CN206202715U - Capture apparatus and unmanned vehicle - Google Patents
Capture apparatus and unmanned vehicle Download PDFInfo
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- CN206202715U CN206202715U CN201621298137.0U CN201621298137U CN206202715U CN 206202715 U CN206202715 U CN 206202715U CN 201621298137 U CN201621298137 U CN 201621298137U CN 206202715 U CN206202715 U CN 206202715U
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- head
- capture apparatus
- reaction wheel
- axle
- axis
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- 238000009434 installation Methods 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000006641 stabilisation Effects 0.000 abstract description 5
- 238000011105 stabilization Methods 0.000 abstract description 5
- 230000004044 response Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Abstract
There is provided a kind of capture apparatus and unmanned vehicle, the capture apparatus can be connected with head, and being rotated by head, and capture apparatus include：Housing；Camera module, is arranged on enclosure interior；Reaction wheel system, reaction wheel system includes the first reaction wheel, and the first reaction wheel is arranged on the outside of housing.Reaction wheel system can provide the rotary inertia of stabilization for head, increase the stability of shooting process, so as to lift the quality of the image or video for photographing.
Description
Copyright notice
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright
Owner does not oppose that anyone replicates the patent document in the presence of the proce's-verbal of Patent＆Trademark Office and archives or is somebody's turn to do
Patent is disclosed.
Technical field
The utility model is related to unmanned vehicle field, and more specifically, is related to a kind of capture apparatus to fly with nobody
Row device.
Background technology
During unmanned vehicle flies, if capture apparatus are shaken, the image or video for photographing will
Thicken.
In order to meet the demand that overlength distance is taken pictures and imaged, the zoom magnification of the capture apparatus on unmanned vehicle is more next
It is bigger, therefore, the image or the fuzzy problem of video that the shake of capture apparatus brings are also just increasingly severe.
Utility model content
The utility model embodiment provides a kind of capture apparatus and unmanned vehicle, by increasing capacitance it is possible to increase capture apparatus shooting process
Stability, the quality of the image that photographs of lifting or video.
First aspect, there is provided a kind of capture apparatus, the capture apparatus can be connected with head, and in the drive of the head
Dynamic lower rotation, the capture apparatus include：Housing；Camera module, is arranged on the enclosure interior；Reaction wheel system, it is described
Reaction wheel system includes the first reaction wheel, and first reaction wheel is arranged on the outside of the housing.
With reference in a first aspect, in some implementations of first aspect, first reaction wheel is arranged on the shell
On the side wall of body.
With reference in a first aspect, in some implementations of first aspect, the capture apparatus include being oppositely arranged the
Side wall and second sidewall, when the capture apparatus are installed on the head, and each head axle of the head is in just
During beginning position, the first side wall is located at the top of the center of gravity of the camera system that the capture apparatus and the head are constituted, institute
Second sidewall is stated positioned at the lower section of the center of gravity of the camera system, first reaction wheel is arranged in the second sidewall.
With reference in a first aspect, in some implementations of first aspect, first reaction wheel is on the housing
Installation site cause：When the capture apparatus are installed on the head, and each head axle of the head is in initially
During position, the axis of the yaw axis of the head passes through first reaction wheel.
With reference in a first aspect, in some implementations of first aspect, first reaction wheel is on the housing
Installation site cause：When the capture apparatus are installed on the head, and each head axle of the head is in initially
During position, the axis of the yaw axis of the head overlaps with the axis of first reaction wheel.
With reference in a first aspect, in some implementations of first aspect, the reaction wheel system also includes that second is anti-
Effect wheel, the installation site of second reaction wheel is caused：When the capture apparatus are installed on the head, and the cloud
When each head axle of platform is in initial position, the axis of the roll axle of the head passes through second reaction wheel.
With reference in a first aspect, in some implementations of first aspect, the installation site of second reaction wheel makes
：When the capture apparatus are installed on the head, and each head axle of the head is when being in initial position, the cloud
The axis of the roll axle of platform overlaps with the axis of second reaction wheel.
With reference in a first aspect, in some implementations of first aspect, second reaction wheel is located at the housing
Outside or inside.
With reference in a first aspect, in some implementations of first aspect, the reaction wheel system also includes that the 3rd is anti-
Effect wheel, the installation site of the 3rd reaction wheel is caused：When the capture apparatus are installed on the head, and the cloud
When each head axle of platform is in initial position, the axis of the pitch axis of the head passes through the 3rd reaction wheel.
With reference in a first aspect, in some implementations of first aspect, the installation site of the 3rd reaction wheel makes
：When the capture apparatus are installed on the head, and each head axle of the head is when being in initial position, the cloud
The axis of the pitch axis of platform overlaps with the axis of the 3rd reaction wheel.
With reference in a first aspect, in some implementations of first aspect, the 3rd reaction wheel is located at the housing
Outside or inside.
With reference in a first aspect, in some implementations of first aspect, at least one of described reaction wheel system
Reaction wheel is unloaded motor.
With reference in a first aspect, in some implementations of first aspect, the reaction wheel system can be in the bat
Take the photograph during equipment drives by the head and rotate, be the yaw axis of the relatively described head of the camera module, roll axle and/
The disturbance of pitch axis provides compensation torque, to realize the steady shot of the capture apparatus.
With reference in a first aspect, in some implementations of first aspect, mounting hole is provided with the side wall of the housing,
The capture apparatus are connected by the mounting hole with the cloud platform rotation.
With reference in a first aspect, in some implementations of first aspect, the capture apparatus are to support zoom function
Capture apparatus.
A kind of second aspect, there is provided unmanned vehicle, including：Such as first aspect or any one realization side of first aspect
Capture apparatus described in formula；Fuselage；And head, the head is connected with the fuselage, for carrying the capture apparatus, and
The capture apparatus are driven to rotate.
With reference to second aspect, in some implementations of second aspect, the head include the first tumbler, second turn
Moving part and the 3rd tumbler, first tumbler are used to control the head to be rotated along first axle, and second tumbler is used
In controlling the head to be rotated along the second axle, the 3rd tumbler for controlling the head to be rotated along the 3rd axle, described the
It is connected by the first support arm between one tumbler and second tumbler, second tumbler and the 3rd tumbler pass through
Second support arm is connected, and the rotating shaft of the 3rd tumbler is connected with the capture apparatus.
With reference to second aspect, in some implementations of second aspect, the first axle is the yaw axis of the head,
Second axle is the roll axle of the head, and the 3rd axle is the pitch axis of the head.
With reference to second aspect, in some implementations of second aspect, the fuselage include the bottom surface that is oppositely arranged and
Top surface, first tumbler is connected with the bottom surface of the fuselage.
With reference to second aspect, in some implementations of second aspect, the first axle is roll axle, second axle
It is pitch axis, the 3rd axle is yaw axis；Or the first axle is pitch axis, the 3rd axle is roll axle, the described 3rd
Axle is yaw axis.
In the utility model embodiment, the hull outside of capture apparatus is mounted with reaction wheel system, reaction wheel system
The rotary inertia of stabilization can be provided for head, increase the stability of shooting process, so as to lift the image or video for photographing
Quality.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the utility model embodiment, below will be in the utility model embodiment
The required accompanying drawing for using is briefly described.
Fig. 1 is the general structure exemplary plot of the camera system that the utility model embodiment is provided.
Fig. 2 is the upward view of the camera system shown in Fig. 1.
Fig. 3 is the sectional view of the camera system shown in Fig. 1.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe.
The camera system of unmanned vehicle is mainly made up of head and capture apparatus, in order to increase camera system shooting process
Stability, the utility model embodiment introduces reaction wheel system in camera system, carried out in detail with reference to Fig. 1-Fig. 3
Thin description.
Head shown in Fig. 1-Fig. 3 is that Yaw-Roll-Pitch is sequentially connected in series that (i.e. yaw axis, roll axle and pitch axis be successively
Series connection) three axle heads.
Specifically, as shown in figure 1, head can include the first tumbler 11, the second tumbler 12 and the 3rd tumbler 13,
First tumbler 11 can be under the control of motor along the yaw axis rotation of head, and the second tumbler 12 can be in the control of motor
The lower roll axle along head is rotated, and the 3rd tumbler 13 can be under the control of motor along the pitch axes of head.
It should be noted that the head in the utility model embodiment is not limited to the concrete structure shown in Fig. 1-Fig. 3 and company
Connect form.For example, in certain embodiments, the head in the utility model embodiment can be that Roll-Pitch-Yaw goes here and there successively
Three axle heads of connection, or the three axle heads that Pitch-Roll-Yaw is sequentially connected in series；And for example, in certain embodiments, this practicality is new
The head of type embodiment can be two axle The Cloud Terraces.Only it is hereafter to be illustrated by taking Fig. 1-Fig. 3 as an example.
As shown in figure 1, camera system includes head 10 and capture apparatus 20.Capture apparatus 20 can be connected with head 10,
And being rotated by head 10, capture apparatus 20 include：
Housing 21；
Camera module 22, is arranged on inside housing 21；
Reaction wheel system, reaction wheel system includes the first reaction wheel 23, and the first reaction wheel 23 is arranged on housing
Outside.
In the utility model embodiment, the hull outside of capture apparatus is mounted with reaction wheel system, reaction wheel system
The rotary inertia of stabilization can be provided for head, increase the stability of shooting process, so as to lift the image or video for photographing
Quality.Further, when head rotates, reaction wheel system can speed up head from the process for rotating to stabilization,
Reduce the working time for the motor for controlling head axle to rotate.
It should be understood that reaction wheel herein is alternatively referred to as counteraction flyback, or flywheel.It is fixed according to the conservation of angular momentum
Rule, reaction wheel system can be driftage of the camera module with respect to head during capture apparatus are driven by head and rotate
The disturbance of axle, roll axle and/pitch axis provides compensation torque, to realize the steady shot of capture apparatus.
It should be noted that the utility model embodiment is not made specifically to the form of the reaction wheel in reaction wheel system
Limit, for example, the reaction wheel in reaction wheel system can be unloaded motor, the weight and/or rotating speed of the rotor of motor can
Determined with the rotary inertia according to needed for camera system.For example, the reaction wheel in reaction wheel system can be that rotor is heavier
Unloaded motor, rotor is heavier, and the rotary inertia that reaction wheel can be provided is bigger, and camera system is also more stable.Or, instead
Reaction wheel in action gear train system can be rotating speed motor higher, and motor speed is higher, and what reaction wheel can be provided turns
Dynamic inertia is bigger, and camera system is also more stable.
Additionally, capture apparatus 20 herein can be the bat of common capture apparatus, or support zoom function
Take the photograph equipment.Capture apparatus 20 can have various with the connected mode of head 10, for example, in certain embodiments, capture apparatus 20
Housing 21 side wall on can be provided with mounting hole, capture apparatus 20 can be rotated with head 10 by mounting hole and are connected.
Referring to Fig. 1, housing 21 can play a part of encapsulation camera module 22, and housing 21 may include top surface 24 and bottom surface (figure
Not shown in), wherein top surface 24 refers to the one side where the camera lens of camera module 22, and bottom surface is the one side relative with top surface 24.
Further, housing 21 may also include the side wall in addition to top surface 24 and bottom surface, in certain embodiments, the first reaction wheel 23
May be provided on certain side wall of housing 21.The sidewall spaces of capture apparatus are big, facilitate the installation of the first reaction wheel.
Alternatively, in certain embodiments, as Figure 1-Figure 2, capture apparatus 20 may include the first side being oppositely arranged
Wall 25 and second sidewall 26, when capture apparatus 20 are installed on head 10, and each head axle of head 10 is in initial position
When, the first side wall 25 is located at the top of the center of gravity of the camera system that capture apparatus 20 and head 10 are constituted, and second sidewall 26 is located at
The lower section of the center of gravity of camera system, the first reaction wheel 23 is arranged in second sidewall 26.
It should be noted that the initial position of head axle refers to head 10 be installed to after unmanned vehicle, head it is each
Head axle has not occurred the position of rotation, by taking the camera system shown in Fig. 1-Fig. 3 as an example, when each head axle position of head 10 is in first
During beginning position, the optical axis of camera module 22 may be located at horizontal direction, further, in certain embodiments, when head 10
When initial position, the camera lens of camera module 22 can be towards the front of unmanned vehicle for each head axle position.
It should be understood that the shape and quality, the shape and matter of head 10 of the position of the center of gravity of camera system and capture apparatus 20
Amount (position of the motor of such as each head axle and quality) factor is relevant, therefore, the utility model embodiment is to camera system
The particular location of center of gravity is not construed as limiting, but generally, and the center of gravity of camera system can substantially be located at the of capture apparatus 20
Between side wall 25 and second sidewall 26, only under the influence of the factor such as the quality of motor of each head axle, camera system
The center of gravity of center of gravity and capture apparatus 20 might have deviation.
Alternatively, in certain embodiments, as shown in figure 3, installation site of first reaction wheel 23 on housing 21 makes
：When capture apparatus 20 are installed on head 10, and each head axle of head 10 is when being in initial position, the driftage of head 10
The axis 14 of axle passes through the first reaction wheel 23.
It should be understood that the first reaction wheel 23 can provide compensation torque, the utility model embodiment for the disturbance of yaw axis
The first reaction wheel 23 for providing is located on the axis 14 of yaw axis, i.e. the axle of the reaction wheel 23 of axis 14 and first of yaw axis
Line is close or overlaps, and so, when the disturbance to yaw axis carries out compensated torque, can simplify needed for yaw axis is disturbed
The computation complexity of torque is compensated, so as to lift the response speed that reaction wheel is disturbed to yaw axis.
Alternatively, in certain embodiments, as shown in figure 3, installation site of first reaction wheel 23 on housing 21 makes
：When capture apparatus 20 are installed on head 10, and each head axle of head 10 is when being in initial position, the driftage of head 10
The axis 14 of axle overlaps with the axis 24 of the first reaction wheel 23.
The axis 14 of yaw axis is overlapped with the axis 24 of the first reaction wheel 23, and torque benefit is carried out in the disturbance to yaw axis
When repaying, without being converted to the compensation torque that the first reaction wheel 23 is provided, yaw axis disturbance is at utmost simplified required
Compensation torque computation complexity and the response speed that is disturbed to yaw axis of reaction wheel.
It is above so that reaction wheel system includes a reaction wheel (i.e. the first reaction wheel 23) as an example illustrate
Bright, but the utility model embodiment not limited to this, in order to realize preferably increasing steady effect, reaction wheel system can include many
Individual reaction wheel, for example, a corresponding reaction wheel can be respectively provided with for yaw axis, roll axle, pitch axis, with reference to
Specific embodiment is described in detail.
Alternatively, in certain embodiments, reaction wheel system may also include the second reaction wheel (not shown), the
The installation site of two reaction wheels is caused：When capture apparatus 20 are installed on head 10, and each head axle of head 10 is in
During initial position, the axis of the roll axle of head 10 passes through the second reaction wheel.
It should be understood that the second reaction wheel can provide compensation torque for the disturbance of roll axle, the utility model embodiment is carried
The second reaction wheel for supplying is located on the axis of roll axle, i.e., the axis of the axis of roll axle and the second reaction wheel is close or heavy
Close, so, when the disturbance to roll axle carries out compensated torque, the required compensation torque of roll axle disturbance can be simplified
Calculate, so as to lift the response speed that reaction wheel is disturbed to roll axle.
Alternatively, in certain embodiments, the installation site of the second reaction wheel is caused：When capture apparatus 20 are installed to cloud
On platform 10, and each head axle of head 10 is when being in initial position, the axis and the second reaction wheel of the roll axle of head 10
Axis overlap.
The axis of roll axle overlaps with the axis of the second reaction wheel, when the disturbance to roll axle carries out compensated torque,
Without being converted to the compensation torque that the second reaction wheel is provided, the compensation needed at utmost simplifying the disturbance of roll axle turns
The response speed that the computation complexity and reaction wheel of square are disturbed to roll axle.
It should be noted that position of the utility model embodiment to the second reaction wheel in capture apparatus 20 is not made to have
Body is limited, for example, the second reaction wheel may be located at the outside of housing 21；And for example, the second reaction wheel may be located at housing 21
Inside.
Alternatively, in certain embodiments, reaction wheel system may also include the 3rd reaction wheel, the 3rd reaction wheel
Installation site is caused：When capture apparatus 20 are installed on head 10, and each head axle of head 10 is when being in initial position, cloud
The axis of the pitch axis of platform 10 passes through the 3rd reaction wheel.
It should be understood that the 3rd reaction wheel can provide compensation torque for the disturbance of pitch axis, the utility model embodiment is carried
The 3rd reaction wheel for supplying is located on the axis of pitch axis, i.e., the axis of the axis of pitch axis and the 3rd reaction wheel is close or heavy
Close, so, when the disturbance to pitch axis carries out compensated torque, the required compensation torque of pitch axis disturbance can be simplified
Calculate, so as to lift the response speed that reaction wheel is disturbed to pitch axis.
Alternatively, in certain embodiments, the installation site of the 3rd reaction wheel is caused：When capture apparatus 20 are installed to cloud
On platform 10, and each head axle of head 10 is when being in initial position, the axis of the pitch axis of head 10 and the 3rd reaction wheel
Axis overlap.
The axis of pitch axis overlaps with the axis of the 3rd reaction wheel, when the disturbance to pitch axis carries out compensated torque,
Without being converted to the compensation torque that the 3rd reaction wheel is provided, the compensation needed at utmost simplifying pitch axis disturbance turns
The response speed that the computation complexity and reaction wheel of square are disturbed to pitch axis.
It should be noted that position of the utility model embodiment to the 3rd reaction wheel in capture apparatus 20 is not made to have
Body is limited, for example, the 3rd reaction wheel may be located at the outside of housing 21；And for example, the 3rd reaction wheel may be located at housing 21
Inside.
Above in association with Fig. 1-Fig. 3, the capture apparatus of the utility model embodiment offer are described in detail.It is described in detail below
The unmanned vehicle that the utility model embodiment is provided.
The unmanned vehicle of the utility model embodiment can include fuselage, head and capture apparatus, and head and shooting set
It is standby to use above-described head 10 and capture apparatus 20.
In the utility model embodiment, the hull outside of the capture apparatus of unmanned vehicle is mounted with reaction wheel system,
Reaction wheel system can provide the rotary inertia of stabilization for head, increase the stability of shooting process such that it is able to lift nothing
Image or the quality of video that people's aircraft is photographed.
Alternatively, in certain embodiments, as shown in figure 1, head 10 may include the first tumbler 11, the second tumbler 12
With the 3rd tumbler 13, the first tumbler 11 can be used to control head 10 to be rotated along first axle, and the second tumbler 12 can be used to control
Head processed 10 is rotated along the second axle, and the 3rd tumbler 13 can be used to control head 10 to be rotated along the 3rd axle, the He of the first tumbler 11
Can be connected by the first support arm 15 between second tumbler 12, the second tumbler 12 and the 3rd tumbler 13 can be by second
Brace 16 is connected, and the rotating shaft of the 3rd tumbler 13 is connected with capture apparatus 20.
Alternatively, in certain embodiments, first axle is the yaw axis of head, and the second axle is the roll axle of head, the 3rd
Axle is the pitch axis of head.In other words, the head that the utility model embodiment is provided is for Yaw-Roll-Pitch is sequentially connected in series
Three axle heads.
Alternatively, in certain embodiments, fuselage includes the bottom surface and top surface, the first tumbler 11 and the fuselage that are oppositely arranged
Bottom surface be connected.In other words, the head that the utility model embodiment is provided is located at the lower section of body, but the utility model is implemented
Example not limited to this, the head may be located on the top or side of body.
Alternatively, in certain embodiments, first axle is roll axle, and the second axle is pitch axis, and the 3rd axle is yaw axis, is changed
Sentence is talked about, the three axle heads that the head that the utility model embodiment is provided is sequentially connected in series for Roll-Pitch-Yaw.
Alternatively, in certain embodiments, first axle is pitch axis, and the 3rd axle is roll axle, and the 3rd axle is yaw axis, is changed
Sentence is talked about, the three axle heads that the head that the utility model embodiment is provided is sequentially connected in series for Pitch-Roll-Yaw.
The above, specific embodiment only of the present utility model, but protection domain of the present utility model do not limit to
In this, any one skilled in the art can readily occur in change in the technical scope that the utility model is disclosed
Or replace, should all cover within protection domain of the present utility model.Therefore, protection domain of the present utility model should be with the power
The protection domain that profit is required is defined.
Claims (20)
1. a kind of capture apparatus, it is characterised in that the capture apparatus can be connected with head, and under the driving of the head
Rotate,
The capture apparatus include：
Housing；
Camera module, is arranged on the enclosure interior；
Reaction wheel system, the reaction wheel system includes the first reaction wheel, and first reaction wheel is arranged on described
The outside of housing.
2. capture apparatus as claimed in claim 1, it is characterised in that first reaction wheel is arranged on the side of the housing
On wall.
3. capture apparatus as claimed in claim 2, it is characterised in that the capture apparatus include the first side wall being oppositely arranged
And second sidewall, when the capture apparatus are installed on the head, and each head axle of the head is in initial position
When, the first side wall is located at the top of the center of gravity of the camera system that the capture apparatus and the head are constituted, described second
Side wall is located at the lower section of the center of gravity of the camera system, and first reaction wheel is arranged in the second sidewall.
4. capture apparatus as any one of claim 1-3, it is characterised in that first reaction wheel is in the shell
Installation site on body is caused：When the capture apparatus are installed on the head, and each head axle of the head is in
During initial position, the axis of the yaw axis of the head passes through first reaction wheel.
5. capture apparatus as claimed in claim 4, it is characterised in that first reaction wheel installation on the housing
Position causes：When the capture apparatus are installed on the head, and each head axle of the head is when being in initial position,
The axis of the yaw axis of the head overlaps with the axis of first reaction wheel.
6. capture apparatus as any one of claim 1-3, it is characterised in that the reaction wheel system also includes the
Two reaction wheels, the installation site of second reaction wheel is caused：When the capture apparatus are installed on the head, and institute
When each head axle for stating head is in initial position, the axis of the roll axle of the head passes through second reaction wheel.
7. capture apparatus as claimed in claim 6, it is characterised in that the installation site of second reaction wheel is caused：When
The capture apparatus are installed on the head, and each head axle of the head is when being in initial position, the head
The axis of roll axle overlaps with the axis of second reaction wheel.
8. capture apparatus as claimed in claim 6, it is characterised in that second reaction wheel is located at the outside of the housing
Or it is internal.
9. capture apparatus as any one of claim 1-3, it is characterised in that the reaction wheel system also includes the
Three reaction wheels, the installation site of the 3rd reaction wheel is caused：When the capture apparatus are installed on the head, and institute
When each head axle for stating head is in initial position, the axis of the pitch axis of the head passes through the 3rd reaction wheel.
10. capture apparatus as claimed in claim 9, it is characterised in that the installation site of the 3rd reaction wheel is caused：When
The capture apparatus are installed on the head, and each head axle of the head is when being in initial position, the head
The axis of pitch axis overlaps with the axis of the 3rd reaction wheel.
11. capture apparatus as claimed in claim 10, it is characterised in that the 3rd reaction wheel is located at the outer of the housing
Portion or inside.
12. capture apparatus as any one of claim 1-3, it is characterised in that in the reaction wheel system extremely
A few reaction wheel is unloaded motor.
13. capture apparatus as any one of claim 1-3, it is characterised in that the reaction wheel system can be
The capture apparatus are driven during rotating by the head, are yaw axis, the horizontal stroke of the relatively described head of the camera module
The disturbance of roller bearing and/pitch axis provides compensation torque, to realize the steady shot of the capture apparatus.
14. capture apparatus as any one of claim 1-3, it is characterised in that be provided with the side wall of the housing
Mounting hole, the capture apparatus are connected by the mounting hole with the cloud platform rotation.
15. capture apparatus as any one of claim 1-3, it is characterised in that the capture apparatus are to support zoom
The capture apparatus of function.
A kind of 16. unmanned vehicles, it is characterised in that including：
Capture apparatus as any one of claim 1-15；
Fuselage；And
Head, the head is connected with the fuselage, for carrying the capture apparatus, and drives the capture apparatus to rotate.
17. unmanned vehicles as claimed in claim 16, it is characterised in that the head include the first tumbler, second turn
Moving part and the 3rd tumbler, first tumbler are used to control the head to be rotated along first axle, and second tumbler is used
In controlling the head to be rotated along the second axle, the 3rd tumbler for controlling the head to be rotated along the 3rd axle, described the
It is connected by the first support arm between one tumbler and second tumbler, second tumbler and the 3rd tumbler pass through
Second support arm is connected, and the rotating shaft of the 3rd tumbler is connected with the capture apparatus.
18. unmanned vehicles as claimed in claim 17, it is characterised in that the first axle is the yaw axis of the head,
Second axle is the roll axle of the head, and the 3rd axle is the pitch axis of the head.
19. unmanned vehicle as described in claim 17 or 18, it is characterised in that the fuselage includes the bottom surface being oppositely arranged
And top surface, first tumbler is connected with the bottom surface of the fuselage.
20. unmanned vehicles as claimed in claim 17, it is characterised in that the first axle is roll axle, second axle
It is pitch axis, the 3rd axle is yaw axis；Or the first axle is pitch axis, the 3rd axle is roll axle, the described 3rd
Axle is yaw axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621298137.0U CN206202715U (en) | 2016-11-30 | 2016-11-30 | Capture apparatus and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621298137.0U CN206202715U (en) | 2016-11-30 | 2016-11-30 | Capture apparatus and unmanned vehicle |
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| Publication Number | Publication Date |
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| CN206202715U true CN206202715U (en) | 2017-05-31 |
Family
ID=58751643
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| CN201621298137.0U Expired - Fee Related CN206202715U (en) | 2016-11-30 | 2016-11-30 | Capture apparatus and unmanned vehicle |
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| WO2022141537A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Photographing device, gimbal assembly, unmanned aerial vehicle and unmanned aerial vehicle kit |
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| WO2019007129A1 (en) * | 2017-07-04 | 2019-01-10 | 深圳市道通智能航空技术有限公司 | Pan-tilt, and camera assembly and unmanned aerial vehicle having same |
| US10809600B2 (en) | 2017-07-04 | 2020-10-20 | Autel Robotics Co., Ltd. | Gimbal, photographing assembly and unmanned aerial vehicle (UAV) that have gimbal |
| CN107219864A (en) * | 2017-07-14 | 2017-09-29 | 北京航空航天大学 | A kind of servo/manual hybrid small-sized unmanned aerial vehicle remote sensing the clouds terrace system of Three Degree Of Freedom |
| CN109154836A (en) * | 2017-09-26 | 2019-01-04 | 深圳市大疆灵眸科技有限公司 | Control method, control equipment and the holder of holder |
| CN108945409A (en) * | 2018-07-23 | 2018-12-07 | 云南盛岭测绘有限公司 | A kind of mapping unmanned plane for highlands |
| WO2020042134A1 (en) * | 2018-08-31 | 2020-03-05 | 深圳市大疆创新科技有限公司 | Control method for gimbal, gimbal, and mobile platform |
| CN110077593A (en) * | 2019-04-25 | 2019-08-02 | 苏州臻迪智能科技有限公司 | With the unmanned vehicle for showing imaging function in distal flat surface |
| CN113383210A (en) * | 2020-10-15 | 2021-09-10 | 深圳市大疆创新科技有限公司 | Detection method and device of holder, movable platform and storage medium |
| WO2022077357A1 (en) * | 2020-10-15 | 2022-04-21 | 深圳市大疆创新科技有限公司 | Detection method and apparatus for gimbal, and gimbal, movable platform and storage medium |
| WO2022141537A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Photographing device, gimbal assembly, unmanned aerial vehicle and unmanned aerial vehicle kit |
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