CN214420717U

CN214420717U - Cloud platform system and movable platform

Info

Publication number: CN214420717U
Application number: CN202022511366.9U
Authority: CN
Inventors: 赵阳; 岳哲; 陈水添; 李雄飞
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-10-19
Anticipated expiration: 2030-11-03

Abstract

The embodiment of the utility model provides a cloud platform system and movable platform, movable platform includes the main part, and cloud platform system includes cloud platform mechanism and damping mechanism; the holder system is connected to the side surface of the main body and is used for bearing a load; the vibration reduction mechanism is arranged between the holder mechanism and the main body to absorb vibration energy; the holder mechanism is mechanically coupled with the load, and the attitude angle of the load can be adjusted through the holder mechanism. This cloud platform system no matter when being used for the horizontal composition of conventionality to shoot, still when being used for vertical composition to shoot, or when being used for looking up and shoot, all can possess better damping vibration isolation effect, helps promoting the imaging quality. And the simple structure of cloud platform system can not lead to the increase of cloud platform system whole volume size, is favorable to realizing the product lightweight, promotes duration.

Description

Cloud platform system and movable platform

Technical Field

The utility model relates to a vibration control technical field, especially a cloud platform system and movable platform.

Background

With the increasing maturity of unmanned control technology, equipment such as unmanned aerial vehicles are widely used in various industries such as agricultural plant protection, film and television aerial photography, electric power inspection and the like. Typically, the camera mounted on the unmanned aerial vehicle is used for aerial photography. In the motion of the unmanned aerial vehicle, in order to avoid the picture shake caused by the operation of a motor and wind load, a camera is generally connected with the body of the unmanned aerial vehicle through a pan-tilt mechanism and a vibration damping mechanism, so that the isolation and the weakening of vibration are realized. The holder mechanism is usually mounted on one side of the camera body facing the ground through a damping mechanism, so that the adverse effect of the shake of the camera body on the camera is reduced.

Because the extension of user's shooting content, the user is to looking at the shooting, vertical composition shooting etc. demand increase day by day, can use additional support extension unmanned aerial vehicle's shooting function, realizes looking at the shooting.

However, the introduction of the additional support leads to the increase of the overall weight and volume of the holder, which is not favorable for the endurance of the unmanned aerial vehicle, and on the other hand, structurally, after the support is connected, the loads of the vibration reduction mechanisms, which are stressed in tension and compression, are not completely consistent, which leads to the deterioration of the vibration reduction performance of the vibration reduction mechanisms, which is not favorable for obtaining stable imaging quality.

SUMMERY OF THE UTILITY MODEL

In view of this, in order to solve the problem that current cloud platform weight volume is great to and damping performance variation, the utility model provides a cloud platform system and movable platform.

In a first aspect, an embodiment of the present invention provides a holder system for a movable platform, where the movable platform includes a main body, and the holder system includes a holder mechanism and a damping mechanism;

the holder system is connected to the side surface of the main body and is used for bearing a load;

the vibration reduction mechanism is arranged between the holder mechanism and the main body so as to absorb vibration energy;

the holder mechanism is mechanically coupled with the load, and the attitude angle of the load can be adjusted through the holder mechanism;

the holder mechanism comprises a roll rotating mechanism, the attitude angle of the load comprises a roll angle, the roll rotating mechanism is in mechanical coupling connection with the main body through the vibration damping mechanism, and the roll angle of the load is adjusted through the roll rotating mechanism;

the holder mechanism comprises a pitching rotation mechanism, the attitude angle of the load comprises a pitch angle, and the pitch angle of the load is adjusted through the pitching rotation mechanism;

the holder mechanism comprises a yaw rotating mechanism, the attitude angle of the load comprises a yaw angle, and the yaw angle of the load is adjusted through the yaw rotating mechanism.

In a second aspect, an embodiment of the present invention provides a movable platform, including the pan-tilt system according to the first aspect of the embodiment of the present invention;

the holder system is connected with the main body;

according to the posture or/and the movement direction of the main body, at least one of the roll rotating mechanism, the pitch rotating mechanism and the yaw rotating mechanism can be controlled so as to realize a transverse composition shooting mode, a vertical composition shooting mode and a supination shooting mode.

The embodiment of the utility model provides a cloud platform system and movable platform include following advantage at least;

the embodiment of the utility model provides an in, provide a cloud platform system, this cloud platform system is arranged in portable platform, and portable platform includes the main part, and cloud platform system includes cloud platform mechanism and damping mechanism. The holder system is connected to the side face of the main body, and the vibration reduction mechanism is arranged between the holder mechanism and the main body to absorb vibration energy. Because the cloud platform system is connected in the side of main part, the motion of cloud platform mechanism no longer produces the interference with the main part, and cloud platform mechanism can move to the region except that being used for connecting the cloud platform system on the main part. Therefore, the holder system can have a good vibration reduction and isolation effect when being used for conventional horizontal composition shooting, vertical composition shooting or upward-looking shooting, and is favorable for improving the imaging quality. And the simple structure of cloud platform system can not lead to the increase of cloud platform system whole volume size, is favorable to realizing the product lightweight, promotes duration.

The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 schematically illustrates a connection schematic diagram of a pan/tilt head system and a main body according to an embodiment of the present invention;

fig. 2 schematically shows a three-dimensional schematic view of a pan-tilt system according to an embodiment of the present invention;

fig. 3 schematically shows a side view of a plane in which a roll axis and a yaw axis of a pan and tilt head system according to an embodiment of the present invention are located;

fig. 4 schematically shows a side view of a plane in which a pitch axis and a yaw axis of a pan and tilt head system according to an embodiment of the present invention are located;

fig. 5 schematically illustrates a schematic diagram of a pan-tilt system according to an embodiment of the present invention implementing vertical composition shooting;

fig. 6 schematically illustrates a schematic diagram of a pan/tilt head system for realizing upward shooting according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

Referring to fig. 1 to 4, an embodiment of the present invention provides a holder system for a movable platform, where the movable platform includes a main body 10, and is characterized in that the holder system includes a holder mechanism 20 and a damping mechanism 21;

the holder system is connected to the side surface of the main body 10 and is used for bearing a load 30;

the damping mechanism 21 is disposed between the holder mechanism 20 and the main body 10 to absorb vibration energy;

the holder mechanism 20 is mechanically coupled to the load 30, and the attitude angle of the load 30 can be adjusted by the holder mechanism 20;

the holder mechanism 20 includes a roll rotation mechanism 201, the attitude angle of the load 30 includes a roll angle, the roll rotation mechanism 201 is mechanically coupled to the main body 10 through the damping mechanism 21, and the roll angle of the load 30 is adjusted through the roll rotation mechanism 201;

the pan/tilt head mechanism 20 includes a pitch rotation mechanism 202, the attitude angle of the load 30 includes a pitch angle, and the pitch angle of the load 30 is adjusted by the pitch rotation mechanism 202;

the pan/tilt head mechanism 20 includes a yaw rotation mechanism 203, the attitude angle of the load 30 includes a yaw angle, and the yaw angle of the load 30 is adjusted by the yaw rotation mechanism 203.

Specifically, as shown in fig. 1, the pan-tilt system provided by the embodiment of the present invention can be used on a movable platform with autonomous mobility. Typical movable platforms, for example, remotely operated unmanned devices such as drones, unmanned vehicles, and the like. The movable platform includes main part 10, and main part 10 can unmanned aerial vehicle's fuselage or the automobile body of unmanned car, and main part 10 is used for installing power device, control system, cloud platform system and with cloud platform system mechanical coupling connected's load 30. The load 30 may be a motion camera, a single lens reflex single type professional camera, or an interchangeable lens.

With reference to the schematic diagrams of fig. 2 to 4, the pan/tilt head system in the embodiment of the present invention includes a pan/tilt head mechanism 20 and a damping mechanism 21. The pan/tilt system is attached to the side of the main body 10 and carries a load 30. It should be noted that the side of the main body 10 refers to a surface surrounding the circumference of the main body 10. Taking the drone as an example, the side of the main body 10 may be the front and back sides of the drone or the surface on which the side wings are located.

When the pan/tilt head system is installed and fixed on the side of the main body 10 in the above manner, it is not necessary to extend a rigid fixing structure on the main body 10 to suspend the installation of the pan/tilt head system. On the one hand, the motion of cloud platform system is not restricted by rigid fixed structure's hindrance, and cloud platform system's motion range is bigger, as shown in fig. 2, under the cooperation action of the pivot of difference in cloud platform system, cloud platform system can drive load 30 and realize that horizontal composition shoots, vertical composition shoot and face upward shoot the shooting of a plurality of different visual angle directions such as. On the other hand, the main body 10 is free from a rigid fixing structure and does not need to use an additional support, so that the volume size of the holder system is reduced, the light weight of the product is facilitated, and the cruising ability is improved.

With reference to the schematic diagram of fig. 1, in the embodiment of the present invention, the pan/tilt mechanism 20 is interposed between the main body 10 and the load 30, and the pan/tilt mechanism 20 is mechanically coupled to the load 30. Illustratively, the pan and tilt head mechanism 20 and the load 30 may be snapped together by mechanical snap-fit or fastened by fasteners such as screws. The pan-tilt mechanism 20 can adjust the attitude angle of the load 30, and the load 30 can move to the position required for shooting under the coordination of different attitude angles.

The damping mechanism 21 is disposed between the pan/tilt mechanism 20 and the main body 10, and when the main body 10 shakes or vibrates during movement, the damping mechanism 21 can absorb energy from the main body 10, so as to avoid causing vibration of the pan/tilt mechanism 20 and the load 30, thereby improving stability of the load 30 and improving imaging quality of the load 30.

Taking the schematic illustration of fig. 2 as an example, the pan-tilt mechanism 20 includes a roll rotation mechanism 201, the attitude angle of the load 30 includes a roll angle, the roll rotation mechanism 201 is mechanically coupled to the main body 10 through a damping mechanism 21, and the roll angle of the load 30 is adjusted through the roll rotation mechanism 201. When the roll angle when the roll rotating mechanism 201 is at the initial default position is defined as 0 °, once the roll rotating mechanism 201 drives the load 30 to rotate, the roll angle changes. In connection with the schematic of the attitude angle of the load 30 in fig. 2, it should be noted that the roll angle refers to the roll angle of the load 30 itself, and may be different from that of the main body 10. Taking the cloud deck system as an example for an unmanned aerial vehicle, when the main body 10 of the unmanned aerial vehicle rolls for 15 degrees, if the roll rotating mechanism 201 is locked, although the load 30 rolls with the main body 10, the roll angle of the load 30 is still 0 degree; if the roll rotation mechanism 201 rotates by-15 ° to keep the load 30 in the original horizontal direction, the roll angle of the load 30 is-15 °.

Also shown in fig. 4 is a pitch rotation mechanism 202 included in the pan-tilt mechanism 20, and the attitude angle of the load 30 includes a pitch angle, and the pitch angle of the load 30 is adjusted by the pitch rotation mechanism 202. In connection with the schematic of fig. 4 regarding the attitude angle of the load 30, it should be noted that the pitch angle refers to the pitch angle of the load 30 itself, which may be different from the pitch angle of the body 10. Taking the cradle head system as an example for an unmanned aerial vehicle, when the main body 10 of the unmanned aerial vehicle tilts up by 15 degrees, if the pitching rotating mechanism 202 is locked, although the load 30 tilts up and rotates along with the main body 10, the pitching angle of the load 30 is still 0 degree; if the pitch mechanism 201 is rotated by-15 ° to keep the load 30 in the original horizontal direction, the roll angle of the load 30 is-15 °.

Also shown in fig. 2 is yaw rotation mechanism 203 included in pan-tilt mechanism 20, and the attitude angle of load 30 includes a yaw angle, and the yaw angle of load 30 is adjusted by yaw rotation mechanism 203. In connection with the illustration of the attitude angle of the load 30 in fig. 2, it should be noted that the yaw angle refers to the yaw angle of the load 30 itself, which may be different from the yaw angle of the body 10. Taking the pan-tilt-zoom system as an example for an unmanned aerial vehicle, when the main body 10 of the unmanned aerial vehicle has a left deviation of 15 °, if the yaw rotating mechanism 202 is locked, although the load 30 rotates with the main body 10 in a yaw manner, the yaw angle of the load 30 is still 0 °; if yaw rotation mechanism 201 is rotated by-15 to maintain load 30 in the original forward looking direction, the yaw angle of load 30 is-15.

Therefore, in conjunction with the above description, it can be understood that, in the embodiment of the present invention, the Roll angle, the Pitch angle, and the Yaw angle of the load 30 all refer to their own attitude angles, the Roll angle is the rotation angle around the Roll axis of the Roll shaft shown in the figure, the Pitch angle is the rotation angle around the Pitch axis shown in the figure, and the Yaw angle is the rotation angle around the Yaw axis shown in the figure. When the load 30 is relatively stationary with respect to the main body 10, the aforementioned respective attitude angles are 0 °. When the corresponding roll rotating mechanism 201, pitch rotating mechanism 202, and yaw rotating mechanism 203 move to drive the load 30 and the main body 10 to move relatively, a corresponding attitude angle is generated. Therefore, the load 30 can be flexibly driven to the position required by shooting by utilizing the action combination of each rotating mechanism, different shooting modes are realized, and when each rotating mechanism is in a locked state, the FPV (First Person View) shooting mode can be realized.

Alternatively, referring to fig. 2, the damping mechanism 21 includes a connection assembly 210 and an elastic member 211;

the connecting assembly 210 is used for connecting the pan/tilt mechanism 20 and the main body 10, and the elastic member 211 is disposed between the pan/tilt mechanism 20 and the main body 10.

Specifically, as shown in fig. 2, in one embodiment, the vibration damping mechanism 21 includes a connecting assembly 210 and an elastic member 211. The connecting assembly 210 is used to connect the pan/tilt mechanism 20 to the main body 10, that is, to mount the pan/tilt mechanism 20 on the side of the main body 10. The elastic member 211 is located between the pan/tilt mechanism 20 and the main body 10, so as to prevent the pan/tilt mechanism 20 from rigidly contacting the main body 10, and thus, once the main body 10 vibrates, the energy generated by the vibration can be absorbed and consumed by the elastic member 211, and will not be transmitted to the pan/tilt mechanism 20, so as to prevent the pan/tilt mechanism 20 and the load 30 from vibrating.

Optionally, referring to fig. 2, the connection assembly 210 includes a first connection member 2101, one side of the first connection member 2101 is connected to the pan/tilt head mechanism 20, and the elastic member 211 is disposed between the other side of the first connection member 2101 and the main body 10.

Specifically, as shown in fig. 2, in one embodiment, the connection assembly 210 may include a first connection element 2101, the first connection element 2101 may be a connection plate having two surfaces parallel to each other, one of the surfaces is used for mounting the fixed pan/tilt head mechanism 20, the other surface is used for connecting with the main body 10, and the elastic element 211 is disposed between the other surface of the first connection element 2101 and the main body 10. For example, the elastic member 211 may be fixed to the other surface of the first connecting member 2101 or fixed to a side surface of the main body 10. Thus, the first connecting element 2101 may extend the connecting structure for the pan/tilt mechanism 20 to achieve connection with the main body 10, and the elastic element 211 may absorb vibration energy to perform a vibration isolation function.

Optionally, referring to fig. 2, the connecting assembly 210 further comprises a second connecting member 2102, wherein the second connecting member 2102 is used for connecting with the main body 10;

the first connecting element 2101 is movably connected to the second connecting element 2102 by the elastic element 211.

Specifically, as shown in fig. 2, in one embodiment, the connection assembly 210 may include two connectors, a first connector 2101 and a second connector 2102. The first connecting member 2102 of the two connecting members is fixed with the head mechanism 20, that is, the first connecting member 2102 and the head mechanism 20 are regarded as an integral structure. The second connecting member 2102 is used to connect with the main body 10. It should be noted that, the first connecting element 2101 and the second connecting element 2102 are movably connected to each other, and they can move relatively, that is, there is a movable space between the first connecting element 2101 and the second connecting element 2102, and they can generate a relative displacement with respect to each other. Meanwhile, the elastic member 211 is interposed between the first connecting member 2101 and the second connecting member 2102, and when the two are moved relatively, the elastic member 211 is forced to be deformed. For example, when the main body 10 vibrates to drive the second connecting member 2102 to vibrate, due to the existence of the elastic member 211 between the first connecting member 2101 and the second connecting member 2102, the elastic member 211 absorbs energy generated by the vibration of the second connecting member 2102, and the first connecting member 2101 is in a stable state, so that the stability of the pan/tilt head mechanism 20 can be ensured.

Alternatively, referring to fig. 3, the second link 2102 is disposed obliquely with respect to the axial direction of the load 30;

the second link 2102 includes a first surface facing away from the head mechanism 20 and a second surface facing away from the head mechanism 20;

the plurality of elastic members 211 are respectively disposed between the first surface and the first connecting member 2101 and between the second surface and the first connecting member 2101.

Specifically, as shown in fig. 3, in one embodiment, the second link 2102 is disposed to be inclined with respect to the heading axis direction of the load 30, and the heading axis of the load 30 is a rotation axis for controlling the load 30 to be deflected to the left and right sides. Referring to the illustration of fig. 3, the second link 2102 includes a first surface facing the head mechanism 20 and a second surface facing away from the head mechanism 20.

It will be appreciated that the second linkage 2102 acts as a rigid structure when it is disposed obliquely with respect to the heading axis of the load 30, i.e. obliquely with respect to the yaw axis of the main body 10. The elastic member 211 is provided in plurality, and a part of the elastic member 211 is disposed between the first surface of the second link 2102 and the first link 2101, and another part of the elastic member 211 is disposed between the second surface of the second link 2102 and the first link 2101. The elastic pieces 211 at all positions can be ensured to be in a pulled or pressed state, the deformation directions of the elastic pieces 211 can be ensured to be consistent, and the vibration damping performance of the vibration damping fulcrums where the elastic pieces 211 are located can be ensured to be consistent as much as possible.

Alternatively, referring to fig. 3, the lower end of the second linkage 2102 is disposed closer to the yaw rotation mechanism 203 than the upper end.

Specifically, in one embodiment, when the second link 2102 is disposed obliquely, the lower end of the second link 2102 may be disposed closer to the yaw rotation mechanism 203 than the upper end. Referring to the illustration of fig. 3, it can be seen that as the second link 2102 extends gradually downward, the lower end of the second link 2102 gets closer to the yaw rotation mechanism 203. With such an arrangement, the pan/tilt head mechanism 20 generates a movement tendency of overturning and rotating to the right side under the action of gravity, so that the elastic members 211 at the upper and lower ends of the second connecting member 2102 generate tensile deformation. Through experimental tests, the elastic piece 211 has more excellent vibration damping effect when being in tensile deformation.

Optionally, the elastic member 211 has an axisymmetric structure, and the symmetry axis of the elastic member 211 is substantially parallel to the transverse axis of the pan/tilt mechanism 20.

Specifically, in one embodiment, the elastic member 211 has an axisymmetric structure, for example, the elastic member 211 may be a cylindrical rubber member or a barrel-shaped rubber member. The symmetry axis of the elastic member 211 may be a cylindrical or barrel-shaped rotation axis, and when the elastic member 211 is mounted, the symmetry axis of the elastic member 211 may be parallel to the roll axis of the pan/tilt mechanism 20.

Optionally, the elastic member 211 comprises at least one of a compression elastic member and a tension elastic member.

Specifically, in one embodiment, the elastic member 211 may be a tensile elastic member that is stretched when receiving a force, or may be a compressive elastic member that is compressed when receiving a force, for example, a compression spring, which is a kind of compressive elastic member and generates elastic expansion and contraction when receiving an external force to help reduce vibration.

Alternatively, referring to fig. 3, the first connecting element 2101 and the second connecting element 2102 are arranged to cross at a preset included angle.

Specifically, as shown in fig. 3, in one embodiment, after the second connecting member 2102 is fixed to the main body 10, the first connecting member 2101 and the second connecting member 2102 cross each other, as shown in fig. 3, the first connecting member 2101 and the second connecting member 2102 have an X-shaped cross shape when viewed from the side, and the included angle therebetween satisfies a predetermined angle. With this arrangement, on the one hand, the first link 2101 and the second link 2102 may be configured to approximate a lever, and when the upper end of the first link 2101 rotates to the right, the upper end of the elastic member 211 is stretched, and simultaneously, the lower end of the first link 2101 rotates to the left, the lower end of the elastic member 211 is stretched, so that the elastic member 211 is stretched everywhere. On the other hand, the two connecting pieces are arranged in a crossed manner, and can be mutually limited, so that the first connecting piece 2101 is prevented from accidentally falling off from the second connecting piece 2102, and the safety and reliability of the connecting structure are improved. It should be noted that the first connecting member 2101 and the pan/tilt head mechanism 20 may also be fixed to the second connecting member 2102 or the main body 100 by a flexible wire made of metal or nylon, so as to prevent the first connecting member 2101 and the pan/tilt head mechanism 20 from falling off.

Alternatively, referring to fig. 2 and 3, a through hole is formed in the middle of the second connecting member 2102, and the first connecting member 2101 includes a first connecting part 21011 at the upper end and a second connecting part 21012 at the lower end;

the first connecting piece 2101 is arranged in the through hole in a penetrating manner, the first connecting part 21011 is positioned on the same side of the first surface, and the second connecting part 21012 is positioned on the same side of the second surface.

Specifically, as shown in fig. 2 and 3, in one embodiment, the second connecting member 2102 is a plate having a through hole at a middle portion thereof, and the upper and lower ends of the second connecting member 2102 are respectively a first connecting portion 21011 and a second connecting portion 21012 for connecting with the second connecting member 2102.

After the first connecting element 2101 passes through the through hole of the second connecting element 2102, the first surfaces of the first connecting element 21011 and the second connecting element 2102 are located on the same side, such as the right side of the second connecting element 2102 in fig. 3, and the second surfaces of the second connecting element 21012 and the second connecting element 2102 are located on the same side, such as the left side of the second connecting element 2102 in fig. 3. Therefore, after the elastic member 211 at any one of the upper and lower ends fails, even if the first connecting part 21011 and the second connecting part 21012 are disconnected at the same time, the two connecting parts are respectively positioned at two sides of the second connecting part 2102, so that the second connecting part 2102 plays a role in limiting and blocking the first connecting part 2101, and separation and falling of the two connecting parts can be prevented.

Optionally, at least one elastic member 211 is connected to each of the first connecting portion 21011 and the second connecting portion 21012.

Specifically, in one embodiment, the first connecting portion 21011 and the second connecting portion 21012 may be rectangular connecting portions, each for connecting one elongated elastic member 211. The first connection portion 21011 and the second connection portion 21012 may be circular connection portions each having two connection positions, and the two circular connection portions may be spaced apart from each other by a predetermined distance in the first connection portion 21011 and the two circular connection portions may be spaced apart from each other by a predetermined distance in the second connection portion 21012. Thus, the first connection portion 21011 and the second connection portion 21012 may form a two-point vibration damping layout, a three-point vibration damping layout, or a four-point vibration damping layout that is vertically symmetrical.

Optionally, two elastic members 211 are connected to the first connecting portion 21011, and two elastic members 211 are connected to the second connecting portion 21012.

Specifically, in one embodiment, two fixing points may be provided at the first connection portion 21011 for fixing one elastic member 211, respectively, and similarly, two fixing points may be provided at the second connection portion 21012 for fixing one elastic member 211, respectively. Thus, four elastic members 211 can be fixed between the first connecting member 2101 and the second connecting member 2102, the four elastic members 211 are uniformly distributed, and a four-point vibration damping layout structure with stable balance can be formed.

Alternatively, referring to fig. 2 and 3, the first connector 2101 is an X-shaped connection frame;

two adjacent end parts of the connecting frame are the first connecting parts 21011, and the other two adjacent end parts of the connecting frame are the second connecting parts 21012.

Specifically, as shown in fig. 2 and 3, in an embodiment, the first connecting element 2101 may have two arms that are cross-connected to form an X-shaped connecting frame. The connecting frame can be an integrally injection-molded part or be connected into a whole in a screw fastening connection mode. Two adjacent end parts in the X-shaped connecting frame are first connecting parts 21011, and the other two adjacent end parts are second connecting parts 21012. It should be noted that, a boss or a groove for positioning the elastic member 211 may be provided on the first connecting portion 21011 and the second connecting portion 21012.

Optionally, the first link 2101 and the second link 2102 form the preset included angle in the plane of the yaw axis and the roll axis of the main body 10;

or the like, or, alternatively,

the first link 2101 and the second link 2102 form the preset included angle in the plane of the yaw axis and the pitch axis of the main body 10.

Specifically, in one embodiment, the vibration damping mechanism 21 and the pan/tilt head mechanism 20 may be connected to appropriate positions on the side of the main body 10, as the spatial position allows. For example, when the second link 2102 is fixed to the front or rear side of the main body 10, the first link 2101 and the second link 2102 may form a predetermined angle in a plane in which the yaw axis and the roll axis of the main body 10 are located.

When the second link 2102 is fixed to the left or right side of the main body 10, the first link 2101 and the second link 2102 may form a predetermined angle in a plane in which the yaw axis and the pitch axis of the main body 10 are located.

Therefore, in the embodiment of the utility model provides an in, can whether can receive the interference according to the motion of actual overall arrangement space size and cloud platform mechanism, select to connect cloud platform system at main part 10 suitable position all around.

Optionally, the first connector 2101 includes first and second opposing surfaces, the first surface facing the head mechanism 20 and the second surface facing away from the head mechanism 20, the second surface for connection with the main body 10;

the second surface comprises a first connecting part and a second connecting part which are vertically distributed along a yaw axis of the holder mechanism 20, and the first connecting part and the second connecting part are respectively provided with the elastic parts;

the elastic element 211 has an axisymmetric structure, and at the first connection portion, the symmetry axis of the elastic element 211 is perpendicular to the second surface; at the second connection portion, the symmetry axis of the elastic member 211 is parallel to the second surface.

Specifically, in one embodiment, the connection assembly of the present invention may include a first connector 2101 having first and second surfaces facing away from each other. For example, a flat plate-like first connector 2101. The first surface of the first connecting member 2101 faces the pan/tilt head mechanism 20, and is fixedly connected to the pan/tilt head mechanism 20. The second surface faces away from the head mechanism 20 and is for connection with the main body 10. The pan/tilt mechanism 20 has a yaw axis for controlling the pan/tilt/.

The elastic member 211 has an axisymmetric structure, and the symmetry axis of the elastic member 211 is perpendicular to the second surface at the first connection portion. At the second connection portion, the symmetry axis of the elastic member 211 is parallel to the second surface. It can be understood that, since the first connecting portion is located above the second connecting portion, when the second surface is connected to the main body 10, the pan-tilt mechanism 20 will press the elastic member 211 located at the second connecting portion under its own weight, however, the symmetry axis of the elastic member 211 at this position is parallel to the second surface, i.e. along the symmetry axis of the elastic member 211, which is in a stretching state. For the elastic member 211 of the first connection portion, the symmetry axis thereof is perpendicular to the second surface, and it is in a stretched state along the symmetry axis direction of the elastic member 211. Therefore, when one connecting piece is used for connecting the main body 10 and the pan-tilt mechanism 20, the elastic piece 211 is installed and fixed in a manner that all the elastic pieces 211 are in a stretching state, and the vibration damping performance of all the elastic pieces 211 is ensured to be consistent.

Alternatively, the elastic member 211 includes any one of a rubber vibration-damping ball, a damping oil ball, and a spring.

Specifically, in one embodiment, the elastic member 211 may be any one of a rubber damper ball, a damping oil ball, and a spring, and for example, when weather resistance of the elastic member 211 needs to be considered, the spring may be preferably used. The use of rubber damping balls may be preferred when outdoor moisture erosion is a concern. Specifically can select to use according to the use scene of cloud platform system, the embodiment of the utility model provides a do not limit to this.

Optionally, the head system 20 is removably connected to the main body 10.

Specifically, in one embodiment, the above-mentioned pan/tilt head system 20 and the main body 10 can be detachably connected by a mechanical snap or an elastic snap structure, and of course, a screw can also be used for the detachable connection. Thus, the holder system 20 is conveniently stored.

Optionally, the rotation angle of the pan/tilt head mechanism 201 along the roll axis is greater than or equal to 0 ° and less than or equal to 180 °, and the rotation angle along the pitch axis is greater than or equal to-90 ° and less than or equal to 90 °.

Specifically, in one embodiment, the rotational angle of the pan/tilt head mechanism 201 along the Roll axis Roll is 0 ° or more and 180 ° or less, and the rotational angle along the Pitch axis Pitch is 90 ° or more and 90 ° or less. It should be noted that the rotation angle of the roll shaft and the rotation angle of the pitch shaft both refer to the rotation angle around the roll shaft or around the pitch shaft, regardless of whether the main body 10 is rotated.

Taking the main body 10 as an unmanned aerial vehicle body as an example, when the main body 10 flies right ahead while keeping horizontal, if the rotation angle of the pan/tilt mechanism 201 along the Roll axis Roll is equal to 0 °, it indicates that the pan/tilt mechanism 201 and the load 30 are both in the horizontal direction, if the rotation angle of the Pitch axis is 0 ° at this time, the scene right ahead is shot as schematically shown in fig. 1, and if the rotation angle of the Pitch axis is-90 ° at this time, the scene right below is shot.

When the main body 10 flies straight ahead while keeping horizontal, if the rotation angle of the pan/tilt mechanism 201 along the horizontal axis is equal to 90 °, it means that both the pan/tilt mechanism 201 and the load 30 rotate by 90 °, and at this time, the yaw axis of the pan/tilt mechanism 201 is changed from the horizontal direction to the vertical direction, as shown in fig. 5, and the load 30 can realize vertical composition shooting. If the rotation angle of the pan/tilt mechanism 201 along the roll axis is equal to 180 °, it will be described that the pan/tilt.

Alternatively, the pitch rotating mechanism 202 is mechanically coupled to the load 30, and the roll rotating mechanism 201, the yaw rotating mechanism 203, and the pitch rotating mechanism 202 are sequentially mechanically coupled.

Specifically, in one embodiment, the load 30 is mounted on the pitch-turn mechanism 202, i.e., the pitch-turn mechanism 202 acts as an end actuator to manipulate the pitch angle of the load 30. The pitch rotating mechanism 202 may be mechanically coupled to the yaw rotating mechanism 203, and the yaw rotating mechanism 203 may be mechanically coupled to the roll rotating mechanism 201. That is, the roll rotating mechanism 201 drives the roll of the Yaw rotating mechanism 203 and the Pitch rotating mechanism 202, and the Yaw rotating mechanism 203 drives the Yaw of the Pitch rotating mechanism 202, so that the action logic of Row-Yaw-Pitch can be realized.

Alternatively, the pitch rotation mechanism 202 is mechanically coupled to the load 30, and the roll rotation mechanism 201, the pitch rotation mechanism 202, and the yaw rotation mechanism 203 are sequentially mechanically coupled.

Specifically, in one embodiment, the load 30 is mounted on the yaw rotation mechanism 203, i.e., the yaw rotation mechanism 203 acts as an actuator at the end to manipulate the yaw angle of the load 30. The yaw rotation mechanism 203 may be mechanically coupled to the pitch rotation mechanism 202, and the pitch rotation mechanism 202 may be mechanically coupled to the roll rotation mechanism 201. That is, the roll rotating mechanism 201 drives the Pitch rotating mechanism 202 and the Yaw rotating mechanism 203 to roll, and the Pitch rotating mechanism 202 drives the Yaw rotating mechanism 203 to Pitch, so that the action logic of Row-Pitch-Yaw can be realized.

Optionally, the roll rotation mechanism 201 includes a roll support 2011 and a roll motor 2012 for driving the roll support 2011 to rotate around a roll;

the roll stand 2011 is configured to be mechanically coupled to the pitch motor 2022 of the pitch rotation mechanism 201 or the yaw motor 2032 of the yaw rotation mechanism 203.

Specifically, in one embodiment, the roll rotation mechanism 201 includes a roll cradle 2011 and a roll motor 2012. The Roll carriage 2011 is coupled to a shaft of the Roll motor 2012 so that the Roll motor 2012 operates to rotate the Roll carriage 2011 about the Roll axis Roll. Meanwhile, the roll stand 2011 is also configured to be mechanically coupled to the pitching motor 2022 or the yaw motor 2032, and the pitching motor 2022 or the yaw motor 2032 may rotate along with the roll stand 2011.

Optionally, the pitch rotation mechanism 202 includes a pitch bracket 2021 and a pitch motor 2022 for driving the pitch bracket 2021 to rotate about a pitch axis;

the pitch bracket 2021 is configured to mechanically couple to the load 30 or a yaw motor 2032 of the yaw rotation mechanism 203.

Specifically, in one embodiment, the pitch rotation mechanism 202 includes a pitch bracket 2021 and a pitch motor 2022. The Pitch bracket 2021 is connected to the shaft of the Pitch motor 2022 such that operation of the Pitch motor 2022 drives the Pitch bracket 2021 to rotate about the Pitch axis Pitch. Meanwhile, the pitch bracket 2021 is also used to mechanically couple with the load 30 or the yaw motor 2032, and the load 30 or the yaw motor 2032 may rotate with the pitch bracket 2021.

Optionally, the Yaw rotation mechanism 203 includes a Yaw support 2031 and a Yaw motor 2032 for driving the Yaw support 2031 to rotate around a Yaw axis Yaw;

the yaw frame 2031 is configured to be mechanically coupled to the load 30 or the pitch motor 2022 of the pitch mechanism 202.

Specifically, in one embodiment, the yaw rotation mechanism 203 includes a yaw yoke 2031 and a yaw motor 2032. The Yaw support 2031 is coupled to a rotation shaft of the Yaw motor 2032, so that the Yaw motor 2032 is operated to rotate the Yaw support 2031 about the Yaw axis Yaw. Meanwhile, the yaw support 2031 is also used to mechanically couple with the load 30 or the pitching motor 2022, and the load 30 or the pitching motor 2022 can rotate along with the yaw support 2031.

The embodiment of the present invention further provides a movable platform, which includes any one of the above-mentioned pan/tilt systems 20;

the holder system 20 is connected with the main body 10;

at least one of the roll rotation mechanism 201, the pitch rotation mechanism 202, and the yaw rotation mechanism 203 can be controlled according to the posture or/and the moving direction of the main body 10 to realize a landscape composition photographing mode, a portrait composition photographing mode, and a supine photographing mode.

Specifically, the above-mentioned pan/tilt head system 20 may be connected to the main body 10 of the movable platform, the main body 10 is provided with a control device, and the control device may send a control signal to at least one of the roll motor 2012, the pitch motor 2022 and the yaw motor 2032 according to the posture or/and the moving direction of the main body 10 itself, and accordingly control at least one of the roll rotating mechanism 201, the pitch rotating mechanism 202 and the yaw rotating mechanism 203 to operate, so that the load 30 may move to different positions, thereby implementing the horizontal composition shooting mode, the vertical composition shooting mode and the tilt shooting mode. And, owing to the setting of damping mechanism in above-mentioned cloud platform system, no matter in horizontal composition shooting mode, vertical composition shooting mode or the mode of making an uproar, the homoenergetic enough obtains excellent image quality. The horizontal composition shooting mode, the vertical composition shooting mode, and the supine shooting mode can be referred to the illustrations of fig. 1, 6, and 5, respectively.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Moreover, it is noted that instances of the word "in one embodiment" are not necessarily all referring to the same embodiment.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A cloud platform system, is used for the movable platform, the said movable platform includes the body, characterized by that, the said cloud platform system includes the cloud platform organization and damper organization;

2. The pan-tilt head system of claim 1, wherein the damping mechanism comprises a coupling assembly and a resilient member;

the coupling assembling be used for connecting cloud platform mechanism with the main part, the elastic component set up in cloud platform mechanism with between the main part.

3. The pan and tilt head system of claim 2, wherein the connection assembly comprises a first connection member, one side of the first connection member is connected with the pan and tilt head mechanism, and the elastic member is arranged between the other side of the first connection member and the main body.

4. The pan and tilt head system of claim 3, wherein the connection assembly further comprises a second connector for connecting with the main body;

the first connecting piece is movably connected with the second connecting piece through the elastic piece.

5. The head system according to claim 4, wherein the second link is disposed obliquely with respect to an axial direction of the load;

the second connecting piece comprises a first surface and a second surface which are opposite, the first surface faces the holder mechanism, and the second surface faces away from the holder mechanism;

the elastic pieces are arranged between the first surface and the first connecting piece and between the second surface and the first connecting piece respectively.

6. The head system according to claim 4, wherein a lower end of the second link is disposed closer to the yaw rotation mechanism than an upper end.

7. A head system according to claim 4, wherein said resilient member is of axisymmetric configuration, the axis of symmetry of said resilient member being substantially parallel to the axis of traversal of said head mechanism.

8. The head system according to claim 2, wherein said elastic member comprises at least one of a compression elastic member and a tension elastic member.

9. A pan and tilt head system according to claim 5, wherein the first connecting member and the second connecting member are arranged crosswise with a preset included angle.

10. A head system according to claim 9, wherein the second connecting member has a through hole in the middle thereof, the first connecting member comprising a first connecting portion at an upper end and a second connecting portion at a lower end;

the first connecting piece penetrates through the through hole, the first connecting portion is located on the same side of the first surface, and the second connecting portion is located on the same side of the second surface.

11. A head system according to claim 10, wherein at least one said resilient member is attached to each of said first and second attachment portions.

12. A head system according to claim 11, wherein two of said elastic members are connected to said first connection portion and two of said elastic members are connected to said second connection portion.

13. The pan and tilt head system of claim 12, wherein the first link is an X-shaped link carriage;

two adjacent end portions of the connecting frame are the first connecting portions, and the other two adjacent end portions of the connecting frame are the second connecting portions.

14. A head system according to any one of claims 9 to 13,

the first connecting piece and the second connecting piece form the preset included angle in the plane where the yaw axis and the transverse rolling axis of the main body are located;

or the like, or, alternatively,

the first connecting piece and the second connecting piece form the preset included angle in the plane where the yaw axis and the pitch axis of the main body are located.

15. A pan-tilt system according to claim 3,

the first connecting piece comprises a first surface and a second surface which are opposite, the first surface faces the holder mechanism, the second surface faces away from the holder mechanism, and the second surface is used for being connected with the main body;

the second surface comprises a first connecting part and a second connecting part which are vertically distributed along a yaw axis of the holder mechanism, and the first connecting part and the second connecting part are respectively provided with the elastic parts;

the elastic piece is of an axisymmetric structure, and the symmetry axis of the elastic piece is perpendicular to the second surface at the first connecting part; at the second connecting portion, the symmetry axis of the elastic member is parallel to the second surface.

16. The head system according to claim 2, wherein said elastic member comprises any one of a rubber vibration-damping ball, a damping oil ball and a spring.

17. The head system according to claim 1, wherein said head system is removably connected to said body.

18. The head system according to claim 1, wherein said head mechanism is rotated by an angle greater than or equal to 0 ° and less than or equal to 180 ° along the roll axis and by an angle greater than or equal to-90 ° and less than or equal to 90 ° along the pitch axis.

19. The pan-tilt head system of claim 1, wherein the pitch rotation mechanism is mechanically coupled to the load, and wherein the roll rotation mechanism, the yaw rotation mechanism and the pitch rotation mechanism are sequentially mechanically coupled.

20. The pan-tilt head system of claim 1, wherein the pitch rotation mechanism is mechanically coupled to the load, and wherein the roll rotation mechanism, the pitch rotation mechanism, and the yaw rotation mechanism are sequentially mechanically coupled.

21. The pan-tilt head system according to claim 1, wherein the roll rotation mechanism comprises a roll support and a roll motor for driving the roll support to rotate around a roll axis;

the roll support is used for being mechanically coupled with a pitching motor of the pitching rotating mechanism or a yawing motor of the yawing rotating mechanism.

22. The pan-tilt head system of claim 1, wherein the pitch rotation mechanism comprises a pitch support and a pitch motor for driving the pitch support to rotate about a pitch axis;

the pitching support is used for being in mechanical coupling connection with the load or a yaw motor of the yaw rotating mechanism.

23. The pan-tilt head system according to claim 1, wherein the yaw rotation mechanism comprises a yaw support and a yaw motor for driving the yaw support to rotate about a yaw axis;

the yaw support is used for being in mechanical coupling connection with the load or the pitching motor of the pitching rotating mechanism.

24. A movable platform comprising a pan-tilt system according to any one of claims 1 to 23;

the holder system is connected with the main body;