WO2016169035A1 - 云台及使用该云台的无人飞行器 - Google Patents

云台及使用该云台的无人飞行器 Download PDF

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Publication number
WO2016169035A1
WO2016169035A1 PCT/CN2015/077334 CN2015077334W WO2016169035A1 WO 2016169035 A1 WO2016169035 A1 WO 2016169035A1 CN 2015077334 W CN2015077334 W CN 2015077334W WO 2016169035 A1 WO2016169035 A1 WO 2016169035A1
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WO
WIPO (PCT)
Prior art keywords
support mechanism
link
uav
driving
fuselage
Prior art date
Application number
PCT/CN2015/077334
Other languages
English (en)
French (fr)
Inventor
肖文龙
冯壮
张永生
陈星元
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/077334 priority Critical patent/WO2016169035A1/zh
Priority to CN201580004249.2A priority patent/CN106029502B/zh
Publication of WO2016169035A1 publication Critical patent/WO2016169035A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to a cloud platform and an unmanned aerial vehicle using the same.
  • UAV aerial photography is usually carried out by using an unmanned aerial vehicle equipped with a camera, a camera, etc., and the above-mentioned imaging device is usually mounted on a cloud platform and connected to the unmanned aerial vehicle through the cloud platform.
  • the pan/tilt is used to maintain the working orientation of the photographing device, so that the relative position of the photographing device to the ground during shooting is always kept constant to ensure the shooting quality.
  • the pan/tilt still keeps the camera in a vertical state, which inevitably causes the camera of the camera to ingest the parts of the unmanned aerial vehicle, the propeller and the like.
  • the captured images and video information cannot meet the user's needs.
  • a head of an unmanned aerial vehicle includes a support mechanism and a connection mechanism for carrying a carrier.
  • the connecting mechanism is a telescopic structure; the supporting mechanism is disposed on the connecting mechanism.
  • the connecting mechanism is configured to mount the supporting mechanism on a body of an unmanned aerial vehicle, and can drive the supporting mechanism to drive the carrier to be close to the body of the unmanned aerial vehicle and be accommodated in the unmanned In the fuselage of the aircraft, or driving the support mechanism to drive the carrier out of the fuselage of the UAV.
  • the attachment mechanism is a rail type lift assembly.
  • the connecting mechanism is a linear motor
  • the linear motor includes a stator rail and a mover slidably disposed on the stator rail; the support mechanism is disposed on a mover of the linear motor, the straight line
  • the motor drives the support mechanism relatively far away from or near the fuselage of the UAV by the mover.
  • connection mechanism includes a guide rail, a motor, and a rope
  • the support mechanism is slidable along the guide rail, and a reel is fixed on a drive shaft of the motor, and one end of the rope is The support mechanism is fixedly coupled, and the other end is wound on the reel; wherein the motor rotates and the support mechanism is slid along the guide rail by the rope.
  • the connecting mechanism is a link mechanism
  • the link mechanism includes: a first driving member for fixedly connecting the body of the UAV; a first translation member coupled to the a first translation member; a second translation member slidably disposed on the support mechanism; a first link chain, two ends of the first link chain are respectively hinged to the first translation member and the And a second link chain, one end of the second link chain is hinged to the second translation member, and the other end is for rotatably connecting the body of the UAV.
  • the second link chain intersects the first link chain and is hinged together to form a link set.
  • the first driving member drives the first translation member to slide in a predetermined sliding direction to drive the length of the connecting rod group to be elongated or shortened, thereby driving the supporting mechanism relatively far away from or close to the unmanned The fuselage of the aircraft.
  • the link mechanism further includes a second driving member disposed on the supporting mechanism, the second translation member is coupled to the second driving member; and the second driving member drives the second driving member The translator moves to thereby drive the support mechanism relatively farther or closer to the body of the UAV than the first drive member.
  • the link mechanism further includes a guiding member for fixedly connecting the fuselage of the UAV, the guiding member extending in a direction parallel to the preset sliding direction, the first translational member along The guide member is slidable.
  • first link chain includes a plurality of first links that are sequentially hinged
  • second link chain includes a plurality of second links that are sequentially hinged; each of the second links is respectively associated with one The first links intersect and are hinged to each other at an intersection such that the first link chain and the second link chain are interdigitated to form the link set.
  • the first link chain includes a first link
  • the second link chain includes a second link
  • the second link intersects the first link, and Articulated at the intersection.
  • the connecting mechanism is a link slider mechanism
  • the link slider mechanism includes a driving member and a guiding rail, an active rod hinged to the driving member, and is hinged to the active rod a follower rod and a slider hinged to the driven rod;
  • the slider is slidably disposed on the guide rail, the support mechanism is fixed to the slider;
  • the active rod can be
  • the driving member is driven to rotate, and the sliding member drives the sliding member to slide along the guiding rail, thereby driving the supporting mechanism relatively far away from or close to the body of the UAV.
  • the connecting mechanism includes an electric motor, a gear and a rack
  • the electric motor is mounted on a fuselage of the unmanned aerial vehicle
  • the gear is coupled to a driving shaft of the electric motor.
  • the rack is meshed with the gear
  • the support mechanism is mounted on the rack; wherein the motor drives the gear to rotate, the gear drives the rack to translate, and the rack drives The support mechanism moves.
  • the connecting mechanism is a cylinder
  • the supporting mechanism is disposed on a driving rod of the cylinder
  • the cylinder drives the supporting mechanism to be relatively far away from or close to the unmanned aerial vehicle by the driving rod body.
  • the connecting mechanism is a voice coil motor
  • the supporting mechanism is disposed on a driving end of the voice coil motor
  • the voice coil motor drives the supporting mechanism relatively far away or close by the driving end The fuselage of the unmanned aerial vehicle.
  • the attachment mechanism includes a rail, an electromagnet, and a permanent magnet, the support mechanism being slidably disposed on the rail, the rail being configured to connect the support mechanism to the unmanned aerial vehicle On the fuselage; one of the electromagnet and the permanent magnet is disposed on the support mechanism, and the other of the electromagnet and the permanent magnet is disposed on the body of the unmanned aerial vehicle,
  • the electromagnet attracts or repels the permanent magnet by controlling the direction of the current on the electromagnet such that the support mechanism is relatively far from or near the fuselage of the UAV along the rail.
  • the attachment mechanism can be mounted within the fuselage of the UAV and partially telescoped out of the fuselage of the UAV.
  • the connecting mechanism includes an electric motor, a lead screw and a nut
  • the electric motor is mounted on a fuselage of the UAV
  • the lead screw is coaxially fixed with a driving shaft of the electric motor.
  • the nut is sleeved on the screw and connected to the supporting mechanism; wherein the motor drives the screw to rotate, the screw is screwed with the nut to drive the nut opposite The screw is moved, and the nut drives the support mechanism to move.
  • An unmanned aerial vehicle includes a fuselage and a head.
  • the pan/tilt head includes a connecting mechanism connected to the fuselage and a supporting mechanism disposed on the connecting mechanism; the connecting mechanism is a telescopic structure, and the supporting mechanism is configured to carry a carrier.
  • the connecting mechanism drives the supporting mechanism to drive the carrier close to the body and is received in the body, or drives the supporting mechanism to drive the carrier to protrude outside the body.
  • the attachment mechanism is a rail type lift assembly.
  • the connecting mechanism is a linear motor
  • the linear motor includes a stator rail and a mover slidably disposed on the stator rail; the support mechanism is disposed on a mover of the linear motor, the straight line
  • the motor drives the support mechanism relatively far from or near the fuselage by the mover.
  • connection mechanism includes a guide rail, a motor, and a rope
  • the support mechanism is slidable along the guide rail, and a reel is fixed on a drive shaft of the motor, and one end of the rope is The support mechanism is fixedly coupled, and the other end is wound on the reel; wherein the motor rotates and the support mechanism is slid along the guide rail by the rope.
  • the connecting mechanism is a link mechanism
  • the link mechanism includes: a first driving member fixedly coupled to the body; and a first translation member coupled to the first driving member a second translation member slidably disposed on the support mechanism; a first link chain, two ends of the first link chain are respectively hinged to the first translation member and the support mechanism; And a second link chain, one end of the second link chain is hinged to the second translation member, and the other end is rotatably coupled to the body.
  • the second link chain intersects the first link chain and is hinged together to form a link set.
  • the first driving member drives the first translation member to slide in a predetermined sliding direction to drive the length of the connecting rod group to be elongated or shortened, thereby driving the supporting mechanism relatively far away from or close to the body. .
  • the link mechanism further includes a second driving member disposed on the supporting mechanism, the second translation member is coupled to the second driving member; and the second driving member drives the second driving member The translator moves to thereby drive the support mechanism relatively far away from or near the fuselage in cooperation with the first drive member.
  • the link mechanism further includes a guiding member fixedly coupled to the body, the extending direction of the guiding member is parallel to the predetermined sliding direction, and the first translation member is along the guiding member slide.
  • first link chain includes a plurality of first links that are sequentially hinged
  • second link chain includes a plurality of second links that are sequentially hinged; each of the second links is respectively associated with one The first links intersect and are hinged to each other at an intersection such that the first link chain and the second link chain are interdigitated to form the link set.
  • the first link chain includes a first link
  • the second link chain includes a second link
  • the second link intersects the first link, and Articulated at the intersection.
  • the connecting mechanism is a link slider mechanism
  • the link slider mechanism includes a driving member and a guiding rail, an active rod hinged to the driving member, and is hinged to the active rod a follower rod and a slider hinged to the driven rod;
  • the slider is slidably disposed on the guide rail, the support mechanism is fixed to the slider;
  • the active rod can be
  • the driving member is driven to rotate, and the sliding member drives the sliding member to slide along the guiding rail, thereby driving the supporting mechanism relatively far away from or close to the body.
  • connection mechanism includes an electric motor, a gear and a rack
  • the electric motor is mounted on the body
  • the gear is coupled to a drive shaft of the electric motor
  • the rack is The gears are engaged
  • the support mechanism is mounted on the rack; wherein the motor drives the gear to rotate, the gear drives the rack to translate, and the rack drives the support mechanism to move.
  • the attachment mechanism is a cylinder
  • the support mechanism is disposed on a drive rod of the cylinder, and the cylinder drives the support mechanism relatively far away from or near the fuselage by the drive rod.
  • the connecting mechanism is a voice coil motor
  • the supporting mechanism is disposed on a driving end of the voice coil motor
  • the voice coil motor drives the supporting mechanism relatively far away or close by the driving end The fuselage.
  • the connecting mechanism includes a guide rail, an electromagnet, and a permanent magnet
  • the support mechanism is slidably disposed on the rail, the rail is coupled to the body; the electromagnet and the One of the permanent magnets is disposed on the support mechanism, and the other of the electromagnet and the permanent magnet is disposed on the body, and the electromagnetic is controlled by controlling a direction of a current on the electromagnet
  • the iron attracts or repels the permanent magnet such that the support mechanism is relatively far from or proximate to the fuselage along the rail.
  • the attachment mechanism can be mounted within the fuselage and partially telescope out of the fuselage.
  • the connecting mechanism comprises an electric motor, a screw rod and a nut
  • the electric motor is mounted on the fuselage
  • the screw rod is coaxially fixedly connected with a driving shaft of the electric motor
  • the nut sleeve Provided on the screw rod and connected to the supporting mechanism; wherein the motor drives the screw to rotate, the screw rod is screwed with the nut to drive the nut to move relative to the screw rod,
  • the nut drives the support mechanism to move.
  • the UAV further includes a damper mechanism disposed on the body, the connection mechanism having one end coupled to the damper mechanism and the other end coupled to the support mechanism.
  • the UAV further includes a landing gear disposed on the fuselage adjacent to the pan/tilt, the carrier carried by the support mechanism is movable under the driving of the connecting mechanism to the The outside of the landing gear.
  • the attachment mechanism automatically drives the support mechanism away from the fuselage after the UAV takes off.
  • the attachment mechanism automatically drives the support mechanism proximate the fuselage prior to landing of the UAV.
  • the support mechanism is mounted below the fuselage and the height of the support mechanism relative to the fuselage is adjusted by the attachment mechanism.
  • the UAV is a multi-rotor aircraft.
  • a support mechanism for mounting a photographing device is coupled to the body by a telescopic connecting mechanism, and the connecting mechanism can drive the support mechanism when the UAV is flying.
  • the photographing device is remote from the fuselage, avoiding the situation in which the photographing device ingests its own components (such as a propeller or the like) of the UAV. Since the photographing device can be adjusted to the outside of the body with the support mechanism, the angle of view of the photographing device is enlarged, and the lens of the photographing device is prevented from being blocked by the self-part of the UAV. Even if the fuselage of the UAV keeps flying at a large inclination, the lens of the photographing device does not ingest the own components of the UAV, thereby ensuring the photographing quality of the photographing device.
  • the connecting mechanism can drive the supporting mechanism and the photographing device to be close to and accommodated in the fuselage, thereby avoiding damage of the unmanned aerial vehicle when landing
  • the case of the photographing device also facilitates the smooth landing of the unmanned aerial vehicle.
  • FIG. 1 is a schematic view showing the assembly of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the assembly of the unmanned aerial vehicle of the first embodiment of the present invention in use.
  • FIG. 3 is a schematic view showing the assembly of the UAV shown in FIG. 2 in a non-use state.
  • FIG. 4 is a schematic view showing the assembly of an unmanned aerial vehicle according to a second embodiment of the present invention.
  • Fig. 5 is a schematic view showing the assembly of an unmanned aerial vehicle according to a third embodiment of the present invention.
  • Fig. 6 is a schematic view showing the assembly of an unmanned aerial vehicle according to a fourth embodiment of the present invention.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be in the middle.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • an unmanned aerial vehicle 100 is used to mount an imaging device 200 such as a camera or a video camera to perform an aerial shooting operation.
  • the UAV 100 includes a body 10, a damper mechanism 30 disposed on the body 10, and a platform 70 coupled to the damper mechanism 30.
  • the fuselage 10 may be provided with a power mechanism for providing the flying power of the unmanned aerial vehicle 100 and an electronic control module for controlling the power mechanism.
  • the power mechanism can be a motor and a rotor.
  • the damper mechanism 30 is mounted below the fuselage 10 for connecting the pan/tilt head 70 and buffering or eliminating vibrations received by the pan/tilt head 70 during flight of the unmanned aerial vehicle 100.
  • the UAV 100 may further include a landing gear (not shown) disposed on the body 10, and the landing gear may be mounted on the body 10 adjacent to the shock absorbing mechanism 30.
  • the landing gear may include a plurality of support feet, and the plurality of support feet are spaced apart from each other; the shock absorbing mechanism 30 may be located between the plurality of support feet.
  • the pan/tilt head 70 is mounted on the damper mechanism 30 for mounting the photographing device 200.
  • the platform 70 includes a connection mechanism 72 disposed on the damper mechanism 30 and a support mechanism 74 disposed on the connection mechanism 72.
  • the connecting mechanism 72 is a telescopic structure, and the connecting mechanism 72 can be installed in the body 10 and partially telescoped out of the body 10.
  • the supporting mechanism 74 can be relatively far away from or close to the body 10 under the driving of the connecting mechanism 72, so that the supporting mechanism 74 protrudes from the body 10 or is accommodated in the body 10 .
  • the connecting mechanism 72 In the non-use state, the connecting mechanism 72 is in a collapsed state, and the supporting mechanism 74 and the photographing device 200 thereon are relatively close to the body 10 and located between the plurality of supporting legs.
  • the connecting mechanism 72 is in a collapsed state, and the support mechanism 74 and the imaging device 200 thereon are housed in the body 10.
  • the connecting mechanism 72 can be in an unfolded state, so that the supporting mechanism 74 can adjust the distance with the body 10 as needed, thereby enabling the photographing device 200 to view The distance to the body 10 needs to be adjusted.
  • the support mechanism 74 can adjust the imaging device 200 to the outside of the landing gear driven by the connection mechanism 72.
  • the support mechanism 74 can adjust the photographing device 200 to a position farther away from the body 10 with respect to the end of the support leg, even if the body 10 maintains a large tilt at the time of photographing Also, the lens of the photographing device 200 does not ingest the own components of the unmanned aerial vehicle 100 (such as a propeller or the support leg, etc.) to ensure the photographing quality of the photographing device 200.
  • the unmanned aerial vehicle 100 such as a propeller or the support leg, etc.
  • connecting mechanism 72 is electrically connected to the electronic control module and can be deployed or folded under the control of the electronic control module.
  • FIG. 2 is a schematic view showing the unmanned aerial vehicle 300 according to the first embodiment of the present invention in use
  • FIG. 3 is a view showing the unmanned aerial vehicle 300 according to the first embodiment of the present invention.
  • the connecting mechanism 372 is a slide type lifting assembly.
  • the connecting mechanism 372 is a linear motor structure.
  • the connecting mechanism 372 includes a stator rail 3721 disposed on the body 310 and a mover 3723 slidably disposed on the stator rail 3721.
  • the supporting mechanism 374 is disposed on the mover 3723 of the linear motor, and can be relatively far away from the body 310 under the driving of the linear motor, or close to the body 310 under the driving of the linear motor. And is housed in the body 310 (refer to FIG. 3).
  • the connecting mechanism of the sliding rail type lifting assembly may include a guide rail, a motor, and a rope
  • the supporting mechanism 374 is slidable along the guiding rail
  • a winding disc is fixed on a driving shaft of the motor.
  • One end of the rope is fixedly connected to the support mechanism, and the other end is wound on the reel; wherein the motor rotates and the support mechanism is slid along the guide rail by the rope.
  • the connecting mechanism 472 is a link mechanism.
  • the connecting mechanism 472 includes a first driving member 4721, a guiding member 4723, a first translation member 4725, a plurality of first links 4726, a second translation member 4727, a plurality of second links 4728, and a second Drive member 4729.
  • the first driving member 4721 and the guiding member 4723 are fixedly disposed in the body 410, and the first translation member 4725 is slidably disposed in the guiding member 4723 and connected to the first driving On piece 4721.
  • the plurality of first driving members 4721 are capable of driving the first translation member 4725 to slide in the extending direction of the guide member 4723.
  • a plurality of the first links 4726 are sequentially hinged into a first link chain.
  • One end of the first link chain is hinged to the first translation member 4725, and the other end is hinged to the support mechanism 474.
  • the first link chain is arranged in a bent shape in a direction away from the body.
  • the second translation member 4727 is slidably disposed on the support mechanism 474.
  • a second driving member 4729 is disposed on the supporting mechanism 474 adjacent to the second translating member for driving the second translating member 4727 to move in a direction parallel to the guiding member 4723.
  • a plurality of the second links 4728 are sequentially hinged into a second link chain.
  • One end of the second link chain is hinged to the body 410, and the other end is hinged to the second translator 4727.
  • the second link chain is bent in a direction away from the fuselage, and each of the second links 4728 respectively intersects one of the first links 4726 and is hinged to each other at an intersection.
  • the first link chain and the second link chain are interleaved to form a telescopic link set.
  • the second driving member 4729 simultaneously drives the second translation member 4727 relative to each other. Close to the second driving member 4729. At this time, the distance between each of the first links in the first link chain is reduced, and the distance between each of the second links in the second link chain is reduced, so that The length of the telescopic link set is shortened, so that the support mechanism 474 is brought close to the body 410 and is received in the body 410.
  • the telescopic link set is elongated in overall length to drive the support mechanism 474 away from the body 410.
  • the number of the first link 4726 and the second link 4728 may each be one or more.
  • FIG. 5 is a schematic diagram of an unmanned aerial vehicle 500 according to a third embodiment of the present invention.
  • the connecting mechanism 572 is a link slider mechanism.
  • the connecting mechanism 572 includes a guiding rail 5720, a driving member 5721, an active rod 5723, a driven rod 5725, and a slider 5727.
  • the guiding rail 5720 is fixed on the body 510
  • the driving member 5721 is disposed in the body 510
  • the active rod 5723 is hinged on the driving member 5721.
  • the driven rod 5725 is hinged to The active rod 5723 is away from one end of the driving member 5721.
  • the sliding member 5727 is slidably disposed in the guiding rail 5720 and is hinged to an end of the driven rod 5725 away from the active rod 5723.
  • the support mechanism 574 is fixed to the slider 5727.
  • the driving member 5721 can drive the driving rod 5723 to rotate, and the sliding member 5727 is driven to slide in the guiding rail 5720 by the driven rod 5725, thereby driving the supporting mechanism 574 relatively away from the body 510. Or driving the support mechanism 574 close to the body 510 and being received in the body 510.
  • the connecting mechanism 672 is a rack and pinion mechanism.
  • the connection mechanism 672 may include a first motor (not shown), a gear 6721, and a rack 6723.
  • the first motor is mounted on the body 610, and the gear 6721 is mounted on a driving end of the first motor.
  • the rack 6723 meshes with the gear 6721.
  • the support mechanism 674 is mounted on the rack 6723.
  • the gear 6721 drives the support mechanism 74 relatively far away from the fuselage 610 through the rack 6723, or drives the support mechanism 674 to approach the fuselage. 610, and is received in the body 610.
  • the attachment mechanism 72 can be a cylinder mechanism.
  • the connecting mechanism 72 is a linear reciprocating cylinder, and includes a cylinder block and a driving rod disposed on the cylinder block.
  • the cylinder block is disposed on the damper mechanism, and the driving rod is used for
  • the support mechanism 74 is connected.
  • the cylinder block can drive the driving rod to drive the support mechanism 74 to move, so that the supporting mechanism 74 is relatively far away from or close to the body 10.
  • the connecting mechanism 72 can also be a voice coil motor.
  • the supporting mechanism 74 is disposed on the driving end of the voice coil motor and can be relatively far away or driven by the voice coil motor. Near the fuselage 10.
  • the connecting mechanism 72 can also be an electromagnet mechanism.
  • the electromagnet mechanism includes an electromagnet, a permanent magnet, and a guide rail.
  • the rail is fixed to the body 10, and the support mechanism 74 is slidably disposed on the rail.
  • One of the electromagnet and the permanent magnet is mounted on the body 10, and the other is mounted on the support mechanism 74.
  • the permanent magnets can be attracted or repelled, thereby moving the support mechanism 74 along the rails relatively far away from or near the fuselage 10.
  • the connecting mechanism 72 can also be a screw nut mechanism.
  • the attachment mechanism 72 can include a second motor, a lead screw, and a nut.
  • the second motor is fixedly mounted on the body 10.
  • the lead screw is connected to the second motor, and the nut is sleeved on the screw rod and fixedly connected to the support mechanism 74.
  • the second motor drives the screw to rotate, the screw drives the support mechanism 74 relatively far away from or near the body 10 by the nut.
  • the UAV 100 while in operation, allows the user to control their flight through a peripheral remote control (not shown).
  • the peripheral remote controller can control the unfolding or folding of the connecting mechanism 72 by the electronic control module, so that the user can control the pan/tilt to extend out of the body 10 through the peripheral remote controller. In addition, or retracting the interior of the fuselage 10, or only adjacent to the fuselage 10 and between a plurality of the support legs.
  • the electronic control module can also control the UAV 100 to fly according to a preset program built in the UAV 100, and simultaneously control the unfolding or folding of the connecting mechanism 72.
  • the UAV 100 connects a support mechanism 74 for mounting the photographing device 200 to the body 10 by means of a retractable connecting mechanism 72, when the UAV 100 is flying,
  • the connecting mechanism 72 can drive the supporting mechanism 74 and the photographing device 200 away from the body 10 and protrude beyond the supporting leg, thereby preventing the photographing device 200 from ingesting the UAV 100.
  • a self component such as a propeller or the support leg.
  • the photographing device 200 can be adjusted to the outer side of the landing gear with the support mechanism 74, that is, a position farther away from the fuselage 10 with respect to the end of the support leg, even the unmanned aerial vehicle 100
  • the body 10 is kept flying at a large inclination, and the lens of the photographing device 200 does not ingest the own components of the unmanned aerial vehicle 100, thereby ensuring the photographing quality of the photographing device 200, thereby expanding the
  • the angle of view of the photographing device 200 is prevented from obscuring the lens of the photographing device 200 by its own components of the UAV 100.
  • the connecting mechanism 72 can drive the supporting mechanism 74 and the photographing device 200 to be close to the body 10, so that the supporting mechanism 74 and the photographing device 200 Between the plurality of support legs, or the support mechanism 74 and the photographing device 200 are housed in the body 10, thereby preventing the UAV 100 from damaging the photographing device 200 when landing The situation is also conducive to the smooth landing of the unmanned aerial vehicle.
  • the UAV 100 is a rotorcraft for carrying the imaging device 200 for aerial photography. It can be understood that the UAV can be used for map mapping, disaster investigation and rescue, air monitoring, transmission line inspection and the like. It will also be appreciated that the UAV 100 may also be a fixed wing aircraft. The UAV 100 may further mount a carrier other than the imaging device 200. For example, the UAV 100 may be equipped with materials and the like required for disaster investigation and rescue.

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Abstract

本发明涉及一种无人飞行器的云台及使用该云台的无人飞行器。所述无人飞行器包括机身及所述云台，所述云台包括支撑机构及连接机构，所述支撑机构用于承载一载体的支撑机构，所述连接机构为可伸缩结构。所述支撑机构设置于所述连接机构上。所述连接机构用以将所述支撑机构装设于一无人飞行器的机身上，并能够驱动所述支撑机构带动所述载体靠近所述无人飞行器的机身并收容于所述无人飞行器的机身中，或者驱动所述支撑机构带动所述载体凸伸出所述无人飞行器的机身之外。本发明的云台能够扩大其搭载的拍摄装置的视角，避免被无人飞行器的自身部件遮挡。

Description

云台及使用该云台的无人飞行器 技术领域
本发明涉及一种云台及使用该云台的无人飞行器。
背景技术
随着科技的发展，空中摄影技术渐兴，其中，无人机航拍技术由于其成本较载人航拍更低且更为安全，逐渐得到摄影师的青睐。无人机航拍工作通常采用无人飞行器搭载摄影机、照相机等拍摄装置进行拍摄，上述拍摄装置通常装设于一云台上，并通过该云台连接于该无人飞行器上。该云台用以保持该拍摄装置的工作方位，使该拍摄装置在拍摄过程中与地面的相对位置始终保持不变，以保证拍摄质量。当无人飞行器的机身在空中倾斜飞行时，该云台仍保持该拍摄装置处于竖直状态，难免会使该拍摄装置的镜头中摄入该无人飞行器的云台、螺旋桨等部件，导致拍摄的图像、视频信息不能满足用户需求。
发明内容
鉴于上述状况，有必要提供一种无人飞行器及其云台，该云台能够扩大其搭载的拍摄装置的视角，避免被无人飞行器的自身部件遮挡。
一种无人飞行器的云台，其包括用于承载一载体的支撑机构及连接机构。所述连接机构为可伸缩结构；所述支撑机构设置于所述连接机构上。所述连接机构用以将所述支撑机构装设于一无人飞行器的机身上，并能够驱动所述支撑机构带动所述载体靠近所述无人飞行器的机身并收容于所述无人飞行器的机身中，或者驱动所述支撑机构带动所述载体凸伸出所述无人飞行器的机身之外。
在一些实施例中，所述连接机构为滑轨型升降组件。
进一步地，所述连接机构为直线电机，所述直线电机包括定子导轨及滑动地设置于所述定子导轨上的动子；所述支撑机构设置于所述直线电机的动子上，所述直线电机通过所述动子驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
在一些实施例中，所述连接机构包括导轨、电机、以及绳索，所述支撑机构沿所述导轨可滑动，所述电机的驱动轴上固定有绕线盘，所述绳索的一端与所述支撑机构固定连接，另外一端缠绕在所述绕线盘上；其中，所述电机转动，并通过所述绳索带动所述支撑机构沿所述导轨滑动。
在一些实施例中，所述连接机构为连杆机构，所述连杆机构包括：第一驱动件，用于固定地连接所述无人飞行器的机身；第一平移件，连接在所述第一驱动件上；第二平移件，可滑动地设置在所述支撑机构上；第一连杆链，所述第一连杆链的两端分别铰接于所述第一平移件及所述支撑机构上；以及第二连杆链，所述第二连杆链的一端铰接于所述第二平移件上，另一端用于转动地连接所述无人飞行器的机身。所述第二连杆链与所述第一连杆链相交并铰接于一起形成一连杆组。其中，所述第一驱动件驱动所述第一平移件沿一预设滑动方向滑动，驱使所述连杆组的长度伸长或缩短，从而驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
进一步地，所述连杆机构还包括设置在所述支撑机构上的第二驱动件，所述第二平移件连接于所述第二驱动件上；所述第二驱动件驱动所述第二平移件移动，从而与所述第一驱动件共同驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
进一步地，所述连杆机构还包括用于固定地连接所述无人飞行器的机身的导向件，所述导向件的延伸方向平行于所述预设滑动方向，所述第一平移件沿所述导向件可滑动。
进一步地，所述第一连杆链包括多个依次铰接的第一连杆，所述第二连杆链包括多个依次铰接的第二连杆；每一个所述第二连杆分别与一个所述第一连杆相交，并在相交处相互铰接，使所述第一连杆链与所述第二连杆链相互交错形成所述连杆组。
在一些实施例中，所述第一连杆链包括一个第一连杆，所述第二连杆链包括一个第二连杆；所述第二连杆与所述第一连杆相交，并在相交处相互铰接。
在一些实施例中，所述连接机构为连杆滑块机构，所述连杆滑块机构包括驱动件和导向轨道、铰接于所述驱动件上的主动杆、铰接于所述主动杆上的从动杆以及铰接于所述从动杆上的滑动件；所述滑动件滑动地设置在所述导向轨道上，所述支撑机构固定于所述滑动件上；所述主动杆能够在所述驱动件的驱动下转动，通过所述从动杆带动所述滑动件沿所述导向轨道滑动，从而驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
在一些实施例中，所述连接机构包括电动机、齿轮及齿条，所述电动机用以装设于所述无人飞行器的机身上，所述齿轮连接于所述电动机的驱动轴上，所述齿条与所述齿轮相啮合，所述支撑机构装设于所述齿条上；其中，所述电动机驱动所述齿轮转动，所述齿轮驱使所述齿条平移，所述齿条带动所述支撑机构运动。
在一些实施例中，所述连接机构为气缸，所述支撑机构设置于所述气缸的驱动杆上，所述气缸通过所述驱动杆驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
在一些实施例中，所述连接机构为音圈马达，所述支撑机构设置于所述音圈马达的驱动端上，所述音圈马达通过所述驱动端驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
在一些实施例中，所述连接机构包括导轨、电磁铁以及永磁体，所述支撑机构可滑动地设置于所述导轨上，所述导轨用以将所述支撑机构连接于所述无人飞行器的机身上；所述电磁铁及所述永磁体中的一个设置于所述支撑机构上，所述电磁铁及所述永磁体中的另一个设置于所述无人飞行器的机身上，通过控制所述电磁铁上电流的方向，使所述电磁铁吸引或排斥所述永磁体，从而使所述支撑机构沿所述导轨相对远离或靠近所述无人飞行器的机身。
在一些实施例中，所述连接机构能够安装在所述无人飞行器的机身内，并且局部伸缩出所述无人飞行器的机身外。
在一些实施例中，所述连接机构包括电动机、丝杆及螺母，所述电动机用以装设于所述无人飞行器的机身上，所述丝杆与所述电动机的驱动轴共轴固定连接，所述螺母套设于所述丝杆上并与所述支撑机构连接；其中所述电动机驱动所述丝杆转动，所述丝杆与所述螺母相螺合而驱使所述螺母相对所述丝杆移动，所述螺母带动所述支撑机构运动。
一种无人飞行器，其包括机身及云台。所述云台包括连接于所述机身上的连接机构及设置于所述连接机构上的支撑机构；所述连接机构为可伸缩结构，所述支撑机构用于承载一载体。所述连接机构够驱动所述支撑机构带动所述载体靠近所述机身并收容于所述机身中，或者驱动所述支撑机构带动所述载体凸伸出所述机身之外。
在一些实施例中，所述连接机构为滑轨型升降组件。
进一步地，所述连接机构为直线电机，所述直线电机包括定子导轨及滑动地设置于所述定子导轨上的动子；所述支撑机构设置于所述直线电机的动子上，所述直线电机通过所述动子驱动所述支撑机构相对远离或靠近所述机身。
在一些实施例中，所述连接机构包括导轨、电机、以及绳索，所述支撑机构沿所述导轨可滑动，所述电机的驱动轴上固定有绕线盘，所述绳索的一端与所述支撑机构固定连接，另外一端缠绕在所述绕线盘上；其中，所述电机转动，并通过所述绳索带动所述支撑机构沿所述导轨滑动。
在一些实施例中，所述连接机构为连杆机构，所述连杆机构包括：第一驱动件，固定地连接于所述机身上；第一平移件，连接在所述第一驱动件上；第二平移件，可滑动地设置在所述支撑机构上；第一连杆链，所述第一连杆链的两端分别铰接于所述第一平移件及所述支撑机构上；以及第二连杆链，所述第二连杆链的一端铰接于所述第二平移件上，另一端转动地连接于所述机身上。所述第二连杆链与所述第一连杆链相交并铰接于一起形成一连杆组。其中，所述第一驱动件驱动所述第一平移件沿一预设滑动方向滑动，驱使所述连杆组的长度伸长或缩短，从而驱动所述支撑机构相对远离或靠近所述机身。
进一步地，所述连杆机构还包括设置在所述支撑机构上的第二驱动件，所述第二平移件连接于所述第二驱动件上；所述第二驱动件驱动所述第二平移件移动，从而与所述第一驱动件共同驱动所述支撑机构相对远离或靠近所述机身。
进一步地，所述连杆机构还包括固定地连接于所述机身的导向件，所述导向件的延伸方向平行于所述预设滑动方向，所述第一平移件沿所述导向件可滑动。
进一步地，所述第一连杆链包括多个依次铰接的第一连杆，所述第二连杆链包括多个依次铰接的第二连杆；每一个所述第二连杆分别与一个所述第一连杆相交，并在相交处相互铰接，使所述第一连杆链与所述第二连杆链相互交错形成所述连杆组。
在一些实施例中，所述第一连杆链包括一个第一连杆，所述第二连杆链包括一个第二连杆；所述第二连杆与所述第一连杆相交，并在相交处相互铰接。
在一些实施例中，所述连接机构为连杆滑块机构，所述连杆滑块机构包括驱动件和导向轨道、铰接于所述驱动件上的主动杆、铰接于所述主动杆上的从动杆以及铰接于所述从动杆上的滑动件；所述滑动件滑动地设置在所述导向轨道上，所述支撑机构固定于所述滑动件上；所述主动杆能够在所述驱动件的驱动下转动，通过所述从动杆带动所述滑动件沿所述导向轨道滑动，从而驱动所述支撑机构相对远离或靠近所述机身。
在一些实施例中，所述连接机构包括电动机、齿轮及齿条，所述电动机装设于所述机身上，所述齿轮连接于所述电动机的驱动轴上，所述齿条与所述齿轮相啮合，所述支撑机构装设于所述齿条上；其中，所述电动机驱动所述齿轮转动，所述齿轮驱使所述齿条平移，所述齿条带动所述支撑机构运动。
在一些实施例中，所述连接机构为气缸，所述支撑机构设置于所述气缸的驱动杆上，所述气缸通过所述驱动杆驱动所述支撑机构相对远离或靠近所述机身。
在一些实施例中，所述连接机构为音圈马达，所述支撑机构设置于所述音圈马达的驱动端上，所述音圈马达通过所述驱动端驱动所述支撑机构相对远离或靠近所述机身。
在一些实施例中，所述连接机构包括导轨、电磁铁以及永磁体，所述支撑机构可滑动地设置于所述导轨上，所述导轨连接于所述机身上；所述电磁铁及所述永磁体中的一个设置于所述支撑机构上，所述电磁铁及所述永磁体中的另一个设置于所述机身上，通过控制所述电磁铁上电流的方向，使所述电磁铁吸引或排斥所述永磁体，从而使所述支撑机构沿所述导轨相对远离或靠近所述机身。
在一些实施例中，所述连接机构能够安装在所述机身内，并且局部伸缩出所述机身外。
在一些实施例中，所述连接机构包括电动机、丝杆及螺母，所述电动机装设于所述机身上，所述丝杆与所述电动机的驱动轴共轴固定连接，所述螺母套设于所述丝杆上并与所述支撑机构连接；其中所述电动机驱动所述丝杆转动，所述丝杆与所述螺母相螺合而驱使所述螺母相对所述丝杆移动，所述螺母带动所述支撑机构运动。
在一些实施例中，所述无人飞行器还包括设置于所述机身上的减震机构，所述连接机构一端与所述减震机构连接，另一端与所述支撑机构连接。
在一些实施例中，所述无人飞行器还包括邻近所述云台设置在所述机身上的起落架，所述支撑机构承载的载体能够在所述连接机构的驱动下运动至所述起落架的外侧。
在一些实施例中，所述连接机构在所述无人飞行器起飞后自动驱动所述支撑机构远离所述机身。
在一些实施例中，所述连接机构在所述无人飞行器降落前自动驱动所述支撑机构靠近所述机身。
在一些实施例中，所述支撑机构挂载在所述机身的下方，并且通过所述连接机构调节所述支撑机构相对于所述机身的高度。
在一些实施例中，所述无人飞行器为多旋翼飞行器。
本发明的无人飞行器，采用可伸缩的连接机构将用于搭载拍摄装置的支撑机构连接于所述机身上，当所述无人飞行器飞行时，所述连接机构能够带动所述支撑机构及所述拍摄装置远离所述机身，避免了所述拍摄装置摄入所述无人飞行器的自身部件（如螺旋桨等）的情况。由于所述拍摄装置能够随所述支撑机构调整至所述机身的外侧，扩大了所述拍摄装置的视角，避免所述拍摄装置的镜头被所述无人飞行器的自身部件遮挡。即使所述无人飞行器的机身保持较大的倾斜度飞行，所述拍摄装置的镜头也不会摄入所述无人飞行器的自身部件，从而保证了所述拍摄装置的拍摄质量。
进一步地，当所述无人飞行器即将降落时，所述连接机构能够带动所述支撑机构及所述拍摄装置靠近并收容于所述机身内，避免了所述无人飞行器在降落时损伤所述拍摄装置的情况，也有利于所述无人飞行器顺利降落。
 附图说明
图1为本发明实施方式的无人飞行器的组装示意图。
图2为本发明第一实施方式的无人飞行器在使用状态下的组装示意图。
图3为图2所示的无人飞行器在非使用状态下的组装示意图。
图4为本发明第二实施方式的无人飞行器的组装示意图。
图5为本发明第三实施方式的无人飞行器的组装示意图。
图6为本发明第四实施方式的无人飞行器的组装示意图。
主要元件符号说明
无人飞行器 100,300,400,500,600
机身 10,310,410,510,610
减震机构 30
云台 70
连接机构 72,372,472,572,672
支撑机构 74,374,474,574,674
定子导轨 3721
动子 3723
第一驱动件 4721
导向件 4723
第一平移件 4725
第一连杆 4726
第二平移件 4727
第二连杆 4728
第二驱动件 4729
导向轨道 5720
驱动件 5721
主动杆 5723
从动杆 5725
滑动件 5727
齿轮 6721
齿条 6723
拍摄装置 200
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1，本发明实施方式的无人飞行器100，其用于搭载照相机、摄像机等拍摄装置200进行航拍作业。所述无人飞行器100包括机身10、设于所述机身10上的减震机构30，以及连接于所述减震机构30上的云台70。
所述机身10可以设有用于提供所述无人飞行器100飞行动力的动力机构和用于控制所述动力机构的电控模组。所述动力机构可为电机和旋翼。
所述减震机构30装设于所述机身10的下方，其用于连接云台70，并在所述无人飞行器100的飞行过程中缓冲或者消除所述云台70所受到的震动。
进一步地，所述无人飞行器100还可以包括设置于所述机身10上的起落架（图未示），所述起落架可以邻近所述减震机构30装设于所述机身10上，作为所述无人飞行器100着陆时的支撑。具体而言，所述起落架可以包括多个支撑脚，多个所述支撑脚彼此间隔设置；所述减震机构30可以位于多个所述支撑脚之间。
所述云台70装设于所述减震机构30上，其用于装设所述拍摄装置200。所述云台70包括设置于所述减震机构30上的连接机构72以及设置于所述连接机构72上的支撑机构74。
所述连接机构72为可伸缩结构，所述连接机构72能够安装在所述机身10内，并且局部伸缩出所述机身10外。所述支撑机构74能够在所述连接机构72的驱动下，相对远离或者靠近所述机身10，从而使所述支撑机构74凸伸出所述机身10或收容于所述机身10内部。在非使用状态下，所述连接机构72处于收合状态，所述支撑机构74及其上的拍摄装置200相对靠近所述机身10，并位于多个所述支撑脚之间。或者，在非使用状态下，所述连接机构72处于收合状态，所述支撑机构74及其上的拍摄装置200收容于所述机身10中。当所述无人飞行器100飞行时，所述连接机构72能够处于展开状态，使得所述支撑机构74能够视需要调整与所述机身10之间的距离，进而使得所述拍摄装置200能够视需要调整与所述机身10之间的距离。例如，所述支撑机构74能够在所述连接机构72的驱动下，将所述拍摄装置200调整至所述起落架的外侧。换言之，所述支撑机构74能够将所述拍摄装置200调整至相对于所述支撑脚的末端更为远离所述机身10的位置，在拍摄时，即使所述机身10保持较大的倾斜度，所述拍摄装置200的镜头也不会摄入所述无人飞行器100的自身部件（如螺旋桨或所述支撑脚等），以保证所述拍摄装置200的拍摄质量。
进一步地，所述连接机构72与所述电控模组电性连接，并能够在所述电控模组的控制下展开或者收合。
请同时参阅图2及图3，图2示出了本发明第一实施方式的无人飞行器300在使用状态下的示意图，图3示出了本发明第一实施方式的无人飞行器300在非使用状态下的示意图。在第一实施方式中，所述连接机构372为滑轨型升降组件，具体在图示的实施例中，所述连接机构372为直线电机结构。具体而言，所述连接机构372包括设置于所述机身310上的定子导轨3721及滑动地设置于所述定子导轨3721上的动子3723。所述支撑机构374设置于所述直线电机的动子3723上，并能够在所述直线电机的驱动下相对远离所述机身310，或在所述直线电机的驱动下靠近所述机身310，并收容于所述机身310内（请参图3）。
可以理解，所述呈滑轨型升降组件的连接机构，其可以包括导轨、电机、以及绳索，所述支撑机构374沿所述导轨可滑动，所述电机的驱动轴上固定有绕线盘，所述绳索的一端与所述支撑机构固定连接，另外一端缠绕在所述绕线盘上；其中，所述电机转动，并通过所述绳索带动所述支撑机构沿所述导轨滑动。
请参阅图4，图4示出了本发明第二实施方式的无人飞行器400的示意图。在第二实施方式中，所述连接机构472为连杆机构。具体而言，所述连接机构472包括第一驱动件4721、导向件4723、第一平移件4725、多个第一连杆4726、第二平移件4727、多个第二连杆4728以及第二驱动件4729。所述第一驱动件4721及所述导向件4723固定地设置于所述机身410内，所述第一平移件4725滑动地设置在所述导向件4723内，并连接在所述第一驱动件4721上。多个第一驱动件4721能够驱动所述第一平移件4725沿所述导向件4723的延伸方向滑动。多个所述第一连杆4726依次铰接成为第一连杆链。所述第一连杆链的一端铰接于所述第一平移件4725上，另一端铰接于所述支撑机构474上。所述第一连杆链沿远离所述机身的方向呈弯折状排列。所述第二平移件4727可滑动地设置在所述支撑机构474上。第二驱动件4729邻近所述第二平移件设置在所述支撑机构474上，其用于驱动所述第二平移件4727沿平行于所述导向件4723的方向移动。多个所述第二连杆4728依次铰接成为第二连杆链。所述第二连杆链的一端铰接于所述机身410上，另一端铰接于所述第二平移件4727上。所述第二连杆链沿远离所述机身的方向呈弯折状排列，且每一个所述第二连杆4728分别与一个所述第一连杆4726相交，并在相交处相互铰接，使所述第一连杆链与所述第二连杆链相互交错形成一可伸缩的连杆组。
当所述第一驱动件4721驱动所述第一平移件4725沿所述导向件4723相对靠近所述第一驱动件4721时，所述第二驱动件4729同时驱动所述第二平移件4727相对靠近所述第二驱动件4729。此时，所述第一连杆链中的每个所述第一连杆之间的距离缩小，所述第二连杆链中的每个所述第二连杆之间的距离缩小，使所述可伸缩的连杆组整体长度缩短，从而带动所述支撑机构474靠近所述机身410，并收容于所述机身410内。当所述第一驱动件4721驱动所述第一平移件4725远离所述第一驱动件4721，且所述第二驱动件4729驱动所述第二平移件4727远离所述第二驱动件4729时，所述可伸缩的连杆组整体长度伸长，从而带动所述支撑机构474远离所述机身410。
可以理解，在第二实施方式中，所述第一连杆4726及所述第二连杆4728的数量均可以为一个或多个。
请参阅图5，图5示出了本发明第三实施方式的无人飞行器500的示意图。在第三实施方式中，所述连接机构572为连杆滑块机构。具体而言，所述连接机构572包括导向轨道5720、驱动件5721、主动杆5723、从动杆5725以及滑动件5727。所述导向轨道5720固定于所述机身510上，所述驱动件5721设置于所述机身510内，所述主动杆5723铰接于所述驱动件5721上，所述从动杆5725铰接于所述主动杆5723远离所述驱动件5721的一端。所述滑动件5727滑动地设置在所述导向轨道5720内，并铰接于所述从动杆5725远离所述主动杆5723的一端。所述支撑机构574固定于所述滑动件5727上。所述驱动件5721能够驱动所述主动杆5723转动，通过所述从动杆5725带动所述滑动件5727在所述导向轨道5720内滑动，从而带动所述支撑机构574相对远离所述机身510，或带动所述支撑机构574靠近所述机身510，并收容于所述机身510内。
请参阅图6，图6示出了本发明第四实施方式的无人飞行器600的示意图。在第四实施方式中，所述连接机构672为齿轮齿条机构。具体而言，所述连接机构672可以包括第一电动机（图未示出）、齿轮6721及齿条6723。所述第一电动机装设于所述机身610内上，所述齿轮6721装设于所述第一电动机的驱动端。所述齿条6723与所述齿轮6721相啮合。所述支撑机构674装设于所述齿条6723上。当所述第一电动机驱动所述齿轮6721转动时，所述齿轮6721通过所述齿条6723驱动所述支撑机构74相对远离所述机身610，或带动所述支撑机构674靠近所述机身610，并收容于所述机身610内。
在其他实施例中，所述连接机构72可以为气缸机构。具体而言，所述连接机构72为直线往复式气缸，其包括气缸体及设于所述气缸体上的驱动杆，所述气缸体设置于所述减震机构上，所述驱动杆用以连接所述支撑机构74。所述气缸体能够驱动所述驱动杆带动所述支撑机构74运动，使所述支撑机构74相对远离或靠近所述机身10。
在另一实施例中，所述连接机构72也可以为音圈马达，所述支撑机构74设置于所述音圈马达的驱动端上，并能够在所述音圈马达的驱动下相对远离或靠近所述机身10。
在另一实施例中，所述连接机构72也可以为电磁铁机构。具体而言，所述电磁铁机构包括电磁铁、永磁体以及导轨。所述导轨固定于所述机身10上，所述支撑机构74可滑动地设置于所述导轨上。所述电磁铁及所述永磁体中的一个装设于所述机身10上，另一个装设于所述支撑机构74上。通过控制所述电磁铁上电流的方向，可以吸引或排斥所述永磁体，从而使所述支撑机构74沿所述导轨运动，相对远离或靠近所述机身10。
在另一实施例中，所述连接机构72也可以为丝杆螺母机构。具体而言，所述连接机构72可以包括第二电动机、丝杆及螺母。所述第二电动机固定装设于机身10上，所述丝杆与所述第二电动机相连接，所述螺母套设于所述丝杆上并与所述支撑机构74固定连接。当所述第二电动机驱动所述丝杆转动时，所述丝杆通过所述螺母驱动所述支撑机构74相对远离或靠近所述机身10。
所述无人飞行器100在工作时，允许用户通过一外设遥控器（图未示出）控制其飞行。所述外设遥控器能够通过所述电控模组控制所述连接机构72的展开或者收合，从而使用户能通过所述外设遥控器控制所述云台伸出所述机身10之外，或收回所述机身10内部，或仅邻近所述机身10并位于多个所述支撑脚之间。可以理解的是，所述电控模组也可以根据所述无人飞行器100内置的预设程序控制所述无人飞行器100飞行，同时控制所述连接机构72的展开或者收合。
本发明实施方式的无人飞行器100，采用可伸缩的连接机构72将用于搭载所述拍摄装置200的支撑机构74连接于所述机身10上，当所述无人飞行器100飞行时，所述连接机构72能够带动所述支撑机构74及所述拍摄装置200远离所述机身10，并凸伸出所述支撑脚以外，避免了所述拍摄装置200摄入所述无人飞行器100的自身部件（如螺旋桨或所述支撑脚等）的情况。由于所述拍摄装置200能够随所述支撑机构74调整至所述起落架的外侧，即相对于所述支撑脚的末端更为远离所述机身10的位置，因此即使所述无人飞行器100的机身10保持较大的倾斜度飞行，所述拍摄装置200的镜头也不会摄入所述无人飞行器100的自身部件，从而保证了所述拍摄装置200的拍摄质量，从而扩大了所述拍摄装置200的视角，避免所述拍摄装置200的镜头被所述无人飞行器100的自身部件遮挡。
另外，当所述无人飞行器100即将降落时，所述连接机构72能够带动所述支撑机构74及所述拍摄装置200靠近所述机身10，使所述支撑机构74及所述拍摄装置200位于多个所述支撑脚之间，或使所述支撑机构74及所述拍摄装置200收容于所述机身10内，避免了所述无人飞行器100在降落时损伤所述拍摄装置200的情况，也有利于所述无人飞行器顺利降落。
在本实施方式中，所述无人飞行器100为旋翼飞行器，其用于搭载所述拍摄装置200进行航拍工作。可以理解，无人飞行器可以用于地图测绘、灾情调查和救援、空中监控、输电线路巡检等工作。同样可以理解的是，所述无人飞行器100还可以为固定翼飞行器。所述无人飞行器100还可以搭载所述拍摄装置200以外的载体，例如，所述无人飞行器100可以搭载灾情调查和救援中所需的物资等。
另外，本领域技术人员还可在本发明精神内做其它变化，当然，这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围内。

Claims (37)

  1. 一种无人飞行器的云台，其包括用于承载一载体的支撑机构，其特征在于：所述云台还包括连接机构，所述连接机构为可伸缩结构；所述支撑机构设置于所述连接机构上，所述连接机构用以将所述支撑机构装设于一无人飞行器的机身上，并能够驱动所述支撑机构带动所述载体靠近所述无人飞行器的机身并收容于所述无人飞行器的机身中，或者驱动所述支撑机构带动所述载体凸伸出所述无人飞行器的机身之外。
  2. 如权利要求1所述的云台，其特征在于：所述连接机构为滑轨型升降组件。
  3. 如权利要求2所述的云台，其特征在于：所述连接机构为直线电机，所述直线电机包括定子导轨及滑动地设置于所述定子导轨上的动子；所述支撑机构设置于所述直线电机的动子上，所述直线电机通过所述动子驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  4. 如权利要求2所述的云台，其特征在于：所述连接机构包括导轨、电机、以及绳索，所述支撑机构沿所述导轨可滑动，所述电机的驱动轴上固定有绕线盘，所述绳索的一端与所述支撑机构固定连接，另外一端缠绕在所述绕线盘上；其中，所述电机转动，并通过所述绳索带动所述支撑机构沿所述导轨滑动。
  5. 如权利要求1所述的云台，其特征在于：所述连接机构为连杆机构，所述连杆机构包括：
    第一驱动件，用于固定地连接所述无人飞行器的机身；
    第一平移件，连接在所述第一驱动件上；
    第二平移件，可滑动地设置在所述支撑机构上；
    第一连杆链，所述第一连杆链的两端分别铰接于所述第一平移件及所述支撑机构上；以及
    第二连杆链，所述第二连杆链的一端铰接于所述第二平移件上，另一端用于转动地连接所述无人飞行器的机身，所述第二连杆链与所述第一连杆链相交并铰接于一起形成一连杆组；
    其中，所述第一驱动件驱动所述第一平移件沿一预设滑动方向滑动，驱使所述连杆组的长度伸长或缩短，从而驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  6. 如权利要求5所述的云台，其特征在于：所述连杆机构还包括设置在所述支撑机构上的第二驱动件，所述第二平移件连接于所述第二驱动件上；所述第二驱动件驱动所述第二平移件移动，从而与所述第一驱动件共同驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  7. 如权利要求6所述的云台，其特征在于：所述连杆机构还包括用于固定地连接所述无人飞行器的机身的导向件，所述导向件的延伸方向平行于所述预设滑动方向，所述第一平移件沿所述导向件可滑动。
  8. 如权利要求6所述的云台，其特征在于：所述第一连杆链包括多个依次铰接的第一连杆，所述第二连杆链包括多个依次铰接的第二连杆；每一个所述第二连杆分别与一个所述第一连杆相交，并在相交处相互铰接，使所述第一连杆链与所述第二连杆链相互交错形成所述连杆组。
  9. 如权利要求6所述的云台，其特征在于：所述第一连杆链包括一个第一连杆，所述第二连杆链包括一个第二连杆；所述第二连杆与所述第一连杆相交，并在相交处相互铰接。
  10. 如权利要求1所述的云台，其特征在于：所述连接机构为连杆滑块机构，所述连杆滑块机构包括驱动件和导向轨道、铰接于所述驱动件上的主动杆、铰接于所述主动杆上的从动杆以及铰接于所述从动杆上的滑动件；所述滑动件滑动地设置在所述导向轨道上，所述支撑机构固定于所述滑动件上；所述主动杆能够在所述驱动件的驱动下转动，通过所述从动杆带动所述滑动件沿所述导向轨道滑动，从而驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  11. 如权利要求1所述的云台，其特征在于：所述连接机构包括电动机、齿轮及齿条，所述电动机用以装设于所述无人飞行器的机身上，所述齿轮连接于所述电动机的驱动轴上，所述齿条与所述齿轮相啮合，所述支撑机构装设于所述齿条上；其中，所述电动机驱动所述齿轮转动，所述齿轮驱使所述齿条平移，所述齿条带动所述支撑机构运动。
  12. 如权利要求1所述的云台，其特征在于：所述连接机构为气缸，所述支撑机构设置于所述气缸的驱动杆上，所述气缸通过所述驱动杆驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  13. 如权利要求1所述的云台，其特征在于：所述连接机构为音圈马达，所述支撑机构设置于所述音圈马达的驱动端上，所述音圈马达通过所述驱动端驱动所述支撑机构相对远离或靠近所述无人飞行器的机身。
  14. 如权利要求1所述的云台，其特征在于：所述连接机构包括导轨、电磁铁以及永磁体，所述支撑机构可滑动地设置于所述导轨上，所述导轨用以将所述支撑机构连接于所述无人飞行器的机身上；所述电磁铁及所述永磁体中的一个设置于所述支撑机构上，所述电磁铁及所述永磁体中的另一个设置于所述无人飞行器的机身上，通过控制所述电磁铁上电流的方向，使所述电磁铁吸引或排斥所述永磁体，从而使所述支撑机构沿所述导轨相对远离或靠近所述无人飞行器的机身。
  15. 如权利要求1所述的云台，其特征在于：所述连接机构能够安装在所述无人飞行器的机身内，并且局部伸缩出所述无人飞行器的机身外。
  16. 如权利要求1所述的云台，其特征在于：所述连接机构包括电动机、丝杆及螺母，所述电动机用以装设于所述无人飞行器的机身上，所述丝杆与所述电动机的驱动轴共轴固定连接，所述螺母套设于所述丝杆上并与所述支撑机构连接；其中所述电动机驱动所述丝杆转动，所述丝杆与所述螺母相螺合而驱使所述螺母相对所述丝杆移动，所述螺母带动所述支撑机构运动。
  17. 一种无人飞行器，其包括机身，其特征在于：所述无人飞行器还包括云台，所述云台包括连接于所述机身上的连接机构及设置于所述连接机构上的支撑机构；所述连接机构为可伸缩结构，所述支撑机构用于承载一载体；所述连接机构够驱动所述支撑机构带动所述载体靠近所述机身并收容于所述机身中，或者驱动所述支撑机构带动所述载体凸伸出所述机身之外。
  18. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构为滑轨型升降组件。
  19. 如权利要求18所述的无人飞行器，其特征在于：所述连接机构为直线电机，所述直线电机包括定子导轨及滑动地设置于所述定子导轨上的动子；所述支撑机构设置于所述直线电机的动子上，所述直线电机通过所述动子驱动所述支撑机构相对远离或靠近所述机身。
  20. 如权利要求18所述的无人飞行器，其特征在于：所述连接机构包括导轨、电机、以及绳索，所述支撑机构沿所述导轨可滑动，所述电机的驱动轴上固定有绕线盘，所述绳索的一端与所述支撑机构固定连接，另外一端缠绕在所述绕线盘上；其中，所述电机转动，并通过所述绳索带动所述支撑机构沿所述导轨滑动。
  21. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构为连杆机构，所述连杆机构包括：
    第一驱动件，固定地连接于所述机身上；
    第一平移件，连接在所述第一驱动件上；
    第二平移件，可滑动地设置在所述支撑机构上；
    第一连杆链，所述第一连杆链的两端分别铰接于所述第一平移件及所述支撑机构上；以及
    第二连杆链，所述第二连杆链的一端铰接于所述第二平移件上，另一端转动地连接于所述机身上，所述第二连杆链与所述第一连杆链相交并铰接于一起形成一连杆组；
    其中，所述第一驱动件驱动所述第一平移件沿一预设滑动方向滑动，驱使所述连杆组的长度伸长或缩短，从而驱动所述支撑机构相对远离或靠近所述机身。
  22. 如权利要求21所述的无人飞行器，其特征在于：所述连杆机构还包括设置在所述支撑机构上的第二驱动件，所述第二平移件连接于所述第二驱动件上；所述第二驱动件驱动所述第二平移件移动，从而与所述第一驱动件共同驱动所述支撑机构相对远离或靠近所述机身。
  23. 如权利要求22所述的无人飞行器，其特征在于：所述连杆机构还包括固定地连接于所述机身的导向件，所述导向件的延伸方向平行于所述预设滑动方向，所述第一平移件沿所述导向件可滑动。
  24. 如权利要求22所述的无人飞行器，其特征在于：所述第一连杆链包括多个依次铰接的第一连杆，所述第二连杆链包括多个依次铰接的第二连杆；每一个所述第二连杆分别与一个所述第一连杆相交，并在相交处相互铰接，使所述第一连杆链与所述第二连杆链相互交错形成所述连杆组。
  25. 如权利要求22所述的无人飞行器，其特征在于：所述第一连杆链包括一个第一连杆，所述第二连杆链包括一个第二连杆；所述第二连杆与所述第一连杆相交，并在相交处相互铰接。
  26. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构为连杆滑块机构，所述连杆滑块机构包括驱动件和导向轨道、铰接于所述驱动件上的主动杆、铰接于所述主动杆上的从动杆以及铰接于所述从动杆上的滑动件；所述滑动件滑动地设置在所述导向轨道上，所述支撑机构固定于所述滑动件上；所述主动杆能够在所述驱动件的驱动下转动，通过所述从动杆带动所述滑动件沿所述导向轨道滑动，从而驱动所述支撑机构相对远离或靠近所述机身。
  27. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构包括电动机、齿轮及齿条，所述电动机装设于所述机身上，所述齿轮连接于所述电动机的驱动轴上，所述齿条与所述齿轮相啮合，所述支撑机构装设于所述齿条上；其中，所述电动机驱动所述齿轮转动，所述齿轮驱使所述齿条平移，所述齿条带动所述支撑机构运动。
  28. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构为气缸，所述支撑机构设置于所述气缸的驱动杆上，所述气缸通过所述驱动杆驱动所述支撑机构相对远离或靠近所述机身。
  29. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构为音圈马达，所述支撑机构设置于所述音圈马达的驱动端上，所述音圈马达通过所述驱动端驱动所述支撑机构相对远离或靠近所述机身。
  30. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构包括导轨、电磁铁以及永磁体，所述支撑机构可滑动地设置于所述导轨上，所述导轨连接于所述机身上；所述电磁铁及所述永磁体中的一个设置于所述支撑机构上，所述电磁铁及所述永磁体中的另一个设置于所述机身上，通过控制所述电磁铁上电流的方向，使所述电磁铁吸引或排斥所述永磁体，从而使所述支撑机构沿所述导轨相对远离或靠近所述机身。
  31. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构能够安装在所述机身内，并且局部伸缩出所述机身外。
  32. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构包括电动机、丝杆及螺母，所述电动机装设于所述机身上，所述丝杆与所述电动机的驱动轴共轴固定连接，所述螺母套设于所述丝杆上并与所述支撑机构连接；其中所述电动机驱动所述丝杆转动，所述丝杆与所述螺母相螺合而驱使所述螺母相对所述丝杆移动，所述螺母带动所述支撑机构运动。
  33. 如权利要求17所述的无人飞行器，其特征在于：所述无人飞行器还包括设置于所述机身上的减震机构，所述连接机构一端与所述减震机构连接，另一端与所述支撑机构连接。
  34. 如权利要求17所述的无人飞行器，其特征在于：所述无人飞行器还包括邻近所述云台设置在所述机身上的起落架，所述支撑机构承载的载体能够在所述连接机构的驱动下运动至所述起落架的外侧。
  35. 如权利要求17所述的无人飞行器，其特征在于：所述连接机构在所述无人飞行器起飞后自动驱动所述支撑机构远离所述机身；或/及
    所述连接机构在所述无人飞行器降落前自动驱动所述支撑机构靠近所述机身。
  36. 如权利要求17所述的无人飞行器，其特征在于：所述支撑机构挂载在所述机身的下方，并且通过所述连接机构调节所述支撑机构相对于所述机身的高度。
  37. 如权利要求17所述的无人飞行器，其特征在于：所述无人飞行器为多旋翼飞行器。
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