CN206704559U - A kind of head and unmanned vehicle - Google Patents
A kind of head and unmanned vehicle Download PDFInfo
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- CN206704559U CN206704559U CN201720135140.9U CN201720135140U CN206704559U CN 206704559 U CN206704559 U CN 206704559U CN 201720135140 U CN201720135140 U CN 201720135140U CN 206704559 U CN206704559 U CN 206704559U
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- tumbler
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- head
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Abstract
The utility model discloses a kind of head and unmanned vehicle, the head includes：First annulus part, the second annulus part being set in outside the first annulus part and the tumbler being set in outside the second annulus part；The first annulus part is installed in rotation on fuselage by the first motor, the tumbler is installed in rotation on the second annulus part by the second motor, wherein, first motor is used to drive the first annulus part, the second annulus part and tumbler to rotate around first axle relative to fuselage；The first annulus part and the second annulus part form supersonic motor, the second annulus part and the tumbler rotate around the second axle simultaneously, second motor is used to drive the tumbler to rotate around the 3rd axle, and the first axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.Blocking for fuselage can be avoided in shooting image using the unmanned vehicle of the head, rocking for fuselage is offset and completes steady shot.
Description
Technical field
Unmanned vehicle field is the utility model is related to, more particularly to a kind of head and unmanned vehicle.
Background technology
With the development of wireless Internet, WLAN and image processing techniques, the image procossing work(of unmanned vehicle
Can be stronger and stronger, the unmanned vehicle of pan-shot is capable of in increasing user's selection.In order to realize unmanned vehicle
Panoramic picture is shot, it is necessary to carry multiple cameras.In order to install camera, it is necessary to carry the cloud of installation camera on unmanned vehicle
Platform.
Most of unmanned vehicle, its head for routine is to be connected to by buffering ball under unmanned vehicle fuselage
Side, carry is single on head or multiple cameras.The shortcomings that this mode, is that camera can not carry out omnidirectional shooting.Camera
Always blocked by head or main body mechanism in the visual field of shooting.Therefore, existing head and unmanned vehicle technology also has
Treat in improvement and development.
Utility model content
The technical problems to be solved in the utility model there is provided a kind of head and unmanned vehicle, during overcoming shooting
The technical problem blocked of the fuselage to video capturing device.
In order to solve the above technical problems, in a first aspect, the utility model provides a kind of head, including：
First annulus part, the second annulus part being set in outside the first annulus part and the rotation being set in outside the second annulus part
Part；
The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor
It is arranged on dynamicly on the second annulus part, wherein, first motor is used to drive the first annulus part, the second annulus part and rotation
Part rotates relative to fuselage around first axle；The first annulus part and the second annulus part form supersonic motor, the second annulus part
Rotated simultaneously around the second axle with the tumbler, second motor is used to drive the tumbler to rotate around the 3rd axle, the first axle, the
Two axles and the 3rd axle are mutually perpendicular to two-by-two.
The stator of first motor is connected with fuselage, and the rotor of the first motor is connected with the first annulus part；Second motor
Stator is connected with the second annulus part, and the rotor of the second motor is connected with tumbler；The head also includes being arranged on the tumbler
Video capturing device.
The first embodiment of the video capturing device is：Video capturing device is two, is separately mounted to the tumbler
Highs and lows during vertical placement.
The second embodiment of the video capturing device is：Video capturing device includes at least one camera lens, owns
The visual angle sum of camera lens is more than or equal to 360 degree.
In order to establish electrical connection and drive the second annulus part, the first annulus part includes pairing conducting slip ring and piezoelectricity pottery
Porcelain element；The second annulus part includes friction material, when applying high-frequency ac voltage to the piezo ceramic element, second circle
Ring can rotate relative to the first annulus part.
The second annulus part includes being used for the conducting slip ring for establishing electrical connection, the conducting slip ring and the pairing conducting slip ring
Contact.
The circuit connection of the video capturing device is arranged in the tumbler, and in second motor and the second annulus part
Portion's cabling is simultaneously connected to the conducting slip ring.
The video capturing device includes being wirelessly connected to processing unit or controls the wireless connection module of terminal, for passing
Send the image of shooting.
For steady shot, the junction of the first annulus part and the first motor sets damping pad, the tumbler and the
The junction of two motors sets damping pad.
In order to solve the above technical problems, second aspect, the utility model provides a kind of unmanned vehicle, including fuselage, place
Unit is managed, in addition to the head that power is foregoing, the fuselage pass through the head.
Wherein, the stator of first motor is fixed on fuselage, and is connected with processing unit, the rotor of the first motor and
One annulus part connects；The stator of second motor is connected with the second annulus part, and the rotor of the second motor is connected with tumbler.
The internal diameter for being arranged on the first annulus part of fuselage is more than the outline of fuselage, the internal diameter of the tumbler be more than this
The external diameter of one annulus part and the second annulus part.
The beneficial effects of the utility model are：The head and unmanned vehicle provided in the present embodiment, by setting generation
The the first annulus part being mutually arranged and the second annulus part and tumbler of table three-dimensional space direction so that head first axle,
It can be shifted one's position on second axle and the 3rd direction of principal axis around fuselage and angle, realize the video capturing device that carries thereon
Spatial view converts, and overcomes right moment for camera body to block video capturing device.
Brief description of the drawings
Fig. 1 is the three-dimensional view of the unmanned vehicle of the utility model embodiment；
Fig. 2 is another view stereo view of the unmanned vehicle of the utility model embodiment；
Fig. 3 is the three-dimensional exploded view of the head of the utility model embodiment；
Fig. 4 is another view stereo exploded view of the head of the utility model embodiment；
Fig. 5 is the motion schematic diagram of the head in yaw axis (Y-axis) direction of the utility model embodiment；
Fig. 6 is the motion schematic diagram of the head in roll axle (X-axis) direction of the utility model embodiment；
Fig. 7 is the stereo-motion schematic diagram of the head in roll axle (X-axis) direction of the utility model embodiment；And
Fig. 8 is the stereo-motion schematic diagram of the head in pitch axis (Z axis) direction of the utility model embodiment.
Embodiment
It is right below in conjunction with the accompanying drawings for the purpose, technical scheme and advantage of the utility model embodiment are more clearly understood
The utility model embodiment is described in further details.Here, schematic description and description of the present utility model is used to solve
The utility model is released, but is not intended as to restriction of the present utility model.
It should be noted that " first axle " used herein, " the second axle " and " the 3rd axle " is spatially mutual two-by-two
Three vertical axles, may make up rectangular coordinate system in space (X, Y, Z).When head is set around the left and right sides of fuselage, " first
Axle ", " the second axle " and " the 3rd axle " correspond to yaw axis (Y-axis), roll axle (X-axis) and pitch axis (Z axis) respectively, and in head
When being set around the front and rear sides of fuselage, " first axle ", " the second axle " and " the 3rd axle " corresponds to yaw axis (Y-axis), pitching respectively
Axle (Z axis) and roll axle (X-axis).
It should be noted that " tumbler " herein can be the part of annulus or similar annulus (as oval), also
It can be the part of rectangle, square or the other irregular shapes that can be rotated around the diameter of " the second annulus part ".
The application is related to a kind of head and corresponding unmanned vehicle.The head is installed around the fuselage of unmanned vehicle,
So that the video capturing device installed on head is equal along orthogonal first axle two-by-two, the second axle and three directions of the 3rd axle
Fuselage translation-angle can be surrounded, realizes space three-dimensional view transformation.
The unmanned vehicle mainly includes fuselage 10, processing unit and the head set around fuselage.The fuselage 10 is worn
Cross head.The head includes：First annulus part 60, the second annulus part 66 being set in outside the first annulus part 60 and is set in
Tumbler 70 outside two annulus parts 66.The first annulus part 60 is installed in rotation on fuselage 10 by the first motor 14, should
Tumbler 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, first motor 14 is used to driving the first annulus part 60, the second annulus part 66 and tumbler 70 relative to
Fuselage 10 rotates around first axle.The first annulus part 60 and the second annulus part 66 form supersonic motor, the second annulus part 66
Rotated simultaneously around the second axle with the tumbler 70, second motor 16 is used to drive the tumbler 70 to rotate around the 3rd axle, and this
One axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.
First annulus part 60 and the second annulus part 66 form supersonic motor, and the first annulus part 60 is as supersonic motor
Stator, rotor of the second annulus part 66 as supersonic motor.When second annulus part 66 rotates, drive tumbler 70 is synchronous to turn
It is dynamic.
The processing unit can be microprocessor or the circuit board with calculation function.
The head also includes the video capturing device being arranged on the tumbler 70.The utility model embodiment does not limit
The quantity of video capturing device.In wherein a kind of embodiment, the quantity of video capturing device is 2, is separately mounted to turn
Highs and lows when moving part 70 is placed vertically.In another embodiment, the quantity of video capturing device is 4
It is individual, it is separately mounted to peak, minimum point, rightmost and Far Left when tumbler 70 is placed vertically.
In the present embodiment, the video capturing device is camera.The camera is arranged at least one, to complete panoramic picture
Splicing.Video capturing device includes at least one camera lens, and the visual angle sum of all camera lens is more than or equal to 360 degree.
Technical scheme for convenience of description, fish of the video capturing device using two visual fields as 180 degree in following unmanned vehicle scheme
It is illustrated by exemplified by eye camera.The video capturing device is it can also be provided that the general camera that three visual fields are 120 degree.Following reality
Example is applied to be illustrated so that two visual fields is the fisheye cameras of 180 degree as an example.
Fig. 1 and Fig. 2 is refer to, two visual fields can be with single shot picture or with one for the fisheye camera 20,30 of 180 degree
Determine the video recording of frequency continuous shooting.The fisheye camera 20,30 same time points each obtain camera image, can be transmitted to processing unit or
Terminal is controlled to carry out panoramic mosaic and compensation.Wherein, in the video capturing device visual angle sum of all camera lens be more than or
Equal to 360 degree.
The unmanned vehicle of specific the present embodiment, including fuselage 10, processing unit, multiple propellers and head.At this
Reason unit is arranged in fuselage, is connected, can also be completed in the lump to video capturing device with the control terminal wireless of user's manipulation
Image procossing.The fuselage extends 4 support arms 12, for installing rotor in the end of support arm 12.
Unmanned vehicle uses four rotor wing unmanned aerial vehicles in the present embodiment.Unmanned vehicle uses four propellers, has and flies
The features such as row security control is flexible.It is understood that the unmanned vehicle in the utility model embodiment can be single rotor
Unmanned plane, four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles etc., only it is to be illustrated by taking four rotor wing unmanned aerial vehicles as an example here, not
Form the restriction to unmanned vehicle in the utility model embodiment.
The head is designed as hollow, and fuselage 10 passes through hollow head, and the head causes head after being installed on fuselage 10
Set around fuselage 10, the left and right sides that can surround fuselage 10 is set, and the front and rear sides that can also surround fuselage 10 are set.Should
Head includes video capturing device.In the present embodiment, the video capturing device is the fisheye camera 20,30.
Wherein, the video capturing device can surround fuselage conversion visual angle under the drive of head so that the image capturing fills
Put and pan-shot is carried out with spatial view.
Refer to Fig. 2-4, in the present embodiment, head is set around the left and right sides of fuselage 10, then first axle, the second axle and
3rd axle corresponds to the yaw axis (Y-axis), roll axle (X-axis) and pitch axis (Z axis) of head respectively.
The head includes：First annulus part 60, the second annulus part 66 being set in outside the first annulus part 60 and is set in
Tumbler 70 outside second annulus part 66.The first annulus part 60 is installed in rotation on fuselage 10 by the first motor 14,
The tumbler 70 is rotatably sleeved on the second annulus part 66 by the second motor 16.
Wherein, first motor 14 is used to driving the first annulus part 60, the second annulus part 66 and tumbler 70 relative to
Fuselage 10 rotates around first axle, and can drive video capturing device on head along driftage principal axis transformation visual angle.First annulus
The annulus part 66 of part 60 and second forms supersonic motor, and the first annulus part 60 drives the second annulus part 66 and the tumbler 70
Rotated simultaneously around the second axle, so as to drive the video capturing device on head along roll principal axis transformation visual angle.Second motor 16
For driving video capturing device of the tumbler 70 in the 3rd axle rotation, drive head along pitching principal axis transformation visual angle.
The tumbler 70 is used to install camera 20 and camera 30.The tumbler 70 is set on the second annulus part 66.Together
When, the annulus part 66 of tumbler 70 and second is rotatably set on the first annulus part 60 in the lump.The first annulus part 60 can
It is rotatably mounted on the fuselage 10.The implementation of the tumbler, the second annulus part and the first annulus part have it is a variety of, as long as
Ensure the tumbler, the second annulus part and the first annulus part is hollow and one of each comfortable three dimensions of energy above switch image capturing
The shooting angle of device.
In the embodiment of the present application, the first annulus part 60 is hollow circular ring.The internal diameter of the first annulus part 60 is more than machine
The outline of body 10 so that the first annulus part 60 can be set in fuselage and be installed.First motor 14 drives first annulus
Part 60 is along Y direction, that is, yaw direction, deflection.
The side of first annulus part 60 sets piezoelectric ceramic ring 63 and pairing conducting slip ring 64.The He of pairing conducting slip ring 64
Piezoelectric ceramic ring 63 is connected with processing unit.The first annulus part 60 sets contiguous block 62, and the first electricity is set in contiguous block 62
The rotor of machine 14.The stator of first motor is arranged in fuselage.
Specifically, the rotor of the first motor 14 is connected with contiguous block 62, and the stator of the first motor 14 is connected with fuselage.It is preferred that
Ground, the rotor of the first motor 14 are fixedly connected with contiguous block 62, and the stator of the first motor 14 is fixedly connected with fuselage.
The connected mode of the first annulus part 60 and fuselage 10 is the connection of fixing device and installation portion.Opened below the fuselage
At least one set of inclined installation portion and guide groove are set if fixing hole, in fixing hole.The installation portion sets groove.First annulus part 60
Fixing device is provided with, the fixing device is provided with fixed column.Fixing device is along guide groove and installation portion fastening until the fixed column
Fall into the groove of installation portion.So as to which head is fixed on fuselage 10, and the position of the rotor of the first motor 14 and stator is kept simultaneously
Put relation and, the electric connection of circuit connection in contiguous block 62.
As illustrated in figures 4-5, the second annulus part 66 is also hollow structure annulus, the second annulus part 66 and the first annulus part
60 install around fuselage together.The second annulus part 66 is rotatably fastened and is set on the first annulus part 60, the second annulus part
66 set neck 67, the piezoelectric ceramic ring 63 and pairing conducting slip ring of the first annulus part 60 in face of the side of the first annulus part 60
64 envelopes are in neck 67.The second annulus part includes friction material, to the piezo ceramic element, that is, piezoelectric ceramic ring
63, when applying high-frequency ac voltage, the second annulus part can rotate relative to the first annulus part.The second annulus part 66 and first
Annulus part 60 forms supersonic motor, ultrasonic wave is converted into mechanical force, to realize the second annulus part 66 under travelling wave drive
Rotated around roll axle (X-axis).As shown in fig. 6, the second annulus part 66 is relatively in situ under the driving of piezoelectric ceramic ring 63 in Fig. 6
Put the deflection there occurs angle A.
In wherein a kind of embodiment, the second annulus part 66 also needs to be electrically connected with the first annulus part 60.Specifically,
The second annulus part 66 includes being used for the conducting slip ring (not shown) for establishing electrical connection, the conducting slip ring and the first annulus part 60
Pairing conducting slip ring 64 contact, so as to be powered for the second motor and camera 20,30.
Fig. 7 is refer to, ultrasonic vibratory energy is transformed to promotion second by the piezoelectric ceramic ring 63 of the first annulus part 60
The kinetic energy that annulus part 66 rotates so that the second annulus part 66 can rotate around roll axle (X-axis).
Fig. 8 is refer to, show stereo-motion schematic diagram of the head in pitch axis (Z axis) direction, in the embodiment of the present application,
This can be illustrated by along the tumbler 70 that pitching direction of principal axis rotates by taking hollow circular ring as an example.The camera 20,30 distribution is arranged on this
On tumbler 70.In the present embodiment, the camera 20,30 is relatively fixed at the both ends of tumbler 70 respectively, and the driving of the second motor 16 should
Tumbler 70 deflects along pitch axis (Z axis) relative to fuselage.Wherein, the internal diameter of the tumbler 70 is more than the He of the first annulus part 60
The external diameter of second annulus part 66 so that the tumbler 70 can occur inclined in the first annulus part 60 and the periphery of the second annulus part 66
Turn.
Specifically, the stator of the second motor 16 is connected with the second annulus part 66, rotor and the tumbler 70 of the second motor 16
Connection.Preferably, the stator of the second motor 16 is fixedly connected with the second annulus part 66, rotor and the tumbler 70 of the second motor 16
It is fixedly connected.
As the embodiment of the Panorama Mosaic mode of the video capturing device, each camera bag of video capturing device
The link block for being connected to processing unit or controlling terminal is included, for transmitting the image of shooting.The link block can pass through
The image of wired connection (such as USB (Universal Serial Bus, USB)) transmission shooting, can also pass through
Wireless connection (such as LTE (Long Term Evolution, Long Term Evolution) connections, WiFi (Wireless Fidelity, nothing
Line LAN) connection) transmit the image shot.
In wherein a kind of embodiment, the processing unit of unmanned vehicle in itself can complete the splicing of panoramic picture.
Then the panoramic picture spliced is sent to control terminal.Control terminal shows the panorama sketch received using its display device
Picture.
In another embodiment, the image of each camera shooting is sent to control terminal, is spliced by control terminal each
The image for the different visual angles that individual camera is sent, so as to form panoramic picture.In this kind of embodiment, video capturing device can be with
The image of shooting is sent to by control terminal by wireless communication module.
On circuit realiration, each camera 20,30 of the video capturing device also can be by the way of wired connection and place
Manage element circuit connection.In this kind of embodiment, the circuit connection of camera is stealthy installation, and circuit connection is arranged on this turn
In moving part 70, and in the inside cabling of 16 and second annulus part of the second motor 66 and it is connected to the conductive sliding of the second annulus part 66
Ring.
Unmanned vehicle has vibrations during rising and falling, in order to ensure the electric connection of the stabilization between device and prevent
Wear, first motor 14, the second motor 16 setting damping pad, between the annulus part 60 of fuselage 10 and first, the second annulus
Between the motor 16 of part 66 second and and the motor 16 of tumbler 70 and second between be also provided with damping pad.
Alternatively, damping pad is set in the junction of the first annulus part 60 and the first motor 14, in tumbler 70 and the
The junction of two motors 16 sets damping pad.
The head primary structure of the embodiment of the present application is the three hollow rings set around fuselage 10.These three rings are distinguished
It is outer shroud-tumbler, the annulus of middle ring-the second part and the annulus part of inner ring-the first.The middle part that fuselage 10 is placed in annular passes through.First
Motor 14 is connected with the vibration damping of unmanned vehicle fuselage 10, and the rotor of the annulus of inner ring-the first part and the first motor 14 is fixed, at this
Under the driving of first motor 14, the annulus of inner ring-the first part rotates in yaw direction；The annulus of middle ring-the second part and inner ring-the
One annulus part forms ultrasonic motor structure.The annulus of middle ring-the second part can be rotated relative to the annulus of inner ring-the first part and exported
Roll acts and vibration damping in this direction.Outer shroud-the tumbler is connected by the second motor 16 with the annulus part of middle ring-the second,
The instruction that second motor 16 is sent according to head or user rotates, and drives the action of the outer shroud-tumbler output pitching.
In use, the processing unit of unmanned vehicle receives the shooting instruction of the control terminal of user's manipulation.Processing unit
Each camera 20,30 of notice video capturing device is back to from respective viewing angles image, and by the image of shooting respectively
Processing unit or control terminal carry out the splicing of panoramic picture.
Each camera 20,30 of the video capturing device is distributed around unmanned vehicle fuselage, can avoid fuselage 10
Block, so as to shoot more fully more real panoramic picture.
User can be from roll axle (X-axis), yaw axis (Y-axis) and pitch axis (Z by interactively entering in control terminal
Axle) three direction regulation and control be distributed in fuselage upper-lower position camera visual angle.The driftage of terminal transmission is being controlled when receiving user
During the adjustment information in axle (Y-axis) direction, processing unit controls the first motor 14 to rotate so that the first annulus part 60 is according to adjustment
The angle that information is specified deflects around fuselage 10；Believe when receiving adjustment of the user in roll axle (X-axis) direction that control terminal is sent
During breath, processing unit controls the application voltage of piezoelectric ceramic ring 63 on the first annulus part so that the second annulus part 66 according to
The angle that adjustment information is specified rotates along X-axis around the first annulus part 60；The pitch axis of terminal transmission is being controlled when receiving user
During the adjustment information in (Z axis) direction, processing unit controls second motor 16 to rotate so that the tumbler refers to according to adjustment information
Fixed angle deflects around fuselage, is handled more than so as to realize the view transformation of the video capturing device.
The application increases the annular hollow head of spatial view pan-shot on unmanned vehicle fuselage 10, and in the cloud
Two uniform fisheye cameras of circumference are configured with platform.The annular hollow head is driven jointly using supersonic motor and brushless electric machine
It is dynamic, to meet vibration damping demand of the head in three driftage, roll and pitching directions, and due to the annulus of middle ring-the second part and
The annulus of inner ring-the first part formed supersonic motor structure, its distinctive loop configuration can realize allow fuselage 10 be placed in head its
In, without going to install video capturing device and head with opening up additional space on fuselage 10.Meanwhile in order to ensure device it
Between stabilization be electrically connected with and prevent to wear, first motor 14, the second motor 16 set damping pad, the fuselage 10 and first
Between annulus part 60, between the motor 16 of the second annulus part 66 second and and the motor 16 of tumbler 70 and second between be also provided with subtracting
Shake pad.The video capturing device of technical scheme can avoid blocking for head and fuselage when being worked on fuselage,
And can ensures the mechanically stable of head.
The hollow head of technical scheme, right moment for camera body blocking in itself is overcome, extends what is installed thereon
The visual perspective of video capturing device；Blocking for fuselage can be avoided in shooting image using the unmanned vehicle of the head, is supported
The rocking for fuselage that disappear completes steady shot.And another significant beneficial effect of the hollow head of the application is not have to change of flight
The structure of device fuselage interior.
The hollow head of technical scheme, the camera of video capturing device is evenly distributed on outer shroud.Or
In other embodiments, two fisheye cameras are separately positioned on the highs and lows of unmanned vehicle fuselage, fully extend
Visual angle；And the head based on the application can control the synchronization of the direction of motion of all cameras simultaneously, ensure the panorama of splicing
Picture quality；Meanwhile vibration damping installation also is carried out to all cameras, ensure the stabilizing circuit connection of head.
Embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model, it is all
It is the equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or directly or indirectly uses
In other related technical areas, similarly it is included in scope of patent protection of the present utility model.
Claims (12)
- A kind of 1. head, it is characterised in that including：First annulus part, the second annulus part being set in outside the first annulus part and the tumbler being set in outside the second annulus part；The first annulus part is installed in rotation on fuselage by the first motor, and the tumbler can be turned by the second motor Dynamicly be arranged on the second annulus part on, wherein, first motor be used for drive the first annulus part, the second annulus part and Tumbler rotates relative to fuselage around first axle；The first annulus part and the second annulus part form supersonic motor, and described the Two annulus parts and the tumbler rotate around the second axle simultaneously, and second motor is used to drive the tumbler around the 3rd axle to turn Dynamic, the first axle, the second axle and the 3rd axle are mutually perpendicular to two-by-two.
- 2. head according to claim 1, it is characterised in that the stator of first motor is connected with fuselage, the first electricity The rotor of machine is connected with the first annulus part；The stator of second motor is connected with the second annulus part, the rotor of the second motor and rotation Part connects；The head also includes the video capturing device being arranged on the tumbler.
- 3. head according to claim 2, it is characterised in that video capturing device is two, is separately mounted to described turn Highs and lows when moving part is placed vertically.
- 4. head according to claim 3, it is characterised in that video capturing device includes at least one camera lens, institute The visual angle sum for having camera lens is more than or equal to 360 degree.
- 5. head according to claim 2, it is characterised in that the first annulus part includes pairing conducting slip ring and piezoelectricity Ceramic component；The second annulus part includes friction material, when applying high-frequency ac voltage to the piezo ceramic element, institute Stating the second annulus part can rotate relative to the first annulus part.
- 6. head according to claim 5, it is characterised in that the second annulus part includes being used to establish electrical connection Conducting slip ring, the conducting slip ring contact with the pairing conducting slip ring.
- 7. head according to claim 6, it is characterised in that the circuit connection of the video capturing device is arranged on described In tumbler, and cabling and the conducting slip ring is connected to inside second motor and the second annulus part.
- 8. according to the head described in claim 2-7 any one, it is characterised in that the video capturing device includes wirelessly connecting It is connected to processing unit or controls the wireless connection module of terminal, for transmits the image of shooting.
- 9. according to the head described in claim 1-7 any one, it is characterised in that the first annulus part and the first motor Junction sets the junction setting damping pad of damping pad, the tumbler and the second motor.
- 10. a kind of unmanned vehicle, including fuselage, processing unit, it is characterised in that also including claim 1-9 any one Described head, the fuselage pass through the head.
- 11. unmanned vehicle according to claim 10, it is characterised in that the stator of first motor is fixed on fuselage On, and be connected with processing unit, the rotor of the first motor is connected with the first annulus part；The stator of second motor and the second annulus part Connection, the rotor of the second motor are connected with tumbler.
- 12. unmanned vehicle according to claim 11, it is characterised in that the first annulus part installed in fuselage Internal diameter is more than the outline of fuselage, and the internal diameter of the tumbler is more than the external diameter of the first annulus part and the second annulus part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135140.9U CN206704559U (en) | 2017-02-14 | 2017-02-14 | A kind of head and unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135140.9U CN206704559U (en) | 2017-02-14 | 2017-02-14 | A kind of head and unmanned vehicle |
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| CN206704559U true CN206704559U (en) | 2017-12-05 |
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|---|---|---|---|
| CN201720135140.9U Active CN206704559U (en) | 2017-02-14 | 2017-02-14 | A kind of head and unmanned vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097966A (en) * | 2017-02-14 | 2017-08-29 | 深圳市道通智能航空技术有限公司 | A kind of head and unmanned vehicle |
| CN111688940A (en) * | 2020-06-15 | 2020-09-22 | 广东电网有限责任公司清远供电局 | Rotating holder system for multi-rotor unmanned aerial vehicle, unmanned aerial vehicle and control method of unmanned aerial vehicle |
-
2017
- 2017-02-14 CN CN201720135140.9U patent/CN206704559U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097966A (en) * | 2017-02-14 | 2017-08-29 | 深圳市道通智能航空技术有限公司 | A kind of head and unmanned vehicle |
| WO2018149182A1 (en) * | 2017-02-14 | 2018-08-23 | 深圳市道通智能航空技术有限公司 | Pan-tilt and unmanned aerial vehicle |
| CN107097966B (en) * | 2017-02-14 | 2019-10-22 | 深圳市道通智能航空技术有限公司 | A kind of holder and unmanned vehicle |
| CN111688940A (en) * | 2020-06-15 | 2020-09-22 | 广东电网有限责任公司清远供电局 | Rotating holder system for multi-rotor unmanned aerial vehicle, unmanned aerial vehicle and control method of unmanned aerial vehicle |
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Address after: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Guangdong city of Shenzhen province Nanshan District Xili Street Xueyuan Road No. 1001 Chi Yuen Building 9 layer B1 Patentee before: AUTEL ROBOTICS Co.,Ltd. |