CN113264197A

CN113264197A - Shoot device support, shoot device and unmanned aerial vehicle

Info

Publication number: CN113264197A
Application number: CN202110624554.9A
Authority: CN
Inventors: 张正力
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2021-08-17
Also published as: WO2022252692A1

Abstract

The embodiment of the invention relates to the technical field of cloud platforms, in particular to a shooting device support, a shooting device and an unmanned aerial vehicle. This shooting device support includes: a rotatable bracket body extending to form a connection portion; a mounting assembly providing at least one mounting location; the mounting assembly is mounted on the bracket body through the connecting part and can rotate around a first axis, a second axis and a third axis; the mounting position is arranged at one end of the rotating assembly and can rotate around a fourth axis. The shooting device bracket has more rotational degrees of freedom on the basis of keeping the stable function of the shooting device brackets such as the original cradle head and the like, and can provide more abundant special shooting modes for users, such as vertical shooting, horizontal shooting online switching, rolling shooting, inclined shooting and the like.

Description

Shoot device support, shoot device and unmanned aerial vehicle

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of cloud platforms, in particular to a shooting device support, a shooting device and an unmanned aerial vehicle.

[ background of the invention ]

Image capturing devices such as video cameras and still cameras are used in applications such as high-speed motion. The image capturing device is usually mounted and fixed on a pan/tilt head or a supporting device with similar functions, so as to meet the requirements of ensuring the stability of the shot picture, providing a sufficiently wide monitoring range, and the like.

For example, three-axis pan-tilt heads are used in large numbers in unmanned aerial vehicles. The three-dimensional camera can independently rotate around three mutually perpendicular rotating shafts (such as an x axis, a y axis and a z axis in a three-dimensional coordinate system), and provides abundant shooting angles and shooting modes for users to select.

However, with the continuous development of electronic information technology, it is still expected to provide more shooting freedom than the conventional three-axis pan-tilt so as to meet the requirement of more abundant special shooting.

[ summary of the invention ]

The embodiment of the invention aims to provide a shooting device support, a shooting device and an unmanned aerial vehicle, which can overcome the defects of the existing three-axis holder.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a camera support. This shooting device support includes:

a rotatable bracket body extending to form a connection portion;

a mounting assembly providing at least one mounting location; the mounting assembly is mounted on the bracket body through the connecting part and can rotate around a first axis, a second axis and a third axis;

the mounting position is arranged at one end of the rotating assembly and can rotate around a fourth axis.

Optionally, the rotating assembly comprises: the fixing part and the rotating part are movably connected with the fixing part;

the fixed part is rigidly connected with the mounting assembly, and the rotating part can rotate around the fourth axis relative to the fixed part;

the mounting position is arranged at a first end away from the fixed part.

Optionally, the rotating part is connected with the fixed part in a rotating way;

a second end of the rotating part, which is separated from the first end, extends outwards to form a rotating shaft;

the fixed part is provided with a shaft hole matched with the rotating shaft;

the rotating shaft is accommodated in the shaft hole so that the rotating portion rotates around the rotating shaft.

the fixed part extends outwards to form a rotating shaft;

a second end of the rotating part, which is away from the first end, is provided with a shaft hole matched with the rotating shaft;

Optionally, the first rotating assembly further comprises: a plurality of position limiting devices;

the limiting device is arranged between the fixed part and the rotating part, and limits the rotating part to rotate relative to the fixed part at one or more limit positions, so that the rotating part can rotate within a preset rotating angle range.

Optionally, the preset rotation angle range is greater than (-360 °, +360 °);

wherein the rotating portion rotates clockwise about the fourth axis to be positive and the rotating portion rotates counterclockwise about the fourth axis to be negative.

Optionally, the stop device comprises:

the movable limiting parts are sleeved on the rotating shaft and can rotate relative to the rotating shaft; the movable limiting part is provided with a convex part extending outwards;

the convex part can be abutted against the convex part of the adjacent movable limiting part in at least one part of the rotating process of the movable limiting part so as to drive the adjacent movable limiting part to rotate;

the guide component is coupled with the rotating part and rotates along with the rotation of the rotating part, and the guide component can be abutted against the convex part of the first movable limiting component in at least one part of rotating process so as to drive the first movable limiting component to rotate;

the limiting component is coupled with the fixed part and can be abutted against the bulge part of the second movable limiting component in at least one part of the rotating process of the rotating part so as to limit the rotation of the second movable limiting component;

the first movable limiting part is a movable limiting part adjacent to the guide part, and the second movable limiting part is a movable limiting part adjacent to the limiting part.

Optionally, a through hole adapted to the rotating shaft is formed in the movable limiting part to allow the rotary rod to pass through the movable limiting part;

the convex part is as follows: a first stopper extending outwardly from an outer periphery of the movable stopper;

the first stop block has an axial length larger than that of the movable limiting parts, so that the protruding parts between the adjacent movable limiting parts respectively have at least partially overlapped projections on an axial plane and a radial plane;

the axial plane is a projection plane in the axial direction of the rotating shaft, and the radial plane is a projection plane in the diameter direction of the rotating shaft; the axial length is a projected length in the axial direction.

Optionally, the guide member comprises: the second stop block is arranged at the rotating part and positioned at the first end of the rotating shaft;

the second stop block has a size matched with the protruding part, and the second stop block is overlapped with at least one part of the protruding part of the first movable limiting part in a projection manner on the axial plane and the radial plane;

the restricting member includes: the third stop block is arranged at the fixed part and positioned at the second end of the rotating shaft;

the third stop block has a size matched with the protruding part, and at least a part of the protruding part of the second movable limiting part is projected and overlapped on the axial plane and the radial plane.

Optionally, the limiting means comprises at least two third stops forming at least two different extreme positions;

in the limit position, the third stop block is abutted with the second movable limiting part, the second movable limiting part is abutted with the adjacent movable limiting part, and the first movable limiting part is abutted with the guide part so as to limit the guide part to rotate.

Optionally, the stent body comprises: a first bracket, a second bracket and a third bracket;

the second bracket is rotatably connected with the first bracket and can rotate around a first axis relative to the first bracket;

the third bracket is rotatably connected with the second bracket and can rotate around a second axis relative to the second bracket;

the third bracket extends to form the connecting part; the mounting assembly is fixedly mounted to the third bracket via the connecting portion and is rotatable about a third axis relative to the third bracket.

Optionally, the connecting portion includes: the first supporting wall and the second supporting wall are oppositely arranged along the third axis direction;

the mounting assembly is mounted between the first support arm and the second support arm and is rotatable about the third axis of rotation.

Optionally, the limiting assembly further comprises: a drive device;

the driving device is arranged between the rotating part and the fixing part and used for driving the rotating part to rotate around a fourth axis relative to the fixing part.

In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a photographing apparatus. The photographing apparatus includes:

the camera mount as described above; the image acquisition equipment is installed and fixed on the installation position of the shooting device support and can independently rotate around the first axis, the second axis, the third axis and the fourth axis.

In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle.

This unmanned aerial vehicle includes:

the aircraft comprises an aircraft body, wherein a plurality of propellers are arranged on the aircraft body; the motor is arranged on the unmanned aerial vehicle body and used for driving the propeller to rotate and providing flight power for the unmanned aerial vehicle; the shooting device is arranged on the machine body and used for collecting images.

The shooting device bracket provided by the embodiment of the invention can further rotate around a fourth different rotating shaft through reasonable structural design on the basis of independent rotation of three shafts. On the basis of keeping the stable functions of the original tripod head and other shooting device supports, richer special shooting modes can be provided for users, such as vertical shooting, horizontal shooting online switching, rolling shooting, inclined shooting and the like.

[ description of the drawings ]

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural diagram of a camera stand according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a stent body according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a mounting assembly provided in an embodiment of the present invention;

FIG. 4 is a block diagram of a rotating assembly according to an embodiment of the present invention;

FIG. 5 is an exploded view of the rotary assembly according to the embodiment of the present invention;

FIG. 6 is an exploded view of a mounting assembly according to an embodiment of the present invention;

fig. 7 is an exploded schematic view of a position limiting device according to an embodiment of the present invention;

fig. 8a is a schematic diagram illustrating a limiting principle of the limiting device according to the embodiment of the present invention;

FIG. 8b is a schematic view of the position limiting device of the present invention moving to the first limit position;

FIG. 8c is a schematic view of the limiting device of the present invention moving to a second limit position;

fig. 9 is a schematic structural diagram of a shooting device according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a photographing apparatus according to an embodiment of the present invention performing different photographing operations.

[ detailed description ] embodiments

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. 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 an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

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 "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 is a schematic structural diagram of a camera stand according to an embodiment of the present invention. As shown in fig. 1, the photographing device stand 10 mainly includes a rotatable stand body 100 and a mounting assembly 200.

The holder body 100 is a main structure of the camera holder 10, and may have a plurality of rotational degrees of freedom in different axial directions, so that the mounting assembly 200 may rotate around a plurality of different axes, thereby achieving the effects of keeping the camera stable, adjusting the camera angle, and the like.

In some embodiments, the holder body 100 may employ a typical three-axis pan-tilt head, allowing the mounting assembly to rotate about the x-axis, y-axis, and z-axis, respectively, in a rectangular coordinate system.

In the present embodiment, for the sake of simplicity of presentation, the z-axis, the y-axis, and the x-axis are referred to as "first axis", "second axis", and "third axis", respectively. It will be understood by those skilled in the art that the terms "first", "second", etc. are used only to distinguish different shafts and are not used to define a particular axis. The order of the axes or the axes specified may be arbitrarily replaced with respect to each other.

The detailed implementation of the "three-axis pan/tilt head" is described below by taking the support body 100 shown in fig. 1 and 2 as an example, so as to fully explain the implementation manner and the operation principle of the support body 100.

As shown in fig. 2, the bracket body 100 may be substantially composed of a first bracket 110, a second bracket 120, and a third bracket 130.

Wherein a portion of the first support 110 is mounted to a component of a base of the support device (e.g., a fuselage of the drone). The second holder 120 is rotatably connected to the first holder 110, and is rotatable about the z-axis with respect to the first holder 110.

Next, the third holder 130 is also rotatably connected to the second holder 120 so that the third holder 130 can rotate about the axis of the y-axis with respect to the second holder 120.

Finally, third bracket 130 also provides the relevant structural components for mounting stationary mounting assembly 200 such that mounting assembly 200 may be rotated about the x-axis with respect to third bracket 130.

In the present embodiment, a structural portion related to the mounting and fixing of the mounting member 200 to the bracket body 100 is referred to as a "connecting portion". The connecting portion 140 may be any suitable type of structure, and it is only necessary that the mounting assembly 200 be stably mounted on the bracket body 100.

For example, the connection portion 140 may have a double-arm hoop structure as shown in fig. 2. The connecting portion 140 includes a first supporting arm 141 and a second supporting arm 142 formed by extending the third bracket 130 outward.

The first support arm 141 and the second support arm 142 are disposed along the direction of the third rotation axis, and the mounting assembly 200 can be mounted and fixed between the first support arm 141 and the second support arm 142 and can rotate around the x-axis.

It should be noted that the stent body shown in fig. 1 is only used for illustrating the stent body 100 capable of rotating around the z-axis, the y-axis and the x-axis, and is not used for limiting the specific implementation of the stent body 100. Those skilled in the art may also make adjustments, substitutions or omissions to one or more of the structural components in the stent body shown in fig. 1 to achieve similar technical results.

For example, one of the support arms of the connecting portion 140 may be omitted, a single support arm may be used to fix the mounting assembly 200 to the end of the support arm, or the rotation axes "z-axis", "y-axis" and "x-axis" of the first, second and

third brackets

110, 120 and 130 may be selected to be adjusted, replaced or changed in sequence.

The mounting assembly 200 is a camera mount for mounting and securing components of a camera. In other words, a photographing device (e.g., a video camera, a motion camera, etc.) for acquiring image information is mounted and fixed on the mounting assembly 200.

In the present embodiment, as shown in fig. 3, the mounting assembly 200 is used to house and fix a relevant part of a certain photographing apparatus is referred to as a "mounting position". The number and structure of the mounting positions 210 can be determined according to the actual requirements (such as the size and structure of the shooting device), and are not limited to the 1 mounting position shown in fig. 3. In the case of a plurality of mounting locations, mounting locations having different fastening structures may also be used.

Mounting station 210 is disposed at one end of pivot assembly 220 of mounting assembly 200 such that mounting station 210 is rotatable about a fourth axis (shown as the x' axis) relative to mounting assembly 200.

In this embodiment, the rotating assembly 220 is a rotating mechanism disposed on the mounting assembly 200 (e.g., housed in the housing 260 of the mounting assembly 200) to allow the mounting portion 210 to rotate. Which may consist of a series of parts arranged in the direction of the fourth axis, the part at one of the ends may form the mounting location 210 or be rigidly connected to a part of the parts constituting the mounting location 210.

The "fourth axis" is an axis having a different direction from the first axis, the second axis, and the third axis. For example, in the case where the first axis, the second axis, and the third axis are the "z-axis, the y-axis, and the x-axis" of the rectangular coordinate system, the fourth axis may be the x' axis perpendicular to the x-axis as shown in fig. 3.

It should be noted that the mounting assembly 200 may include other components or functional modules besides the structures related to the mounting position 210 and the rotating assembly 220, so as to implement the corresponding functions.

For example, as shown in fig. 3, the mounting assembly 200 may further include a main body bracket 230 as a base structure providing a mounting fixing base or a mounting position for each component or function module, a driving motor 240 mounted on a side surface of the main body bracket 230 for driving the mounting assembly 200 to rotate about a third axis, and a circuit board 250 integrated with a sensor for detecting an inclination angle of the mounting assembly and an associated control unit.

In some embodiments, for convenience of describing the rotational movement, the rotating assembly 220 may be roughly divided into two parts, a "fixed part" and a "rotating part" according to whether the rotation can be performed with respect to the mounting assembly 200, as shown in fig. 4.

The fixing portion 220a is a stationary structural member rigidly connected to the mounting assembly 200. It may be a separate component that is fixedly connected (e.g., bolted or snap-fit) to the main structure of the mounting assembly 200, or it may be a base (e.g., integrally formed) that extends directly from the main structure of the mounting assembly 200.

The rotating portion 220b is a movable member rotatable about a fourth axis with respect to the fixed portion. The rotating portion 220b and the fixing portion 220a are distributed in the direction of the fourth axis. The mounting portion 210 is disposed at an end of the rotating portion 220b away from the fixing portion 220a, and rotates along with the rotation of the rotating portion.

In the embodiment of the present invention, there is a relatively independent structural design between the rotating assembly 220 disposed on the mounting assembly and the bracket body 100. Thus, rotation of the rotation assembly 220 does not negatively affect rotation of the mounting assembly 200 about the first, second, and third axes.

Such a camera mount can support a richer shooting mode by rotating around the fourth axis on the basis of enhanced shooting stability (hereinafter referred to as "stability augmentation" state) achieved based on the rotation around the first axis, the second axis, and the third axis. In other words, the shooting device support does not influence the functions of keeping stable shooting and adjusting shooting angles of the traditional three-axis pan-tilt and the like, and can also provide and support richer shooting modes.

In other embodiments, referring to fig. 4, the rotating assembly 220 may further include a plurality of position-limiting devices 220c disposed between the fixed portion 220a and the rotating portion 220 b. The number of the position-limiting means 220c may be set according to actual conditions.

The stopper 220c is a related component for limiting the rotation of the rotating portion 220b relative to the fixed portion 220 a. It may generally be composed of one or more sets of mating parts, such as mating protrusions, steps, or latches, etc., that limit the rotation of the rotating part 220b when the rotating part 220b is rotated to a specific position relative to the fixed part 220 a.

In the present embodiment, the position where the stopper 220c is formed to restrict the rotation of the rotating portion 220b is referred to as a "limit position". When the rotating portion 220b rotates to the limit position, it can rotate only in the reverse direction and cannot continue to rotate in the forward direction. In other words, the rotating part can only rotate within a range of rotation angles between the extreme positions.

The shooting device support provided by the embodiment of the invention further provides an additional rotating shaft on the basis of a conventional three-axis stability-increasing tripod head, and can realize various shooting modes such as horizontal shooting/vertical shooting switching, rolling shooting, oblique shooting and the like on the premise of not influencing the stability-increasing capability of the three-axis tripod head.

Further, besides the abundant shooting mode, the rotational degree of freedom of the image acquisition equipment in the fourth axis direction can further achieve the effect of secondary stability augmentation. Namely, on the basis of stability augmentation of a conventional three-axis platform, the stability of the image acquired by the shooting device is further enhanced, and the image with clear focus is ensured to be obtained.

Fig. 5 and 6 are schematic structural views of a rotating assembly according to an embodiment of the present invention. In this embodiment, the rotating portion 220b and the fixing portion 220a of the rotating assembly may be connected by a rotating shaft.

The "rotation shaft connection" is a connection between the rotation part 220b and the fixed part 220a through a tubular structure having a specific length coinciding with the direction of the fourth axis. Such a tubular structure may be referred to as a "rotating shaft" by which a structure similar to a bearing is constructed to realize a rotational movement of the rotating portion 220b with respect to the fixed portion 220 a.

Of course, other suitable movable connection modes between the rotating part and the fixed part can be adopted, so that the two parts can rotate relatively, and the rotating part and the fixed part are not limited to be connected by a rotating shaft with a solid rotating shaft.

As shown in fig. 5, the rotating assembly includes: a rotating shaft 221, a rotor base 222, a mounting base 223, and a fixed base 224.

The end surface of the mounting seat 223 forms a mounting position 210 for receiving the shooting device, and has a fixed receiving structure adapted to the size of the shooting device. The bottom surface of the mounting seat 223 is fixedly mounted on the first end of the rotor seat 222. A second end of the rotor base 222, which is away from the first end, extends outward in the fourth axial direction to form a rotation shaft 221.

The fixed base 224 is rigidly connected to the body bracket 230 of the mounting assembly (e.g., secured to the body bracket 230 by bolts, snaps, adhesive, or by being integrally formed). The fixing base 224 is provided with a shaft hole 225 adapted to the rotating shaft 221.

The rotating shaft 221 passes through the fixed base 224 and is assembled to the fixed base by a movable connection means such as a bearing, an oil seal, or a slip ring so that the rotating shaft 221 can rotate about the fourth axis with respect to the fixed base 224 in the shaft hole 225.

In some embodiments, the shaft 221 is designed by a ball bearing or the like to reduce the friction between the shaft 221 and the shaft hole 225, thereby facilitating the rotation of the rotating part.

It is understood that the mounting seat 223, the rotor seat 222 and the rotating shaft 221 together form the moving part 220b, which can rotate relative to the fixed base 224. The fixed base 224 is rigidly connected to the main body portion of the mounting assembly. At least a portion of the body bracket 230 and the fixing portion 220a may be considered as a portion that does not move relative to the mounting assembly 200.

It should be noted that the structure shown in fig. 5 is only used for explaining the structure of the rotating assembly in detail, and is not used for limiting the specific implementation of the rotating assembly. Those skilled in the art may also make modifications or changes to the structure shown in fig. 5 to obtain more different embodiments.

For example, the positions of the rotating shaft 221 and the shaft hole 225 may be replaced with each other. In other words, the rotating shaft 221 may be formed by extending the fixing base 224 outward, and the shaft hole 225 is opened on the rotor base 222 and/or the mounting base 223. Such adjustment can also achieve the effect of rotating the rotating part around the fixed part.

In some embodiments, one or more functional structures can be further added, so that the rotating assembly is added with new functions. For example, as shown in fig. 5, a driving device 220d for driving the rotation of the rotation part may be additionally provided to the rotation assembly.

The driving means 220d may be implemented by a motor. The stator portion of the motor is coupled to the fixed base 224, and the rotor portion of the motor is coupled to the rotor base 222, so as to drive the rotating portion 220b to rotate.

Of course, the driving device 220d implemented based on the motor may further include one or more functional structures such as a control circuit board for driving/controlling the motor, an angle sensor for detecting a rotation angle of the rotating portion, and the like.

In some embodiments, as shown in fig. 6, the limiting means 220c provided on the rotating assembly includes: at least two movable limiting members 226, a guide member 227, and a limiting member 228.

The number of the movable limiting parts 226 can be set according to the actual requirement, and is not limited to two as shown in fig. 6. Each movable limiting member 226 is provided with a through hole 2261 adapted to the rotating shaft 221, and a protrusion 2262 extending outward is provided.

The shaft 221 can pass through the through hole 2261, so that the movable limiting members 226 are sequentially stacked and sleeved on the shaft 221. Each movable limiting part 226 is movably connected with the rotating shaft 221 (for example, by a bearing), so that the movable limiting part 226 can freely rotate relative to the rotating shaft 221.

The protrusions 2262 are means for achieving mutual association between respective means (e.g., adjacent movable stopper means, movable stopper means and adjacent guide means, and restricting means and associated guide means) distributed along the fourth axial direction of the rotation shaft 221.

The guide member 227 is a member coupled to the rotating portion 220b and can rotate following the rotation of the rotating portion 220 b. In this embodiment, "coupled" means that there is a direct or indirect connection between two components or functional structures, so that the movement of one component can exert or influence (or be linked) on the other component.

The restricting member 228 is coupled to the fixing portion 220a and does not rotate with respect to the mounting assembly. Which may be distributed outside the rotation shaft 221 and mainly used to block the rotation of the movable limiting member and further limit the relative rotation of the rotating portion 220 b.

In the present embodiment, for convenience of description and distinction of the movable stopper 226 located at different positions, the movable stopper adjacent to the guide part 227 is referred to as a "first movable stopper", and the movable stopper adjacent to the restriction part 228 is referred to as a "second movable stopper".

As shown in fig. 7, the rotation of the rotating part can be limited by the guiding part 227 and the first movable limiting part 226a, the first movable limiting part 226a and the second movable limiting part 226b, and the limiting part 227 and the second movable limiting part 226b in a manner called "movable limiting".

The movable limit is realized by pushing/driving or limiting the movement between the adjacent components through the abutting between the adjacent components during the rotation of the rotating part by the protruding part 2262.

Specifically, during at least a part of the rotation of the guide member 227, the first movable stopper member 226a is rotated by abutting against the convex portion of the first movable stopper member. The protruding portion of the first movable limiting member 226a can abut against the protruding portion of the adjacent movable limiting member during at least a part of the rotation process, so as to drive the adjacent second movable limiting member 226b to rotate. When the second movable limiting member 226b is rotated to a specific position, the protruding portion thereof abuts against the limiting member 228, so that the second movable limiting member is limited from further rotation.

In some embodiments, the motion limiting feature 226, the guide feature 227, and the limiting feature 228 may be implemented by any number of suitable structures.

For example, as shown in fig. 8a, the movable limiting member 226 may be a pie-shaped structure with a circular main body. A through hole 2261 is arranged at the circle center of the circle. The boss is a first stop 2263 extending outward from the edge of the center of the circle.

The first stopper 2263 has an axial length (i.e., the thickness of the pie-shaped movable limiting members) greater than that of the movable limiting members 226, such that the first stopper 2263 between adjacent movable limiting members (e.g., the first movable limiting member 226a and the second movable limiting member 226b) has at least a partially overlapping projection in both an axial plane and a radial plane.

In the present embodiment, the axial plane P1 is a projection plane of the rotation shaft in the axial direction, the radial plane P2 is a projection plane of the rotation shaft in the radial direction, and the axial length is a projection length in the axial direction.

In other words, the first stopper 2263 may be in contact with the adjacent movable limiting member or other adjacent members at a certain angle and in a rotational direction beyond the main body of the movable limiting member 226.

The guiding member 227 can be implemented by a second stopper 2271 extended from a rotating member 2272 disposed at the end of the rotating shaft 221. The rotation member 2272 may be fixed to the end of the rotation shaft 221 by interference fit, so as to rotate along with the rotation shaft 221.

The second stop 2271 extends outwardly from the rotary member 2272, and overlaps in projection with at least a portion of the projection of the first movable limiting member 226a on both the axial plane P1 and the radial plane P2. The second stopper 2271 configured in this way can abut against the first stopper 2263 of the first movable limiting component 226a when the angle and the rotating direction are specified, so as to drive the first movable limiting component 226a to rotate.

Of course, other different structures may be used to accomplish the function of the guide member 227. For example, the guiding component 227 can be implemented by a stop or a similar protruding component extending outward directly at the end of the rotating shaft 221, and it is only necessary that it can be coupled with the rotating portion 220b and can abut against the protruding portion of the first movable limiting component during at least a part of the rotating process to drive the first movable limiting component to rotate.

The limiting member 228 may be implemented by a third stopper 2281 provided on the main body bracket 230. The third stopper 2281 is a protrusion extending a certain distance in the direction of the rotation shaft 221, and both of the axial plane and the radial plane are overlapped with at least a part of the first stopper 2263 of the second movable limiting component 226b in a projection manner, so as to be abutted against the protruding part of the second movable limiting component rotated in place, so as to limit the rotation of the second movable limiting component 226b, and further limit the rotation of the rotating part.

Of course, other suitable structures may be used to accomplish the function of the limiting member described above. For example, an upwardly protruding rib or the like provided on a surface of the fixed base 224 facing the movable stopper part 226 abuts against a protruding portion of the second movable stopper part rotated in place to restrict the rotation of the second movable stopper part.

In some embodiments, as shown in fig. 8a, the limiting member 228 includes two third stops 2281. The two third stops 2281 are spaced by an arc length to define two distinct limit positions.

Of course, according to the needs of actual conditions, a larger number of third stop blocks can be selected and arranged or the arc length between the third stop blocks can be adjusted to change the limit position or the rotation angle range formed by the limiting device.

The range of rotation angles formed by the limiting means 220c is described in detail below in connection with fig. 8a-8 c:

as shown in fig. 8a, when the rotating member 2272 rotates clockwise along with the rotating portion 220b, the second stopper 2271 will abut against the first stopper 2263 of the first movable limiting component 226a, pushing the first movable limiting component 226a to rotate along with the rotating member 2272.

When the first movable limiting member 226a rotates along with the rotating member 2272, the first stopper 2263 will abut against the second movable limiting member 226b, and push the second movable limiting member 226b to rotate accordingly.

As shown in fig. 8b, when the second movable limiting member 226b rotates to the position of one of the third stoppers 2281, the outwardly extending first stopper 2263 is stopped by the third stopper 2281 and cannot rotate in the clockwise direction. At this time, the first movable member 226b and the rotating member 2272 are also in contact with each other, and similarly cannot rotate in the clockwise direction, and the first limit position is reached.

In the first limit position, the rotating member 2272 can rotate counterclockwise in the opposite direction along with the rotating portion 220b, and after one rotation in the opposite direction, the second stop 2271 will abut against the first stop 2263 of the first movable limiting component 226a on the other side, pushing the first movable limiting component 226a to rotate in the opposite direction along with the rotating member 2272.

When the first movable limiting part 226a rotates reversely with the rotating part 2272 to the position of the first stopper 2263 of the second movable limiting part 226b, the second movable limiting part 226b can be pushed to rotate reversely.

As shown in fig. 8c, when the second movable limiting member 226b reversely rotates to the position of the other third block 2281, the first block 2263 is also blocked by the third block 2281 and cannot rotate in the counterclockwise direction. At this time, the first movable member 226b and the rotating member 2272 are also in contact with each other, and similarly cannot rotate in the counterclockwise direction, and the second limit position is reached.

Thus, the rotating portion 220b can only rotate within a rotation angle range formed by the first limit position and the second limit position. The rotation angle range provided by the limiting means 220c thus designed is substantially equal to: one rotation clockwise plus the circumferential angle corresponding to the arc length between the two third stops 2281 to one rotation counterclockwise plus the circumferential angle corresponding to the arc length between the two third stops 2281.

The limiting device provided by the embodiment of the invention can form a preset angle range larger than (-360 degrees and +360 degrees) by providing two or more movable limiting parts. Wherein, the rotation part is defined to rotate clockwise around the fourth rotating shaft to be positive, namely the rotation part rotates clockwise for one turn to be +360 degrees; the counterclockwise rotation of the rotating part around the fourth rotating shaft is defined to be negative, namely, the rotating part rotates for one turn around the counterclockwise direction to be-360 degrees. The rotation angle range can well meet the actual shooting use requirements (such as vertigo shooting) and has good application prospect.

It should be noted that technical features related to different embodiments of the present invention can be combined with each other to realize similar functions to form more embodiments as long as the technical features do not conflict with each other. For example, a driving device 220d applied to the rotating assembly may also be used in the stand body 100 for driving the second stand 120 to rotate about the first stand 110, the third stand 130 to rotate about the second stand 120, and the mounting assembly 200 to rotate about the third stand 130.

Based on the shooting device bracket provided by the embodiment of the invention, the embodiment of the invention further provides a shooting device. Fig. 9 is a schematic structural diagram of a shooting device according to an embodiment of the present invention. As shown in fig. 9, the camera includes a camera stand 10 and an image pickup device 20.

The camera support 10 is a support structure that allows the mounting position of the mounting assembly 200 to rotate around the first axis, the second axis, the third axis, and the fourth axis.

Image capture device 20 may be any suitable type of electronic device for capturing images or capturing video information, including a motion camera or video camera, among others. The image pickup device 20 is generally composed of an optical system 21 and an electronic light-sensing section 22.

The electronic light sensing part 22 can be fixed on the mounting position provided by the mounting component 200, and the optical system (such as a lens and the like) can be fixed on the shell of the mounting component 200 to execute a plurality of different shooting operations.

In the actual shooting process, the rotational degrees of freedom of the shooting device bracket 10 in the directions of the first axis, the second axis and the third axis can provide enhanced shooting stability, and accurate focusing of the image acquisition equipment can be ensured.

Further, by rotating the image capturing device in the direction of the fourth axis (e.g., x' axis), as shown in fig. 10, several photographing modes can be supported as follows:

1) the image acquisition device 20 is switched on-line between the "horizontal shooting" and the "vertical shooting" (i.e., the image acquisition device is rotated by 90 ° around the fourth axis in the augmented stability state);

2) in the state of enhancing the shooting stability, the roll photography of the image capturing device 20 is realized (i.e. the image capturing device is rotated around the fourth axis at a certain rotation speed and a certain angle in the state of enhancing the stability);

3) in the state of enhancing the shooting stability, the oblique shooting of the image capturing apparatus 20 is realized (that is, the image capturing apparatus is rotated by a certain angle around the fourth axis in the state of enhancing the stability).

The embodiment of the invention further provides the unmanned aerial vehicle. This unmanned aerial vehicle can use this shooting device, and at the flight in-process of cruising, the shooting or gather image information.

Wherein, the fuselage is as unmanned aerial vehicle's major structure, can adopt any suitable material to make and have structure and the size that accords with the use needs. The body can be provided with a plurality of different functional components such as a foot rest, a propeller and the like.

The motor is installed in the fuselage for provide flight power (if rotatory through the drive screw) for unmanned aerial vehicle.

The shooting device can be installed to the specific position of fuselage through the connector that shooting device support 10 possessed, gathers image or video information at unmanned aerial vehicle flight in-process.

Of course, based on the application scenario of the drone provided by the above embodiment, those skilled in the art may also apply the camera provided by the above embodiment to other similar mobile devices (such as a remote control car) or similar scenarios that require keeping the image shooting stable using a three-axis pan-tilt, and is not limited to a drone.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A camera mount, comprising:

a rotatable bracket body (100), wherein the bracket body (100) extends to form a connecting part (140);

a mounting assembly (200) providing at least one mounting location (210); the mounting assembly (200) is mounted on the bracket body (100) through the connecting part (140) and can rotate around a first axis, a second axis and a third axis;

the rotating assembly (220) is arranged on the mounting assembly (200), and the mounting position (210) is arranged at one end of the rotating assembly (220) and can rotate around a fourth axis.

2. The camera stand of claim 1, wherein the rotating assembly (220) comprises: a fixed part (220a) and a rotating part (220b) movably connected with the fixed part (220 a);

the fixed part (220a) is rigidly connected with the mounting assembly (200), and the rotating part (220b) can rotate around the fourth axis relative to the fixed part (220 a);

the mounting location (210) is disposed at a first end that is spaced apart from the fixed portion (220 a).

3. The camera stand according to claim 2, wherein the rotating portion (220b) is pivotally connected to the fixing portion (220 a);

the second end of the rotating part (220b), which is separated from the first end, extends outwards to form a rotating shaft (221);

the fixed part (220a) is provided with a shaft hole (225) matched with the rotating shaft (221);

the rotating shaft (221) is housed in the shaft hole (225) so that the rotating portion (220b) rotates around the rotating shaft (221).

4. The camera stand according to claim 2, wherein the rotating portion (220b) is pivotally connected to the fixing portion (220 a);

the fixed part (220a) extends outwards to form a rotating shaft (221);

a shaft hole (225) matched with the rotating shaft (221) is formed in the second end, away from the first end, of the rotating part (220 b);

5. The camera stand of claim 3 or 4, wherein the rotating assembly (220) further comprises: a plurality of position limiting devices (220 c);

the limiting device (220c) is arranged between the fixed part (220a) and the rotating part (220b), and limits the rotating part (220b) to rotate relative to the fixed part (220a) at one or more limit positions so that the rotating part (220b) rotates within a preset rotating angle range.

6. The camera stand of claim 5, wherein the predetermined range of rotational angles is greater than (-360 °, +360 °);

wherein the rotation portion (220b) rotates clockwise about the fourth axis to be positive and the rotation portion (220b) rotates counterclockwise about the fourth axis to be negative.

7. The camera stand of claim 6, wherein the limiting means (220c) comprises:

the movable limiting parts (226) are sleeved on the rotating shaft (221), and can rotate relative to the rotating shaft (221); the movable limiting part (226) is provided with a convex part (2262) extending outwards;

the lug boss (2262) can be abutted against the lug boss (2262) of the adjacent movable limiting component (226) in at least one part of the rotating process of the movable limiting component (226) so as to drive the adjacent movable limiting component (226) to rotate;

the guide part (227) is coupled with the rotating part (220b), the guide part (227) rotates along with the rotation of the rotating part (220b), and can be abutted against the protruding part (2262) of the first movable limiting part (226a) in at least one part of the rotating process so as to drive the first movable limiting part (226a) to rotate;

a limiting means (228) coupled to the fixing portion (220a), the limiting means (228) being capable of abutting against the protrusion (2262) of the second movable limiting means (226b) during at least a portion of the rotation of the rotating portion (220b) to limit the rotation of the second movable limiting means (226 b);

the first movable stopper (226a) is a movable stopper adjacent to the guide member (227), and the second movable stopper (226b) is a movable stopper adjacent to the restriction member (228).

8. The camera stand according to claim 7, wherein the movable stopper (226) is provided with a through hole (2261) adapted to the rotation shaft to allow the rotation shaft (221) to pass through the movable stopper (226);

the convex part (2262) is: a first stopper (2263) extending outward from an outer circumference of the movable stopper (226);

the first stopper (2263) has an axial length greater than the movable limiting members (226), so that the first stopper (2263) between adjacent movable limiting members (226) has at least partially overlapping projections on both the axial plane (P1) and the radial plane (P2);

the axial plane (P1) is a projection plane of the axial direction of the rotating shaft (221), and the radial plane (P2) is a projection plane of the diameter direction of the rotating shaft (221); the axial length is a projected length in an axial direction of the rotating shaft (221).

9. The camera stand of claim 8, wherein the guide member (227) comprises: a second stopper (2271) provided at the rotating part (220b) and located at a first end of the rotating shaft (211);

the second stop (2271) has a size adapted to the projection (2262), both in projection with at least a portion of the projection (2262) of the first movable limiting stop (226a) on the axial plane (P1) and on the radial plane (P2);

the restricting member (228) includes: a third stopper (2281) disposed at the fixing portion (220a) and located at a second end of the rotation shaft (221);

the third stop (2281) has a size adapted to the projection (2262), and overlaps in projection with at least a portion of the projection (2262) of the second movable limiting stop (226b) both in the axial plane (P1) and in the radial plane (P2).

10. Camera stand according to claim 9, characterized in that the limiting means comprise at least two third stops (2281) forming at least two different extreme positions;

in the limit position, the third stopper (2281) abuts against the second movable limiting member (226b), the second movable limiting member (226b) abuts against the adjacent movable limiting member (226), and the first movable limiting member (226a) abuts against the guide member (227) to limit the rotation of the guide member (227).

11. The camera stand according to any one of claims 1 to 10, characterized in that the stand body (100) includes: a first bracket (110), a second bracket (120), and a third bracket (130);

the second bracket (120) is rotatably connected with the first bracket (110) and can rotate around a first axis relative to the first bracket (110);

the third bracket (130) is rotatably connected with the second bracket (120) and can rotate around a second axis relative to the second bracket (120);

the third bracket (130) extends to form the connecting part (140); the mounting assembly (200) is fixedly mounted on the third bracket (130) through the connecting part (140) and can rotate around a third axis relative to the third bracket (130).

12. The camera stand of claim 11, wherein the connecting portion (140) comprises: a first supporting arm (141) and a second supporting arm (142) which are oppositely arranged along the third axis direction;

the mounting assembly (200) is mounted between the first support arm (141) and the second support arm (142) for rotation about the third axis.

13. The camera mount of any of claims 2-9, wherein the stop assembly further comprises: a drive device (220 d);

the driving device (220d) is arranged between the rotating part (220b) and the fixed part (220a) and is used for driving the rotating part (220b) to rotate around the fourth axis relative to the fixed part (220 a).

14. A camera, comprising:

the camera support (10) according to any of claims 1 to 13;

the image acquisition equipment (20) is fixedly arranged on a mounting position (210) of the shooting device bracket (10) and can independently rotate around the first axis, the second axis, the third axis and the fourth axis.

15. An unmanned aerial vehicle, comprising:

the aircraft comprises an aircraft body, wherein a plurality of propellers are arranged on the aircraft body;

the motor is arranged on the unmanned aerial vehicle body and used for driving the propeller to rotate and providing flight power for the unmanned aerial vehicle;

the camera of claim 14, wherein the camera is disposed on the body for capturing images by one or more cameras.