CN112789218A - Cloud platform, camera carrier and movable platform - Google Patents
Cloud platform, camera carrier and movable platform Download PDFInfo
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- CN112789218A CN112789218A CN202080005473.4A CN202080005473A CN112789218A CN 112789218 A CN112789218 A CN 112789218A CN 202080005473 A CN202080005473 A CN 202080005473A CN 112789218 A CN112789218 A CN 112789218A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
A pan/tilt head (100), a camera carrier (2000) and a movable platform (1000) are provided. Cloud platform (100) is used for movable platform (1000), and cloud platform (100) includes support (10), armshaft (20) and elastic vibration damping piece (30), and support (10) are including base member (11) and connect a plurality of installation portions (12) on base member (11). The shaft arm (20) is used for bearing load, and the shaft arm (20) and the bracket (10) are arranged at intervals. The elastic damping member (30) is connected to the mounting portion (12), and the axis of the elastic damping member (30) is inclined with respect to the plane on which the base body (11) is located. The shaft arm (20) is connected to the plurality of mounting portions (12) via an elastic damper (30).
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a cloud platform, a camera carrier and a movable platform.
Background
The unmanned aerial vehicle is currently applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, movie and television shooting and the like, and the application of the unmanned aerial vehicle is greatly expanded. The crossing machine/unmanned racing machine belongs to a small unmanned aerial vehicle with high racing speed and short endurance time, and is different from a common aerial photographing unmanned aerial vehicle, the highest speed per hour of the crossing machine can reach 120-230 km/h per hour, the unmanned aerial vehicle racing is also called as 'air F1' due to extremely high speed, and the existence of an FPV (first-person perspective) system allows a flier and audiences to watch the flying racing process in real time through the lens of the unmanned aerial vehicle to experience the feeling of sitting in a cockpit. Due to the high maneuverability of the traversing machine, the flyer can record video pictures different from the aerial photography unmanned aerial vehicle by using the traversing machine to carry a camera, and the aerial photography requirements of different users are met.
However, the highest speed per hour of the traversing machine is large, and meanwhile, the traversing machine vibrates relatively violently in the flying process, at present, a load is generally fixedly connected with a machine body of the traversing machine, the load is easily driven to vibrate together when the machine body vibrates, and the load vibrates too violently, so that the normal work of the load is influenced.
Disclosure of Invention
The embodiment of the application provides a cloud platform, a camera carrier and a movable platform.
The cloud platform of the embodiment of the application is used for a movable platform, the cloud platform comprises a support, a shaft arm and an elastic vibration damping piece, and the support comprises a base body and a plurality of installation parts connected to the base body; the shaft arm is used for bearing load, and the shaft arm and the bracket are arranged at intervals; the elastic damping piece is connected to the mounting part, and the axis of the elastic damping piece is inclined relative to the plane of the base body; wherein, the axle arm passes through the elastic vibration damping piece is connected in a plurality of on the installation department.
The camera carrier comprises a holder and a shooting device, wherein the holder comprises a support, a shaft arm and an elastic vibration damping piece, and the support comprises a base body and a plurality of installation parts connected to the base body; the shaft arm is used for bearing load, and the shaft arm and the bracket are arranged at intervals; the elastic damping piece is connected to the mounting part, and the axis of the elastic damping piece is inclined relative to the plane of the base body; the shaft arm is connected to the installation part through the elastic vibration damping part, and the shooting device is installed on the shaft arm.
The movable platform comprises a machine body and a cloud platform, wherein the cloud platform comprises a support, a shaft arm and an elastic vibration damping piece, and the support comprises a base body and a plurality of installation parts connected to the base body; the shaft arm is used for bearing load, and the shaft arm and the bracket are arranged at intervals; the elastic damping piece is connected to the mounting part, and the axis of the elastic damping piece is inclined relative to the plane of the base body; the shaft arm is connected to the mounting portion through the elastic vibration damping member, and the base is mounted on the machine body.
In the cloud platform, the carrier and the movable platform of making a video recording of this application embodiment, connect the armshaft on the support through using elastic vibration damping piece, the axis of elastic vibration damping piece inclines for the plane at base member place simultaneously, make movable platform support and the load of carrying on the armshaft effectively decoupling when removing, the influence of the vibration of having weakened movable platform to the load, it is better to compare in the cloud platform damping effect that does not have elastic vibration damping piece, compare in the cloud platform of elastic vibration damping piece vertical arrangement, the cloud platform of this application embodiment is when movable platform translation and rotation, the coupling between load and the movable platform has compared very big reduction, decoupling rate between movable platform and the load is higher, the load is more stable.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a perspective assembly view of a moveable platform according to an embodiment of the present application;
FIG. 2 is a perspective assembly view of a moveable platform according to an embodiment of the present application;
fig. 3 is a schematic perspective exploded view of the image pickup carrier according to the embodiment of the present application;
fig. 4 is a perspective assembly view of one view angle of the image pickup carrier according to the embodiment of the present application;
fig. 5 is a perspective assembly view of another view angle of the image pickup carrier according to the embodiment of the present application;
fig. 6 is a schematic plan view of the image pickup carrier according to the embodiment of the present application;
FIG. 7 is a graph showing the response of the pan head with the resilient shock absorbing member vertically disposed in the Pitch direction after a step force is applied to the x-axis;
FIG. 8 is a response in the Roll direction after a step force is applied to the y-axis by a pan head with a vertically disposed resilient damping member;
FIG. 9 is a response in the Pitch direction after a step force is applied to the pan/tilt head of an embodiment of the present application on the x-axis;
FIG. 10 is a response in the Roll direction after a step force is applied to the y-axis by the pan/tilt head of an embodiment of the present application;
fig. 11 is a schematic plan view of a pan/tilt head according to an embodiment of the present application;
fig. 12 is a schematic plan view of a pan/tilt head according to an embodiment of the present application;
fig. 13 is a perspective view of an elastic vibration damping member according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numbers in the drawings identify the same or similar elements or elements having the same or similar functionality throughout.
In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only for the purpose of explaining the embodiments of the present application, and are not to be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, a movable platform 1000 according to an embodiment of the present disclosure includes a body 200 and a platform 100. Movable platform 1000 specifically refers to any device capable of moving or rotating. The movable platform 1000 may include, but is not limited to, land mobile, water mobile, air mobile, and other types of motorized vehicles, among others. For illustrative purposes, movable platform 1000 may include passenger vehicles, unmanned aerial vehicles, unmanned boats, etc., and operation of movable platform 1000 may include flying, parading, crawling, etc. In the embodiment of the present application, the movable platform 1000 is exemplified as an unmanned aerial vehicle, for example, the unmanned aerial vehicle is a crossing machine, and it is understood that the movable platform 1000 is not limited to an unmanned aerial vehicle, and may be other.
The unmanned aerial vehicle can be a multi-rotor unmanned aerial vehicle, such as a four-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, an eight-rotor unmanned aerial vehicle, a twelve-rotor unmanned aerial vehicle, and the like. Unmanned aerial vehicles may be used to carry loads to accomplish predetermined tasks, such as carrying imaging devices to take photographs, carrying pesticides, nutrient solutions, and sprinklers to perform plant protection tasks, and the like. Unmanned vehicles can also be used in the fields of miniature self-timer, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, movie and television photography, and the like.
The main body 200 may be used as a mounting carrier for functional components of the movable platform 1000, for example, the cradle head 100, a load, and the like may be mounted outside the main body 200, and a power module, a flight control system, an image transmission device, and the like may be mounted inside the main body 200. The body 200 may provide protection against water, dust, etc. for functional components mounted in the body 200.
The body 200 includes a top wall 210, a bottom wall 220, and a plurality of sidewalls 230 connecting the top wall 210 and the bottom wall 220. The holder 100 includes a base 11, and the base 11 is fixedly mounted on any one of the sidewalls 230. It is understood that the holder 100 is fixedly mounted on any one of the sidewalls 230 through the base 11, for example, the base 11 may be mounted on the front sidewall, the rear sidewall, the left sidewall, and the right sidewall, and is not limited herein.
In the example of the mobile platform 1000 shown in fig. 1 and 2 being an unmanned aerial vehicle, the unmanned aerial vehicle includes a frame 410 and a plurality of rotor assemblies 420, and the frame 410 includes a hub 411 and a plurality of arms 412 connected to the hub 411. The central body 411 may serve as the body 200, and the plurality of arms 412 may be radially disposed around the central body 411. In one example, the arm 412 can be folded and received on the central body 411 for portability, and in another example, the arm 412 can be connected to the central body 411 by a quick release structure to facilitate the user to remove or replace the arm 412.
A plurality of rotor assemblies 420 are mounted to the plurality of horn 412. Specifically, each rotor assembly 420 is mounted on an end of a corresponding horn 412 distal from hub 411. Each rotor assembly 420 includes a motor (not shown) and a propeller (not shown) mounted on the motor, wherein the motor can drive the propeller to rotate and provide lift or pulling force for the unmanned aerial vehicle to fly or hover. Wherein each rotor arrangement 420 can be independently controlled, e.g., opening and closing of each rotor arrangement 420, direction of rotation of each rotor arrangement 420, power output of each rotor arrangement 420, etc. can be independently controlled.
Referring to fig. 3 to 6, an image capturing carrier 2000 according to an embodiment of the present disclosure includes a pan/tilt head 100 and an image capturing device 300. The camera carrier 2000 may be any device having a camera function, and the camera carrier 2000 may include, but is not limited to, a pan-tilt camera, a pan-tilt phone, and a motion camera. In the embodiment of the present application, the camera carrier 2000 is taken as an example of a pan-tilt camera for illustration, and it is understood that the camera carrier 2000 is not limited to the pan-tilt camera, and may be other cameras.
The camera 300 may be used for taking pictures, taking videos, etc., and the camera 300 may be a camera, a mobile phone, a camera, etc. The holder 100 includes an axle arm 20, the shooting device 300 is installed on the axle arm 20, the shooting device 300 can be fixedly connected with a motor on the axle arm 20, the motor drives the shooting device 300 to rotate when rotating, so as to adjust the posture of the shooting device 300 and achieve the purpose of adjusting the shooting angle.
Among them, the camera carrier 2000 may be mounted on the body 200 of the movable platform 1000 through the base 11 to follow the movement of the movable platform 1000 and take a video or a photograph, etc. in real time.
Referring to fig. 3, a pan/tilt head 100 according to an embodiment of the present disclosure includes a support 10, a shaft arm 20, and an elastic damping member 30. The holder 10 includes a base 11 and a plurality of mounting portions 12 connected to the base 11. The shaft arm 20 is used for carrying a load (such as the photographing device 300 in fig. 3), and the shaft arm 20 is spaced apart from the stand 10. The elastic damping member 30 is connected to the mounting portion 12, and the axis of the elastic damping member 30 is inclined with respect to the plane of the base body 11. The shaft arm 20 is connected to the plurality of mounting portions 12 by an elastic damper 30.
In the cradle head 100 according to the embodiment of the application, the elastic vibration damping member 30 is used to connect the shaft arm 20 to the support 10, and meanwhile, the axis of the elastic vibration damping member 30 is inclined relative to the plane where the base 11 is located, so that the support 10 and the load carried on the shaft arm 20 can be effectively decoupled when the movable platform 1000 moves, the influence of the vibration of the movable platform 1000 on the load is weakened, and the damping effect of the cradle head is better compared with that of a cradle head without the elastic vibration damping member 30; compared with a tripod head with the elastic vibration damping members 30 arranged vertically, in the tripod head 100 according to the embodiment of the present invention, when the movable platform 1000 translates and rotates, the coupling between the load and the movable platform is greatly reduced, the decoupling rate between the movable platform 1000 and the load is higher, and the load is more stable.
Specifically, referring to fig. 3, the cradle head 100 includes a support 10, a shaft arm 20, and an elastic damping member 30. The bracket 10 includes a base 11 and a plurality of mounting portions 12 connected to the base 11, and the base 11 may be mounted on the body 200 by means of fasteners or the like, so that the holder 100 can be fixedly mounted on the body 200. For example, the base 11 may be mounted on the body 200 by means of screw connection.
The shaft arm 20 is spaced apart from the bracket 10, and the shaft arm 20 is not directly connected to the bracket 10. The shaft arm 20 can bear a load, the load can be fixedly connected with a motor on the shaft arm 20, and the motor can drive the load to rotate relative to the shaft arm 20 when rotating, so that the load can adjust a working angle in time to better execute a working task. The load may be a camera 300, a sprinkler, a detection device, rescue materials, etc., and the specific form of the load is not limited herein.
The elastic damping member 30 is connected to the mounting portion 12, and the axis of the elastic damping member 30 is inclined with respect to the plane of the base body 11. It will be appreciated that the axis of the elastomeric damping member 30 is not perpendicular to the plane of the substrate 11. The base 11 may be a flat plate, the plane of the base 11 may refer to the plane of the flat plate, and the plane of the base 11 may also refer to the plane of the sidewall 230 of the mounting bracket 10. The shaft arm 20 is connected to the plurality of mounting portions 12 through the elastic vibration damping members 30, the elastic vibration damping members 30 are arranged between the shaft arm 20 and the bracket 10, the elastic vibration damping members 30 connect the shaft arm 20 and the bracket 10, vibration of the bracket 10 is firstly transmitted to the elastic vibration damping members 30 and then transmitted to the shaft arm 20, and the vibration is weakened by the elastic vibration damping members 30 when being transmitted to the elastic vibration damping members 30, so that the vibration transmitted to the shaft arm 20 is weaker. The elastic damping member 30 may be a spring, a damping ball 311, or the like.
The shaft arm 20 is mounted on the support 10 through the elastic vibration damping part 30, so that when the movable platform 1000 moves, the machine body 200 and a load carried on the shaft arm 20 can be effectively decoupled, the influence of the vibration of the machine body 200 on the load can be reduced, and compared with the movable platform 1000 without the elastic vibration damping part 30, the movable platform has the advantages of smaller vibration of the load and better stability.
Further, referring to fig. 3 to 5, the axis of the elastic vibration damping member 30 is inclined with respect to the plane of the base 11, and the load carried on the shaft arm 20 and the movable platform 1000 are less coupled during translation and rotation of the movable platform 1000 compared to a pan-tilt head in which the elastic vibration damping member 30 is vertically connected to the base 11. The decoupling rate of the cradle head 100 according to the embodiment of the present application is about 95%, and meanwhile, the rotation frequency points of each step are lower than the cradle head on the elastic vibration damping member 30 vertically connected to the mounting portion 12, so that the load and the body 200 are not prone to resonance. In addition, the suppression ratio at 250Hz in the Roll angle Roll direction and the Yaw angle Yaw direction, in addition to the Pitch angle Pitch direction, is about 0.2, which provides a great lift compared to a pan/tilt head in which the elastic vibration dampers 30 are vertically connected to the base 11.
The Pitch angle Pitch is an angle of the movable platform 1000 rotating around the y axis, the Roll angle Roll is an angle of the movable platform 1000 rotating around the x axis, and the course angle Yaw is an angle of the movable platform 1000 rotating around the z axis.
In one experiment, the rotation angles of the load in the Pitch direction and the Roll direction and the time to reach the steady state were observed when a step force of 1g gravity was applied at the center of mass of the pan/tilt head 100 according to the embodiment of the present application and the center of mass of the pan/tilt head in which the axis of the elastic vibration absorbing member 30 was perpendicular to the plane in which the base body 11 was placed (hereinafter, referred to as the pan/tilt head in which the elastic vibration absorbing member 30 was vertically arranged), respectively.
Fig. 7 shows a response in the Pitch direction after a step force is applied to the X axis by the pan head in which the elastic vibration damping member 30 is vertically arranged, fig. 8 shows a response in the Roll direction after a step force is applied to the Y axis by the pan head in which the elastic vibration damping member 30 is vertically arranged, fig. 9 shows a response in the Pitch direction after a step force is applied to the X axis by the pan head 100 according to the embodiment of the present invention, and fig. 10 shows a response in the Roll direction after a step force is applied to the Y axis by the pan head 100 according to the embodiment of the present invention.
As can be seen from fig. 7 and 8, the rotational angle of the pan/tilt head with the vertically arranged elastic damping element 30 in the Pitch direction is at most 1.8 °, approximately 1.4s is required for achieving the steady state, and the rotational angle in the Roll direction is at most 0.8 °, approximately 0.8s is required for achieving the steady state. As can be seen from fig. 9 and 10, the rotational angle of the pan/tilt head 100 according to the embodiment of the present application in the Pitch direction is 0.32 ° at maximum, and approximately 0.4s is required to reach the steady state, and the rotational angle in the Roll direction is 0.2 ° at maximum, and approximately 0.3s is required to reach the steady state. It can be seen from experimental data that the pan/tilt head 100 according to the embodiment of the present application has a better damping effect in the Pitch direction and the Roll direction than the pan/tilt head in which the elastic damping member 30 is vertically disposed.
Referring to fig. 3 to 5, in some embodiments, the number of the elastic vibration damping members 30 is multiple, the elastic vibration damping members 30 are located on the same side of the base 11, and the shaft arm 20 is connected to the support 10 through the elastic vibration damping members 30, so that the elastic vibration damping members 30 can reduce the vibration transmitted from the support 10 to the shaft arm 30, thereby enhancing the vibration damping effect of the pan/tilt head 100 on the load, and making the shaft arm 20 and the load on the pan/tilt head 100 more stable.
Specifically, the number of the elastic vibration dampers 30 may be two, three, four, five, six, etc., without limitation. The elastic vibration dampers 30 are all connected to the same side of the base body 11, and the shaft arm 20 is connected to the elastic vibration dampers 30, it being understood that the shaft arm 20 and the elastic vibration dampers 30 are all located on the same side of the base body 11.
More specifically, the base 11 is attached to the body 200 of the movable platform 1000, and a plurality of elastic vibration dampers 30 are attached to a side of the base 11 remote from the body 200 of the movable platform 1000.
In the exemplary embodiment shown in fig. 3 to 5, the number of elastic damping elements 30 is 4, 4 elastic damping elements 30 each being located on the same side of the base body 11, and the axle arm 20 being connected to the mounting 12 via these 4 elastic damping elements 30.
Referring to fig. 3, in some embodiments, the axes of the elastic vibration dampers 30 are inclined at the same angle relative to the plane of the base 11, so that the vibration damping effect of the elastic vibration dampers 30 on the vibration transmitted to the elastic vibration dampers 30 is the same, and the vibration of the load carried on the shaft arm 20 and the vibration of the shaft arm 20 are smaller.
It should be noted that the inclination angles of the axes of the elastic damping members 30 with respect to the plane in which the base 11 is located may be the same, and the axes of two adjacent elastic damping members 30 may be on the same plane, or the axes of two adjacent elastic damping members 30 may not be on the same plane.
Of course, the inclination angles of the axes of the at least two elastic damping members 30 with respect to the plane in which the base body 11 is located may be different, and the damping effects of the elastic damping members 30 with different inclination angles may also be different, so as to decouple the vibrations in different directions. The pan/tilt head 100 in the present embodiment is suitable for being mounted on the movable platform 1000 having a large difference in vibration at each position. In the present embodiment, the inclination angles of the axes of some of the elastic vibration dampers 30 with respect to the plane in which the base 11 is located may be the same, or the inclination angles of the axes of a plurality of elastic vibration dampers 30 with respect to the plane in which the base 11 is located may be different.
With continued reference to fig. 3, in some embodiments, the axes of the plurality of elastomeric dampers 30 are parallel to each other. Specifically, the axes of the elastic vibration dampers 30 are inclined in the same direction and at the same inclination angle with respect to the plane where the base 11 is located, and the axes of the elastic vibration dampers 30 are parallel to each other, so that the pan/tilt head 100 has a good vibration damping effect in the inclination direction of the elastic vibration dampers 30, and is suitable for being mounted on the movable platform 1000 which vibrates strongly in a certain direction during the movement process.
Referring to fig. 3, in some embodiments, the axes of two adjacent elastic damping members 30 are coplanar, or the axes of two adjacent elastic damping members 30 are non-coplanar. Specifically, the axes of two adjacent elastic damping members 30 are on the same plane, and the axes of two adjacent elastic damping members 30 may be parallel or non-parallel; or the axes of two adjacent elastic damping members 30 are in two planes, not in the same plane.
Referring to fig. 3 and 11, in some embodiments, an end 302 of the elastic vibration dampers 30 connected to the shaft arm 20 is closer to the center C of the bracket 10 than an end 301 connected to the mounting portion 12. Specifically, a plurality of elastic vibration dampers 30 are arranged on the base body 11 in a shape of a letter "V-letter". That is, the elastic members 30 are inclined in a direction in which the center of the support 10 is located, and thus the elastic vibration dampers 30 can better balance the weight of the shaft arm 20 and the load on the shaft arm 20, so that the movable platform 1000 can better damp the load on the shaft arm 20 and the load on the shaft arm 20 when moving.
Referring to fig. 3 and 12, in some embodiments, an end 302 of the elastic vibration dampers 30 connected to the shaft arm 20 is farther from the center C of the bracket 10 than an end 301 connected to the mounting portion 12. Specifically, the plurality of elastic vibration dampers 30 are arranged in a "toed-out" shape on the base 11, that is, the plurality of elastic dampers 30 are inclined in a direction away from the center C of the bracket 10. Because movable platform 1000 is when rotating, the direction of the centrifugal force that cloud platform 100 received is the direction that extends to all around by center C of support 10, from this, movable platform 1000 is when rotating, and elastic vibration damping member 30 can weaken the vibration on the load that is transmitted to axle arm 20 and carried by fuselage 200 better, make movable platform 1000 rotate time axle arm 20 and carry on the load on the axle arm 20 can be in more stable state, make the load carry out the work task better, for example shoot more clear picture or image, spray insecticide more accurate.
Referring to fig. 3, in some embodiments, the end of at least one of the elastic vibration dampers 30 connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12; and one end of the at least one elastic vibration absorbing member 30 connected to the shaft arm 20 is farther from the center of the bracket 10 than the end connected to the mounting portion 12. Specifically, a part of the plurality of elastic vibration dampers 30 is inclined toward the center of the bracket 10, and the other part of the elastic vibration dampers 30 is inclined away from the center of the bracket 10. Therefore, when the movable platform 1000 translates and rotates, the elastic vibration damping members 30 can attenuate the vibration transmitted from the main body 200 to the shaft arm 20 and the load on the shaft arm 20, so that the load on the shaft arm 20 and the load on the shaft arm 20 can be in a stable state when the main body 200 vibrates.
Among them, the number of the elastic vibration dampers 30, which are connected to the shaft arm 20 at one end thereof closer to the center of the bracket 10 than at the end connected to the mounting portion 12, may be one, two, three, etc.
Referring to fig. 3, in some embodiments, the end of at least one of the elastic vibration dampers 30 connected to the shaft arm 20 is closer to the center of the bracket 10 than the end connected to the mounting portion 12; or the end of the at least one elastic vibration damper 30 connected to the shaft arm 20 is farther from the center of the bracket 10 than the end connected to the mounting portion 12. Therefore, when the movable platform 1000 translates and rotates, the elastic vibration damping members 30 can at least partially damp vibration, so that the load carried on the shaft arm 20 can be in a relatively stable state.
Wherein, the number of the elastic vibration dampers 30, which are connected to the shaft arm 20 at one end thereof closer to the center of the bracket 10 than the end connected to the mounting portion 12, may be one, two, three, etc.; the number of the elastic vibration dampers 30, which are farther from the center of the bracket 10 than the end connected to the mounting portion 12 at the end connected to the shaft arm 20, may be one, two, three, etc.
Referring to fig. 3, in some embodiments, the plurality of elastomeric damping members 30 are symmetrically distributed about a plane. For example, the elastic damper 30 attached above the base body 11 and the elastic damper 30 attached below the base body 11 are symmetrical with respect to a plane in the horizontal direction at the center of the base body 11; for another example, the elastic vibration damper 30 attached to the left side of the base body 11 and the elastic vibration damper 30 attached to the right side are symmetrical with respect to a plane in the vertical direction at the center of the base body 11. Therefore, the elastic vibration dampers 30 on the two sides of the plane can balance the vibration transmitted to the elastic vibration dampers 30 on the two sides, so that the load mounted on the shaft arm 20 is not easy to vibrate during the moving process of the movable platform 1000, and the cradle head 100 can play a better vibration damping role.
Further, in some embodiments, the plurality of elastic vibration dampers 30 are arranged in a central symmetry with respect to the center of the bracket 10, for example, the elastic vibration damper 30 connected to the upper left of the base 11 and the elastic vibration damper 30 connected to the lower right are arranged in a central symmetry with respect to the center of the bracket 10; the elastic damper 30 connected to the lower left of the base 11 and the elastic damper 30 connected to the upper right are symmetrical with respect to the center of the bracket 10. In this way, the plurality of elastic vibration dampers 30 can better reduce the vibration transmitted from the main body 200 to the shaft arm 20, reduce the coupling ratio between the load and the main body 200, and reduce the influence of the vibration of the main body 200 on the shaft arm 20 and the load carried by the shaft arm 20 when the movable platform 1000 moves.
Referring to fig. 13, in some embodiments, the elastic damping member 30 includes a damping portion 31, a first connecting portion 32 and a second connecting portion 33, wherein the damping portion 31 is configured to elastically deform under pressure; the first connecting portion 32 is connected to one end of the vibration damping portion 31, the first connecting portion 32 is connected to one of the mounting portion 12 and the shaft arm 20, the second connecting portion 33 is connected to the other end of the vibration damping portion 31, and the second connecting portion 33 is connected to the other of the mounting portion 12 and the shaft arm 20. Therefore, the vibration of the body 200 is transmitted to the elastic vibration damping member 30, and the vibration damping portion 31 can be elastically deformed when receiving the vibration of the body 200, so that the vibration transmitted to the shaft arm 20 is small, and the load on the shaft arm 20 and the shaft arm 20 can be relatively stable when the body 200 vibrates.
Specifically, the vibration damping portion 31 may be a spring, a vibration damping ball 311, or other elements, the elastic vibration damping member 30 includes a first connecting portion 32, a vibration damping portion 31, and a second connecting portion 33, which are connected in sequence, and the elastic vibration damping member 30 is installed between the bracket 10 and the shaft arm 20 through the first connecting portion 32 and the second connecting portion 33, so that the vibration of the body 200 will drive the bracket 10 to vibrate together, the vibration will be attenuated when being transmitted to the elastic vibration damping member 30, and the vibration reaching the shaft arm 20 is small.
In some embodiments, the damping portion 31, the first connecting portion 32 and the second connecting portion 33 are integrally formed, that is, the damping portion 31, the first connecting portion 32 and the second connecting portion 33 are different parts of the same component, rather than being separate components, so that the elastic damping member 30 is more stable and the damping portion 31, the first connecting portion 32 and the second connecting portion 33 are not easily separated from each other when the body 200 vibrates.
In some embodiments, the vibration damping portion 31, the first connecting portion 32 and the second connecting portion 33 are made of soft materials, so that the vibration damping portion 31, the first connecting portion 32 and the second connecting portion 33 have strong elasticity, and when vibration is transmitted to the elastic vibration damping member 30, the elastic vibration damping member 30 can better damp the vibration, so that the vibration transmitted to the shaft arm 20 is smaller. The damping portion 31, the first connecting portion 32 and the second connecting portion 33 may be made of rubber, plastic, or silicone.
Of course, the vibration damping portion 31 may be made of a soft material, and the first connecting portion 32 and the second connecting portion 33 may be made of a hard material.
Referring to fig. 13, in some embodiments, the damping portion 31 includes a damping ball 311, the damping ball 311 is drum-shaped, and the damping ball 311 is preferably elastically deformed when being pressed, and has a larger force-bearing area to reduce vibration, so that the vibration of the load transmitted to the axle arm 20 and the axle arm 20 is smaller.
Further, the number of the vibration damping balls 311 is plural, and the plural vibration damping balls 311 are connected in series. The number of the damping balls 311 may be two, three, four, five, etc., and meanwhile, the damping balls 311 are sequentially connected in series between the first connecting portion 32 and the second connecting portion 33, so that the vibration of the body 200 can be attenuated by the damping balls 311 when transmitted in the damping portion 31, and finally the vibration transmitted to the shaft arm 20 is small, and meanwhile, the vibration frequency reaching the shaft arm 20 can be reduced, so that the shaft arm 20 and the body 200 are not easy to resonate, and a load carried on the shaft arm 20 can keep good stability when the body 200 vibrates. The damping ball 31 may be a solid structure or a hollow structure.
Referring to fig. 3, 4 and 13, in some embodiments, the mounting portion 12 includes a mounting post 121, the shaft arm 20 includes a body 21 and a fixing plate 22 connected to each other, the fixing plate 22 has a fixing hole 221, the first connecting portion 32 has a connecting hole 321, the mounting post 121 is inserted into the connecting hole 321, and the second connecting portion 33 is inserted into the fixing hole 221, so that the elastic vibration damping member 30 can be more stably mounted between the bracket 10 and the shaft arm 20, and is not easily separated from the bracket 10 and/or the shaft arm 20 when the body 200 vibrates, thereby achieving a vibration damping effect.
Specifically, the mounting post 121 is inserted into the connecting hole 321 such that the first connecting portion 32 is connected to the mounting portion 12, the shaft arm 20 includes a body 21 and a fixing plate 22 connected to each other, the load can be carried on the body 21, and the second connecting portion 33 passes through the fixing hole 221 of the fixing plate 22 such that the second connecting portion 33 is connected to the fixing plate 22. The mounting post 121 may have a cylindrical shape, a prismatic shape, etc., the connection hole 321 may have a circular shape, a polygonal shape, an irregular shape, etc., and the mounting post 121 may have a shape similar to or identical to that of the connection hole 321.
Further, in some embodiments, the size of the end of the mounting post 121 is larger than the size of the middle portion, the middle portion of the mounting portion 12 is inserted into the connecting hole 321, and the end of the mounting post 121 is clamped with the first connecting portion 32, so that the connection between the first connecting portion 32 and the mounting post 121 is more stable, and the first connecting portion 32 is not easily detached from the mounting post 121 when the body 200 of the movable platform 1000 vibrates violently.
Wherein, the size of the middle part of the mounting column 121 is smaller than or equal to the size of the connecting hole 321, so that the middle part of the mounting column 121 can penetrate into the connecting hole 321. The size of the end of the mounting post 121 is larger than the size of the connecting hole 321, the connecting hole 321 is opened and the size is increased when the mounting post 121 passes through the connecting hole 321, and after the mounting post 121 passes through the connecting hole 321, the connecting hole 321 returns to the natural size, so that the end of the mounting post 121 can clamp the first connecting portion 32, and thus the first connecting portion 32 is not easily separated from the mounting post 121.
Referring to fig. 3, 4 and 13, in some embodiments, the second connecting portion 33 includes a locking block 331, the locking block 331 has a size larger than that of the fixing hole 221, and the fixing plate 22 is clamped between the locking block 331 and the vibration damping portion 31. The locking piece 331 is pressed and reduced in size while passing through the fixing hole 221, and after the locking piece 331 passes through the fixing hole 221, the locking piece 331 is restored to the size of the natural state, whereby the second connecting portion 33 is stably connected to the fixing plate 22, and the second connecting portion 33 is not easily detached from the mounting post 121 even when the body 200 of the movable platform 1000 vibrates violently.
Referring to fig. 3, 5 and 13, in some embodiments, the mounting portion 12 includes a mounting block 122, the mounting block 122 has a mounting hole 1221, the shaft arm 20 includes a body 21 and a fixing column 23 connected to each other, the first connecting portion 32 has a connecting hole 321, the fixing column 23 is inserted into the connecting hole 321, and the second connecting portion 33 is inserted into the mounting hole 1221, so that the elastic vibration damping member 30 can be stably connected between the bracket 10 and the shaft arm 20, the elastic vibration damping member 30 can perform a good vibration damping effect, and the stability of loads on the shaft arm 20 and the shaft arm 20 is improved.
Specifically, the fixing column 23 is connected to the body 21, a load can be carried on the body 21, the fixing column 23 is arranged in the connecting hole 321 in a penetrating mode, the first connecting portion 32 is connected to the fixing column 23, meanwhile, the second connecting portion 33 is arranged in the mounting hole 1221 in a penetrating mode, the second connecting portion 33 is fixedly connected to the mounting block 122, and therefore the elastic vibration damping piece 30 is connected between the support 10 and the shaft arm 20, and vibration transmitted to the shaft arm 20 through the support 10 can be weakened well.
Further, the size of the end of the fixed column 23 is larger than that of the middle portion, the middle portion of the fixed column 23 penetrates through the connecting hole 321, and the end of the fixed column 23 clamps the first connecting portion 32, so that when the body 200 of the movable platform 1000 vibrates violently, the first connecting portion 32 cannot be separated from the fixed column 23, the elastic vibration damping member 30 cannot be separated from the shaft arm 20, and the shaft arm 20 and the load carried on the shaft arm 20 work more stably.
Further, the size of the middle portion of the fixing post 23 is smaller than that of the connection hole 321, so that the fixing post 23 can be inserted into the connection hole 321. Meanwhile, the size of the end of the fixing column 23 is larger than that of the connecting hole 321, the connecting hole 321 is expanded and the size is increased when the fixing column 23 passes through the connecting hole 321, and after the fixing column 23 passes through the connecting hole 321, the connecting hole 321 is restored to the size of the natural state, so that the end of the fixing column 23 can clamp the first connecting portion 32, the first connecting portion 32 is prevented from being separated from the fixing column 23, and the connection between the elastic vibration damping member 30 and the shaft arm 20 is more stable.
In some embodiments, the second connecting portion 33 includes a locking piece 331, the locking piece 331 has a size larger than that of the mounting hole 1221, and the mounting hole 1221 is sandwiched between the locking piece 331 and the vibration attenuating portion 31. The clamping block 331 is extruded and has a small size in the process of passing through the mounting hole 1221, and after the clamping block 331 passes through the mounting hole 1221, the clamping block 331 returns to the size of the natural form, so that the second connecting part 33 is fixedly connected to the mounting block 122, the elastic vibration damper 30 is fixedly connected to the support 10, and when the body 200 of the movable platform 1000 vibrates violently, the elastic vibration damper 30 is not easy to separate from the support 10.
In the embodiment shown in fig. 3 to 5, two mounting posts 121 and two mounting blocks 122 are connected to the base 11, the shaft arm 20 includes a body 21, and two fixing plates 22 and two fixing posts 23 connected to the body 21, the number of the elastic vibration dampers 30 is four, the mounting posts 121 and the second connecting portions 33 are connected to the fixing plates 22 through the first connecting portions 32 of the two elastic vibration dampers 30, the fixing posts 23 and the second connecting portions 33 of the other two elastic vibration dampers 30 are connected to the mounting blocks 122, and the shaft arm 20 is connected to the bracket 10.
Referring to fig. 13, in some embodiments, the second connecting portion 33 further includes a guiding post 332, the guiding post 332 and the damping portion 31 are respectively located on two opposite sides of the clamping block 331, and the cross-sectional dimension of the guiding post 332 is gradually reduced along a direction from the damping portion 31 to the clamping block 331, so that the guiding post 332 is more easily inserted into the mounting hole 1221 and the fixing hole 221, and the guiding post 332 can guide the clamping block 331 to pass through the mounting hole 1221 and the fixing hole 221.
Specifically, the damping portion 31 is located on a side of the second connecting portion 33 close to the first connecting portion 32, the guiding post 332 is located on a side of the second connecting portion 33 away from the damping portion 31, a cross-sectional dimension of the guiding post 332 is gradually reduced along a direction in which the damping portion 31 points to the locking block 331, when the guiding post 332 passes through the installation hole 1221 and the fixing hole 221, a small end of the guiding post 332 firstly passes through the installation hole 1221 and the fixing hole 221, and the locking block 331 can be guided to pass through the installation hole 1221 and the fixing hole 221 smoothly.
Referring to fig. 3, in some embodiments, the base 11 is provided with an avoiding hole 111, and the load at least partially extends into the avoiding hole 111, so that the load does not collide with the base 11 when rotating relative to the shaft arm 20, and the load is prevented from being limited by the base 11 by a rotation angle, so that the rotation amplitude of the load can be larger, and the work task can be better performed.
In one embodiment, the load is the camera 300, and the camera 300 can at least partially extend into the access hole 111, so that the camera carrier 2000 can take a video or a picture at more angles.
Further, when the movable platform 1000 is an unmanned aerial vehicle, the cradle head 100 is installed on the central body 411 of the unmanned aerial vehicle, the load on the cradle head 100 is the shooting device 300, and the shooting device 300 is connected with the control system of the unmanned aerial vehicle. When the unmanned aerial vehicle automatically climbs upwards, the control system can drive the shooting device 300 to face upwards through the rotation of the motor of the control shaft arm 20, and detect whether an obstacle exists above the shooting device; when the unmanned aerial vehicle automatically lands, the control system can rotate through the motor of the control shaft arm 20, drive the shooting device 300 to face downwards, and detect whether there is an obstacle below, so that the safety of the unmanned aerial vehicle during automatic return voyage can be ensured to a certain extent. Meanwhile, the photographing device 300 may further be combined with a control system to perform collision warning, for example, when a sensor on the unmanned aerial vehicle or the photographing device 300 senses that there is a collision risk, the control system rotates the photographing device 300 to a safe angle by controlling the rotation of the motor of the shaft arm 20, so as to prevent the photographing device 300 from being damaged due to direct collision.
In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "a plurality" means at least two, e.g., two, three, unless specifically limited otherwise.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations of the above embodiments may be made by those of ordinary skill in the art within the scope of the present application, which is defined by the claims and their equivalents.
Claims (27)
1. A head for a movable platform, characterized in that it comprises:
the bracket comprises a base body and a plurality of mounting parts connected to the base body;
the shaft arm is used for bearing load, and the shaft arm and the bracket are arranged at intervals; and
the elastic vibration damping piece is connected to the mounting part, and the axis of the elastic vibration damping piece is inclined relative to the plane of the base body;
wherein, the axle arm passes through the elastic vibration damping piece is connected in a plurality of on the installation department.
2. A head according to claim 1, wherein said elastic damping members are provided in a plurality, said elastic damping members being located on the same side of said base body.
3. A head according to claim 2, wherein the axes of said elastic damping members are inclined at the same angle with respect to the plane in which said base body lies; or
The inclination angles of the axes of at least two elastic connecting pieces relative to the plane of the base body are different.
4. A head according to claim 2, wherein the axes of said elastic damping members are parallel two by two.
5. A head according to claim 2, wherein the axes of two adjacent elastic damping members are disposed coplanar; or
The axes of two adjacent elastic vibration damping parts are distributed in a different surface mode.
6. A head according to claim 2, wherein the axes of two adjacent elastic damping members are inclined at the same angle with respect to the plane in which said base body lies; or
There are two adjacent elastic damping members having axes which are inclined at different angles relative to the plane of the base.
7. A head according to any one of claims 2 to 6, wherein the ends of said plurality of resilient shock absorbing members connected to said arm are closer to the centre of said cradle than the ends connected to said mounting portion; or
And one end of each elastic vibration damping piece connected with the shaft arm is farther away from the center of the support than the end connected with the mounting part.
8. A head according to any one of claims 2 to 6, wherein at least one end of said resilient damping member which is connected to said arm is located closer to the centre of said cradle than the end which is connected to said mounting portion; and/or
At least one end of the elastic vibration damping piece connected with the shaft arm is farther away from the center of the bracket than the end connected with the mounting part.
9. A head according to any one of claims 2 to 6, wherein a plurality of said elastic damping members are symmetrically distributed with respect to a plane; or
The elastic vibration damping parts are distributed in a central symmetry mode relative to the center of the support.
10. A head according to claim 1, wherein said elastic damping member comprises:
the damping part is used for generating elastic deformation under the action of pressure;
the first connecting part is connected to one end of the vibration damping part and is connected with one of the mounting part and the shaft arm; and
and the second connecting part is connected to the other end of the vibration damping part, and is connected with the mounting part and the other one of the shaft arms.
11. A head according to claim 10, wherein said vibration attenuating portion, said first connecting portion and said second connecting portion are of unitary construction.
12. A head according to claim 10, wherein said vibration attenuating portion, said first connecting portion and said second connecting portion are made of a soft material.
13. A head according to claim 10, wherein said damping portion comprises a damping ball, said damping ball being drum-shaped.
14. A head according to claim 13, wherein said damping balls are provided in a plurality, said damping balls being connected in series.
15. A holder according to claim 10, wherein said mounting portion comprises a mounting post, said arm comprises a body and a fixed plate connected to each other, said fixed plate being provided with a fixing hole;
the first connecting part is provided with a connecting hole, and the mounting column is arranged in the connecting hole in a penetrating manner; the second connecting portion penetrates through the fixing hole.
16. A head according to claim 15, wherein the dimensions of the end portions of said mounting columns are greater than the dimensions of the intermediate portions thereof, said intermediate portions of said mounting columns being arranged through said connecting holes, the end portions of said mounting columns retaining said first connecting portions.
17. A head according to claim 15, wherein said second connecting portion comprises a block having a size greater than that of said fixing hole, said fixing plate being clamped between said block and said damping portion.
18. A holder according to claim 10, wherein said mounting portion comprises a mounting block, said mounting block being provided with a mounting hole, said axial arm comprising a body and a fixed column connected to each other;
the first connecting part is provided with a connecting hole, and the fixing column is arranged in the connecting hole in a penetrating manner; the second connecting portion penetrates through the mounting hole.
19. A head according to claim 18, wherein the end portion of said fixed column has a size greater than that of the intermediate portion thereof, said intermediate portion of said fixed column being inserted in said connecting hole, said end portion of said fixed column retaining said first connection portion.
20. A head according to claim 18, wherein said second connecting portion comprises a block having a size greater than that of said mounting hole, said mounting block being sandwiched between said block and said damping portion.
21. A head according to claim 17 or 20, wherein said second connecting portion further comprises guide posts, said posts and said vibration-reducing portions being located respectively on opposite sides of said block, said posts having a cross-sectional dimension which decreases progressively in a direction in which said vibration-reducing portions are directed towards said block.
22. A camera carrier, characterized in that the camera carrier comprises:
a head according to any one of claims 1 to 21; and
a camera mounted on the shaft arm.
23. The camera carrier according to claim 22, wherein the base has an avoiding hole, and the camera device at least partially extends into the avoiding hole.
24. A movable platform, comprising:
a body; and
a head according to any one of claims 1 to 21, wherein said base is mounted on said body.
25. The movable platform of claim 24, wherein the body comprises a top wall, a bottom wall, and a plurality of side walls connecting the top wall and the bottom wall, the base being fixedly mounted to any one of the side walls.
26. The movable platform of claim 24, further comprising a camera mounted on the axle arm.
27. The movable platform of claim 24, wherein the movable platform is an unmanned aerial vehicle comprising:
a frame including a central body and a plurality of arms coupled to the central body; and
a plurality of rotor devices respectively mounted on the plurality of horn; each rotor wing device comprises a motor and a propeller arranged on the motor;
wherein the base is mounted on the central body.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/096597 WO2021253287A1 (en) | 2020-06-17 | 2020-06-17 | Pan-tilt, camera carrier and movable platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112789218A true CN112789218A (en) | 2021-05-11 |
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| CN202080005473.4A Pending CN112789218A (en) | 2020-06-17 | 2020-06-17 | Cloud platform, camera carrier and movable platform |
Country Status (2)
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|---|---|
| CN (1) | CN112789218A (en) |
| WO (1) | WO2021253287A1 (en) |
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| CN113148162A (en) * | 2021-05-12 | 2021-07-23 | 黄河水利职业技术学院 | Many rotor unmanned aerial vehicle mapping device |
| WO2023178477A1 (en) * | 2022-03-21 | 2023-09-28 | 深圳市大疆创新科技有限公司 | Vibration reduction structure, gimbal system, and movable platform |
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