invention as claimed.

Claims

1. The utility model provides a cloud platform, includes control element and rotates a plurality of supports of connecting in proper order, its characterized in that: each bracket is provided with an electric element, and the plurality of brackets comprise mounting parts and bracket components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

2. A head according to claim 1, wherein: the electric element comprises a first driving piece arranged on the mounting piece, the mounting piece and the first driving piece form a first support of the holder, the support assembly comprises a second support rotatably connected with the mounting piece, and the control element is arranged on the second support.

3. A head according to claim 2, wherein: the second support is connected to the first driving piece, and the first driving piece can drive the second support to rotate around a rotation axis relative to the mounting piece.

4. A head according to claim 3, wherein: the rotation axis of the first driving piece is a pitching shaft of the holder.

5. A head according to claim 3, wherein: and the axis of the second bracket rotating relative to the first bracket is a pitching shaft of the holder.

6. A head according to claim 4, wherein: the holder further comprises a third support which is rotatably connected to the second support, and the axis of the third support, which rotates relative to the second support, is the course axis of the holder.

7. A head according to claim 6, wherein: the third bracket comprises a connecting piece which is rotatably connected to the second bracket and a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device; the bearing piece is a transverse rolling shaft of the holder relative to the axis of the connecting piece.

8. A head according to claim 6, wherein: the control element is arranged on the second bracket and is positioned between the second bracket and the mounting part;

the transmission piece is a data line or a flexible circuit board.

9. A head according to claim 3, wherein: the transmission piece comprises a first transmission piece, one end of the first transmission piece is connected to the first driving piece, and the other end of the first transmission piece is connected to the control element after being wound outside the first driving piece for preset turns.

10. A head according to claim 9, wherein: the first transmission piece extends to the second support after being wound by two circles around the first driving piece, and is electrically connected with the control element.

11. A head according to claim 9, wherein: the second bracket comprises a support connected to the first driving member, and the control element is arranged on the support; the first transmission piece extends along the support piece after being wound on the periphery of the first driving piece and is electrically connected with the control element.

12. A head according to claim 11, wherein: the mounting piece forms an accommodating space, and the second support is accommodated in the accommodating space.

13. A head according to claim 12, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

14. A head according to claim 12, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

15. A head according to claim 12, wherein: the mounting part comprises an external part and a first supporting arm and a second supporting arm which are arranged at two ends of the external part respectively, the first supporting arm and the second supporting arm are arranged at preset angles between the external part and the second supporting arm respectively, and the first supporting arm, the second supporting arm and the external part form the accommodating space together.

16. A head according to claim 15, wherein: the two ends of the supporting piece are respectively connected with the first supporting arm and the second supporting arm in a rotatable mode.

17. A head according to claim 15, wherein: the first driving piece is arranged on the first supporting arm, one end of the supporting piece is connected to the first driving piece, and the other end of the supporting piece is connected to the second supporting arm through a pivot.

18. A head according to claim 15, wherein: one end of the second bracket is connected to the first driving piece, and the other end of the second bracket is connected to the second supporting arm through a pivot; the transmission piece comprises a second transmission piece, one end of the second transmission piece is connected to the control element, and the other end of the second transmission piece is connected to an external controller after being wound outside the pivot for a preset number of turns.

19. A head according to claim 18, wherein: the control element comprises a holder controller, the holder controller is used for controlling the holder to move, and the second transmission piece is connected between the holder controller and the external controller.

20. A head according to claim 4, wherein: the electric element further comprises a second driving piece arranged on the second support, the plurality of supports further comprise third supports, the third supports are connected to the second driving piece, and the second driving piece can drive the third supports to rotate around a rotation axis relative to the second supports.

21. A head according to claim 20, wherein: the rotation axis of the second driving piece is perpendicular to the rotation axis of the first driving piece.

22. A head according to claim 20, wherein: and the rotation axis of the second driving piece is a course shaft of the holder.

23. A head according to claim 22, wherein: the control element is disposed on the second bracket and adjacent to the second drive member.

24. A head according to claim 20, wherein: the second support includes the supporting part and set up respectively in first linking arm and second linking arm at supporting part both ends, first linking arm reach the second linking arm respectively with be predetermined angle setting between the supporting part.

25. A head according to claim 24, wherein: the second driving piece is arranged on the supporting portion, the control element comprises a first control element, and the first control element is arranged on the supporting portion and is electrically connected with the second driving piece.

26. A head according to claim 25, wherein: the first driving piece is arranged on the first connecting arm, the control element further comprises a second control element connected with the first control element, and the second control element is arranged on the first connecting arm and electrically connected with the first driving piece.

27. A head according to claim 25, wherein: the control element further comprises an auxiliary control connected to the first control element, the auxiliary control being arranged on the second connecting arm.

28. A head according to claim 20, wherein: the transmission piece further comprises a third transmission piece, and the third transmission piece is connected between the second driving piece and the control element.

29. A head according to claim 20, wherein: the transmission piece further comprises a fourth transmission piece, one end of the fourth transmission piece is connected to the control element, the other end of the fourth transmission piece extends from the side portion of the second driving piece along the end face of the second driving piece, and the fourth transmission piece is connected to the electric element on the second support.

30. A head according to claim 29, wherein: and the part of the fourth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

31. A head according to claim 30, wherein: the second driving part is a motor, and the part of the fourth transmission part extending along the end face of the second driving part passes through the rotation axis of the second driving part.

32. A head according to claim 29, wherein: the third support further comprises a connecting piece, the connecting piece is connected to the second driving piece, and the fourth transmission piece extends along the end face of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electric element on the third support.

33. A head according to claim 32, wherein: the third bracket further comprises a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device.

34. A head according to claim 33, wherein: the electric element further comprises a third driving piece arranged on the connecting piece, the bearing piece is connected to the third driving piece, the third driving piece can drive the bearing piece to rotate around a rotating axis relative to the connecting piece, and the fourth transmission piece is connected to the third driving piece.

35. A head according to claim 34, wherein: the rotation axis of the third driving piece is perpendicular to the rotation axis of the second driving piece.

36. A head according to claim 34, wherein: and the rotating axis of the third driving piece is a transverse rolling shaft of the holder.

37. A head according to claim 34, wherein: the tripod head is a three-axis tripod head, and the rotation axis of the first driving piece, the rotation axis of the second driving piece and the rotation axis of the third driving piece respectively correspond to a pitch shaft, a course shaft and a transverse shaft of the three-axis tripod head.

38. A head according to claim 33, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, and the other end of the fifth transmission piece extends along the same extending path as the fourth transmission piece and then is connected to the electronic device on the bearing piece.

39. A head according to claim 33, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, the other end of the fifth transmission piece extends from the side part of the second driving piece along the end face of the second driving piece, and the fifth transmission piece is connected to the electronic device on the bearing piece.

40. A head according to claim 39, wherein: and the fifth transmission piece extends along the end surface of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electronic device on the bearing piece.

41. A head according to claim 39, wherein: and the part of the fifth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

42. A head according to claim 41, wherein: the second driving part is a motor, and the part of the fifth transmission part, which extends along the end face of the second driving part, penetrates through the rotation axis of the second driving part.

43. A head according to claim 41, wherein: the part of the fifth transmission member extending along the connecting member passes through the center of rotation of the carrier member when rotating relative to the connecting member.

44. A head according to claim 20, wherein: the second support comprises a support piece which can be rotatably connected to the mounting piece, the support piece forms a mounting space, and the third support is accommodated in the mounting space.

45. A head according to claim 44, wherein: the support piece is of an n-shaped structure, and the mounting space is defined by the n-shaped structure.

46. A head according to claim 45, wherein: the installed part includes external portion, support piece include the supporting part and set up respectively in the first linking arm and the second linking arm at supporting part both ends, first linking arm reaches the second linking arm respectively with be predetermined angle setting between the supporting part, first linking arm the second linking arm reaches external portion forms jointly installation space.

47. A head according to claim 46, wherein: the second driving piece is connected to the supporting portion, so that the third support is contained in the installation space.

48. A head according to claim 46, wherein: the control element comprises a first control element, a second control element and an auxiliary controller, the first control element is arranged on the supporting portion, the second control element is arranged on the first connecting arm, and the auxiliary controller is arranged on the second connecting arm.

49. A head according to claim 44, wherein: the mounting piece forms an accommodating space, and the supporting piece is rotatably connected to the mounting piece to enable the second bracket to be accommodated in the accommodating space.

50. A head according to claim 49, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

51. A head according to claim 49, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

52. A head according to claim 1, wherein: the control element is a control circuit board.

53. A head according to claim 52, wherein: the electric element is a rotating motor, an electronic speed regulator corresponding to the rotating motor is arranged on the control circuit board, and each transmission piece is connected between the rotating motor and the electronic speed regulator corresponding to the rotating motor.

54. A head according to claim 52, wherein: the control element is arranged on the bracket component, and the structure of the control element is adapted to the structure of the bracket component.

55. A head according to claim 8, wherein: the data line or the flexible circuit board is used for transmitting power or data.

56. A photographing apparatus comprising an electronic device for photographing an image, characterized in that: the shooting equipment further comprises a holder for bearing the electronic device, the holder comprises a control element and a plurality of supports which are sequentially connected in a rotating manner, each support is provided with an electric element, and the plurality of supports comprise mounting pieces and support components; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

57. The photographing apparatus of claim 56, wherein: the electric element comprises a first driving piece arranged on the mounting piece, the mounting piece and the first driving piece form a first support of the holder, the support assembly comprises a second support rotatably connected with the mounting piece, and the control element is arranged on the second support.

58. The photographing apparatus of claim 57, wherein: the second support is connected to the first driving piece, and the first driving piece can drive the second support to rotate around a rotation axis relative to the mounting piece.

59. The photographing apparatus of claim 58, wherein: the rotation axis of the first driving piece is a pitching shaft of the holder.

60. The photographing apparatus of claim 58, wherein: and the axis of the second bracket rotating relative to the first bracket is a pitching shaft of the holder.

61. The photographing apparatus of claim 59, wherein: the holder further comprises a third support which is rotatably connected to the second support, and the axis of the third support, which rotates relative to the second support, is the course axis of the holder.

62. The photographing apparatus of claim 61, wherein: the third bracket comprises a connecting piece which is rotatably connected to the second bracket and a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device; the bearing piece is a transverse rolling shaft of the holder relative to the axis of the connecting piece.

63. The photographing apparatus of claim 61, wherein: the control element is arranged on the second bracket and is positioned between the second bracket and the mounting part;

the transmission piece is a data line or a flexible circuit board.

64. The photographing apparatus of claim 58, wherein: the transmission piece comprises a first transmission piece, one end of the first transmission piece is connected to the first driving piece, and the other end of the first transmission piece is connected to the control element after being wound outside the first driving piece for preset turns.

65. The photographing apparatus of claim 64, wherein: the first transmission piece extends to the second support after being wound by two circles around the first driving piece, and is electrically connected with the control element.

66. The photographing apparatus of claim 64, wherein: the second bracket comprises a support connected to the first driving member, and the control element is arranged on the support; the first transmission piece extends along the support piece after being wound on the periphery of the first driving piece and is electrically connected with the control element.

67. The photographing apparatus of claim 66, wherein: the mounting piece forms an accommodating space, and the second support is accommodated in the accommodating space.

68. The photographing apparatus of claim 67, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

69. The photographing apparatus of claim 67, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

70. The photographing apparatus of claim 67, wherein: the mounting part comprises an external part and a first supporting arm and a second supporting arm which are arranged at two ends of the external part respectively, the first supporting arm and the second supporting arm are arranged at preset angles between the external part and the second supporting arm respectively, and the first supporting arm, the second supporting arm and the external part form the accommodating space together.

71. The photographing apparatus of claim 70, wherein: the two ends of the supporting piece are respectively connected with the first supporting arm and the second supporting arm in a rotatable mode.

72. The photographing apparatus of claim 70, wherein: the first driving piece is arranged on the first supporting arm, one end of the supporting piece is connected to the first driving piece, and the other end of the supporting piece is connected to the second supporting arm through a pivot.

73. The photographing apparatus of claim 70, wherein: one end of the second bracket is connected to the first driving piece, and the other end of the second bracket is connected to the second supporting arm through a pivot; the transmission piece comprises a second transmission piece, one end of the second transmission piece is connected to the control element, and the other end of the second transmission piece is connected to an external controller after being wound outside the pivot for a preset number of turns.

74. The photographing apparatus of claim 73, wherein: the control element comprises a holder controller, the holder controller is used for controlling the holder to move, and the second transmission piece is connected between the holder controller and the external controller.

75. The photographing apparatus of claim 59, wherein: the electric element further comprises a second driving piece arranged on the second support, the plurality of supports further comprise third supports, the third supports are connected to the second driving piece, and the second driving piece can drive the third supports to rotate around a rotation axis relative to the second supports.

76. The photographing apparatus of claim 75, wherein: the rotation axis of the second driving piece is perpendicular to the rotation axis of the first driving piece.

77. The photographing apparatus of claim 75, wherein: and the rotation axis of the second driving piece is a course shaft of the holder.

78. The photographing apparatus of claim 77, wherein: the control element is disposed on the second bracket and adjacent to the second drive member.

79. The photographing apparatus of claim 75, wherein: the second support includes the supporting part and set up respectively in first linking arm and second linking arm at supporting part both ends, first linking arm reach the second linking arm respectively with be predetermined angle setting between the supporting part.

80. The photographing apparatus of claim 79, wherein: the second driving piece is arranged on the supporting portion, the control element comprises a first control element, and the first control element is arranged on the supporting portion and is electrically connected with the second driving piece.

81. The photographing apparatus of claim 80, wherein: the first driving piece is arranged on the first connecting arm, the control element further comprises a second control element connected with the first control element, and the second control element is arranged on the first connecting arm and electrically connected with the first driving piece.

82. The photographing apparatus of claim 80, wherein: the control element further comprises an auxiliary control connected to the first control element, the auxiliary control being arranged on the second connecting arm.

83. The photographing apparatus of claim 75, wherein: the transmission piece further comprises a third transmission piece, and the third transmission piece is connected between the second driving piece and the control element.

84. The photographing apparatus of claim 75, wherein: the transmission piece further comprises a fourth transmission piece, one end of the fourth transmission piece is connected to the control element, the other end of the fourth transmission piece extends from the side portion of the second driving piece along the end face of the second driving piece, and the fourth transmission piece is connected to the electric element on the second support.

85. The camera apparatus of claim 84, wherein: and the part of the fourth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

86. The photographing apparatus of claim 85, wherein: the second driving part is a motor, and the part of the fourth transmission part extending along the end face of the second driving part passes through the rotation axis of the second driving part.

87. The camera apparatus of claim 84, wherein: the third support further comprises a connecting piece, the connecting piece is connected to the second driving piece, and the fourth transmission piece extends along the end face of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electric element on the third support.

88. The photographing apparatus of claim 87, wherein: the third bracket further comprises a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device.

89. The camera apparatus of claim 88, wherein: the electric element further comprises a third driving piece arranged on the connecting piece, the bearing piece is connected to the third driving piece, the third driving piece can drive the bearing piece to rotate around a rotating axis relative to the connecting piece, and the fourth transmission piece is connected to the third driving piece.

90. The photographing apparatus of claim 89, wherein: the rotation axis of the third driving piece is perpendicular to the rotation axis of the second driving piece.

91. The photographing apparatus of claim 89, wherein: and the rotating axis of the third driving piece is a transverse rolling shaft of the holder.

92. The photographing apparatus of claim 89, wherein: the tripod head is a three-axis tripod head, and the rotation axis of the first driving piece, the rotation axis of the second driving piece and the rotation axis of the third driving piece respectively correspond to a pitch shaft, a course shaft and a transverse shaft of the three-axis tripod head.

93. The camera apparatus of claim 88, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, and the other end of the fifth transmission piece extends along the same extending path as the fourth transmission piece and then is connected to the electronic device on the bearing piece.

94. The camera apparatus of claim 88, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, the other end of the fifth transmission piece extends from the side part of the second driving piece along the end face of the second driving piece, and the fifth transmission piece is connected to the electronic device on the bearing piece.

95. The camera apparatus of claim 94, wherein: and the fifth transmission piece extends along the end surface of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electronic device on the bearing piece.

96. The camera apparatus of claim 94, wherein: and the part of the fifth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

97. The camera apparatus of claim 96, wherein: the second driving part is a motor, and the part of the fifth transmission part, which extends along the end face of the second driving part, penetrates through the rotation axis of the second driving part.

98. The camera apparatus of claim 96, wherein: the part of the fifth transmission member extending along the connecting member passes through the center of rotation of the carrier member when rotating relative to the connecting member.

99. The photographing apparatus of claim 75, wherein: the second support comprises a support piece which can be rotatably connected to the mounting piece, the support piece forms a mounting space, and the third support is accommodated in the mounting space.

100. The camera apparatus of claim 99, wherein: the support piece is of an n-shaped structure, and the mounting space is defined by the n-shaped structure.

101. The camera of claim 100, wherein: the installed part includes external portion, support piece include the supporting part and set up respectively in the first linking arm and the second linking arm at supporting part both ends, first linking arm reaches the second linking arm respectively with be predetermined angle setting between the supporting part, first linking arm the second linking arm reaches external portion forms jointly installation space.

102. The camera apparatus of claim 101, wherein: the second driving piece is connected to the supporting portion, so that the third support is contained in the installation space.

103. The camera apparatus of claim 101, wherein: the control element comprises a first control element, a second control element and an auxiliary controller, the first control element is arranged on the supporting portion, the second control element is arranged on the first connecting arm, and the auxiliary controller is arranged on the second connecting arm.

104. The camera apparatus of claim 99, wherein: the mounting piece forms an accommodating space, and the supporting piece is rotatably connected to the mounting piece to enable the second bracket to be accommodated in the accommodating space.

105. The camera apparatus of claim 104, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

106. The camera apparatus of claim 104, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

107. The photographing apparatus of claim 56, wherein: the control element is a control circuit board.

108. The photographing apparatus of claim 107, wherein: the electric element is a rotating motor, an electronic speed regulator corresponding to the rotating motor is arranged on the control circuit board, and each transmission piece is connected between the rotating motor and the electronic speed regulator corresponding to the rotating motor.

109. The photographing apparatus of claim 107, wherein: the control element is arranged on the bracket component, and the structure of the control element is adapted to the structure of the bracket component.

110. The photographing apparatus of claim 63, wherein: the data line or the flexible circuit board is used for transmitting power or data.

111. The photographing apparatus of claim 56, wherein: the electronic device is any one of the following devices: a video camera, a still camera, a video camera, an infrared camera, or a portable communication device.

112. An unmanned aerial vehicle comprises a fuselage and is characterized by further comprising a cradle head connected to the fuselage and an electronic device connected to the cradle head, wherein the electronic device is used for shooting images, the cradle head can adjust the shooting posture of the electronic device, the cradle head comprises a control element and a plurality of supports which are sequentially connected in a rotating manner, each support is provided with an electrical element, and the plurality of supports comprise mounting pieces and support assemblies; the control element can control the electric elements, and the electric elements on the mounting part and the bracket component are respectively connected to the control element through independent transmission parts.

113. The unmanned aerial vehicle of claim 112, wherein: the electric element comprises a first driving piece arranged on the mounting piece, the mounting piece and the first driving piece form a first support of the holder, the support assembly comprises a second support rotatably connected with the mounting piece, and the control element is arranged on the second support.

114. The unmanned aerial vehicle of claim 113, wherein: the second support is connected to the first driving piece, and the first driving piece can drive the second support to rotate around a rotation axis relative to the mounting piece.

115. The unmanned aerial vehicle of claim 114, wherein: the rotation axis of the first driving piece is a pitching shaft of the holder.

116. The unmanned aerial vehicle of claim 114, wherein: and the axis of the second bracket rotating relative to the first bracket is a pitching shaft of the holder.

117. The unmanned aerial vehicle of claim 115, wherein: the holder further comprises a third support which is rotatably connected to the second support, and the axis of the third support, which rotates relative to the second support, is the course axis of the holder.

118. The unmanned aerial vehicle of claim 117, wherein: the third bracket comprises a connecting piece which is rotatably connected to the second bracket and a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device; the bearing piece is a transverse rolling shaft of the holder relative to the axis of the connecting piece.

119. The unmanned aerial vehicle of claim 117, wherein: the control element is arranged on the second bracket and is positioned between the second bracket and the mounting part;

the transmission piece is a data line or a flexible circuit board.

120. The unmanned aerial vehicle of claim 114, wherein: the transmission piece comprises a first transmission piece, one end of the first transmission piece is connected to the first driving piece, and the other end of the first transmission piece is connected to the control element after being wound outside the first driving piece for preset turns.

121. The unmanned aerial vehicle of claim 120, wherein: the first transmission piece extends to the second support after being wound by two circles around the first driving piece, and is electrically connected with the control element.

122. The unmanned aerial vehicle of claim 120, wherein: the second bracket comprises a support connected to the first driving member, and the control element is arranged on the support; the first transmission piece extends along the support piece after being wound on the periphery of the first driving piece and is electrically connected with the control element.

123. The unmanned aerial vehicle of claim 122, wherein: the mounting piece forms an accommodating space, and the second support is accommodated in the accommodating space.

124. The unmanned aerial vehicle of claim 123, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

125. The unmanned aerial vehicle of claim 123, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

126. The unmanned aerial vehicle of claim 123, wherein: the mounting part comprises an external part and a first supporting arm and a second supporting arm which are arranged at two ends of the external part respectively, the first supporting arm and the second supporting arm are arranged at preset angles between the external part and the second supporting arm respectively, and the first supporting arm, the second supporting arm and the external part form the accommodating space together.

127. The unmanned aerial vehicle of claim 126, wherein: the two ends of the supporting piece are respectively connected with the first supporting arm and the second supporting arm in a rotatable mode.

128. The unmanned aerial vehicle of claim 126, wherein: the first driving piece is arranged on the first supporting arm, one end of the supporting piece is connected to the first driving piece, and the other end of the supporting piece is connected to the second supporting arm through a pivot.

129. The unmanned aerial vehicle of claim 126, wherein: one end of the second bracket is connected to the first driving piece, and the other end of the second bracket is connected to the second supporting arm through a pivot; the transmission piece comprises a second transmission piece, one end of the second transmission piece is connected to the control element, and the other end of the second transmission piece is connected to an external controller after being wound outside the pivot for a preset number of turns.

130. The unmanned aerial vehicle of claim 129, wherein: the control element comprises a holder controller, the holder controller is used for controlling the holder to move, and the second transmission piece is connected between the holder controller and the external controller.

131. The unmanned aerial vehicle of claim 115, wherein: the electric element further comprises a second driving piece arranged on the second support, the plurality of supports further comprise third supports, the third supports are connected to the second driving piece, and the second driving piece can drive the third supports to rotate around a rotation axis relative to the second supports.

132. The unmanned aerial vehicle of claim 131, wherein: the rotation axis of the second driving piece is perpendicular to the rotation axis of the first driving piece.

133. The unmanned aerial vehicle of claim 131, wherein: and the rotation axis of the second driving piece is a course shaft of the holder.

134. The unmanned aerial vehicle of claim 133, wherein: the control element is disposed on the second bracket and adjacent to the second drive member.

135. The unmanned aerial vehicle of claim 131, wherein: the second support includes the supporting part and set up respectively in first linking arm and second linking arm at supporting part both ends, first linking arm reach the second linking arm respectively with be predetermined angle setting between the supporting part.

136. The unmanned aerial vehicle of claim 135, wherein: the second driving piece is arranged on the supporting portion, the control element comprises a first control element, and the first control element is arranged on the supporting portion and is electrically connected with the second driving piece.

137. The unmanned aerial vehicle of claim 136, wherein: the first driving piece is arranged on the first connecting arm, the control element further comprises a second control element connected with the first control element, and the second control element is arranged on the first connecting arm and electrically connected with the first driving piece.

138. The unmanned aerial vehicle of claim 136, wherein: the control element further comprises an auxiliary control connected to the first control element, the auxiliary control being arranged on the second connecting arm.

139. The unmanned aerial vehicle of claim 131, wherein: the transmission piece further comprises a third transmission piece, and the third transmission piece is connected between the second driving piece and the control element.

140. The unmanned aerial vehicle of claim 131, wherein: the transmission piece further comprises a fourth transmission piece, one end of the fourth transmission piece is connected to the control element, the other end of the fourth transmission piece extends from the side portion of the second driving piece along the end face of the second driving piece, and the fourth transmission piece is connected to the electric element on the second support.

141. The unmanned aerial vehicle of claim 140, wherein: and the part of the fourth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

142. The unmanned aerial vehicle of claim 141, wherein: the second driving part is a motor, and the part of the fourth transmission part extending along the end face of the second driving part passes through the rotation axis of the second driving part.

143. The unmanned aerial vehicle of claim 140, wherein: the third support further comprises a connecting piece, the connecting piece is connected to the second driving piece, and the fourth transmission piece extends along the end face of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electric element on the third support.

144. The unmanned aerial vehicle of claim 143, wherein: the third bracket further comprises a bearing piece which is rotatably connected to the connecting piece, and the bearing piece is used for mounting an electronic device.

145. The unmanned aerial vehicle of claim 144, wherein: the electric element further comprises a third driving piece arranged on the connecting piece, the bearing piece is connected to the third driving piece, the third driving piece can drive the bearing piece to rotate around a rotating axis relative to the connecting piece, and the fourth transmission piece is connected to the third driving piece.

146. The unmanned aerial vehicle of claim 145, wherein: the rotation axis of the third driving piece is perpendicular to the rotation axis of the second driving piece.

147. The unmanned aerial vehicle of claim 145, wherein: and the rotating axis of the third driving piece is a transverse rolling shaft of the holder.

148. The unmanned aerial vehicle of claim 145, wherein: the tripod head is a three-axis tripod head, and the rotation axis of the first driving piece, the rotation axis of the second driving piece and the rotation axis of the third driving piece respectively correspond to a pitch shaft, a course shaft and a transverse shaft of the three-axis tripod head.

149. The unmanned aerial vehicle of claim 144, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, and the other end of the fifth transmission piece extends along the same extending path as the fourth transmission piece and then is connected to the electronic device on the bearing piece.

150. The unmanned aerial vehicle of claim 144, wherein: the transmission piece further comprises a fifth transmission piece, one end of the fifth transmission piece is connected to the control element, the other end of the fifth transmission piece extends from the side part of the second driving piece along the end face of the second driving piece, and the fifth transmission piece is connected to the electronic device on the bearing piece.

151. The unmanned aerial vehicle of claim 150, wherein: and the fifth transmission piece extends along the end surface of the second driving piece and then extends along the outer surface of the connecting piece and is connected to the electronic device on the bearing piece.

152. The unmanned aerial vehicle of claim 150, wherein: and the part of the fifth transmission piece, which extends along the end surface of the second driving piece, penetrates through the rotation center of the second driving piece when the third bracket is driven to rotate.

153. The unmanned aerial vehicle of claim 152, wherein: the second driving part is a motor, and the part of the fifth transmission part, which extends along the end face of the second driving part, penetrates through the rotation axis of the second driving part.

154. The unmanned aerial vehicle of claim 152, wherein: the part of the fifth transmission member extending along the connecting member passes through the center of rotation of the carrier member when rotating relative to the connecting member.

155. The unmanned aerial vehicle of claim 131, wherein: the second support comprises a support piece which can be rotatably connected to the mounting piece, the support piece forms a mounting space, and the third support is accommodated in the mounting space.

156. The unmanned aerial vehicle of claim 155, wherein: the support piece is of an n-shaped structure, and the mounting space is defined by the n-shaped structure.

157. The unmanned aerial vehicle of claim 156, wherein: the installed part includes external portion, support piece include the supporting part and set up respectively in the first linking arm and the second linking arm at supporting part both ends, first linking arm reaches the second linking arm respectively with be predetermined angle setting between the supporting part, first linking arm the second linking arm reaches external portion forms jointly installation space.

158. The unmanned aerial vehicle of claim 157, wherein: the second driving piece is connected to the supporting portion, so that the third support is contained in the installation space.

159. The unmanned aerial vehicle of claim 157, wherein: the control element comprises a first control element, a second control element and an auxiliary controller, the first control element is arranged on the supporting portion, the second control element is arranged on the first connecting arm, and the auxiliary controller is arranged on the second connecting arm.

160. The unmanned aerial vehicle of claim 155, wherein: the mounting piece forms an accommodating space, and the supporting piece is rotatably connected to the mounting piece to enable the second bracket to be accommodated in the accommodating space.

161. The unmanned aerial vehicle of claim 160, wherein: the mounting piece is of an n-shaped structure, and the n-shaped structure surrounds the accommodating space.

162. The unmanned aerial vehicle of claim 160, wherein: the control element is accommodated in the accommodating space and is positioned between the mounting piece and the second bracket.

163. The unmanned aerial vehicle of claim 112, wherein: the control element is a control circuit board.

164. The unmanned aerial vehicle of claim 163, wherein: the electric element is a rotating motor, an electronic speed regulator corresponding to the rotating motor is arranged on the control circuit board, and each transmission piece is connected between the rotating motor and the electronic speed regulator corresponding to the rotating motor.

165. The unmanned aerial vehicle of claim 163, wherein: the control element is arranged on the bracket component, and the structure of the control element is adapted to the structure of the bracket component.

166. The unmanned aerial vehicle of claim 119, wherein: the data line or the flexible circuit board is used for transmitting power or data.

167. The unmanned aerial vehicle of claim 112, wherein: the electronic device is any one of the following devices: a video camera, a still camera, a video camera, an infrared camera, or a portable communication device.

168. The unmanned aerial vehicle of claim 112, wherein: the unmanned aerial vehicle also comprises a flight controller and an inertia measurement unit electrically connected with the flight controller, wherein the inertia measurement unit is used for detecting the attitude of the unmanned aerial vehicle so as to allow the flight controller to control the unmanned aerial vehicle to fly according to the attitude.