WO2017041466A1 - 拍摄设备及无人机 - Google Patents

拍摄设备及无人机 Download PDF

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Publication number
WO2017041466A1
WO2017041466A1 PCT/CN2016/076585 CN2016076585W WO2017041466A1 WO 2017041466 A1 WO2017041466 A1 WO 2017041466A1 CN 2016076585 W CN2016076585 W CN 2016076585W WO 2017041466 A1 WO2017041466 A1 WO 2017041466A1
Authority
WO
WIPO (PCT)
Prior art keywords
photographing apparatus
camera module
hole
bracket
circuit board
Prior art date
Application number
PCT/CN2016/076585
Other languages
English (en)
French (fr)
Inventor
唐尹
杨飞虎
熊荣明
陈子寒
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 CN201680052643.8A priority Critical patent/CN108137167B/zh
Publication of WO2017041466A1 publication Critical patent/WO2017041466A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2035—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction
    • F16M11/2042—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints
    • F16M11/205—Undercarriages with or without wheels comprising means allowing pivoting adjustment in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/563—Camera grips, handles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • 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
    • 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
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms

Definitions

  • the present invention relates to the field of drones, and more particularly to a photographing apparatus and a drone having the photographing apparatus.
  • UAVs are commonly used for shooting, and typically include a pan/tilt connected to the body and a shooting device such as a camera or camera connected to the pan/tilt.
  • a shooting device such as a camera or camera connected to the pan/tilt.
  • the photographing device is susceptible to external disturbances, so that the photographing device cannot achieve stable shooting.
  • a photographing apparatus capable of rotating under the driving of a pan head, the photographing apparatus comprising a camera module and a reaction wheel, wherein the reaction wheel is disposed on the camera module to be capable of being photographed by the pan/tilt During the driving rotation, the camera module is provided with a compensation torque for canceling the external disturbance to achieve stable shooting of the shooting device.
  • the photographing apparatus includes a housing, and the camera module and the reaction wheel are housed in the housing.
  • the housing includes a top cover and a lower cover that are fastened together, and the upper cover and the lower cover enclose a receiving space, and the camera module and the reaction wheel are received in the receiving space.
  • a shaft hole is disposed on both sides of the housing, and the photographing device is rotatably connected to the platform through the shaft hole.
  • a heat dissipating device is disposed at a rear end of the housing, and the heat dissipating device is disposed opposite to the camera module, and a ventilation hole is defined in a top of the housing.
  • the camera module further includes a first heat sink fixed on a top portion thereof, and a part of the first heat sink is exposed from the ventilation hole.
  • the camera module further includes a second heat sink fixed to one side thereof, the housing is provided with a shaft hole on opposite sides thereof, and the second heat sink is disposed opposite to one of the shaft holes.
  • the front end of the housing is provided with a light-passing hole
  • the camera module includes a lens module, and an optical axis of the lens module is coaxially disposed with the light-passing hole.
  • the photographing apparatus further includes a filter facing the lens module, the filter is fixedly disposed on the casing, and closes the light passing hole.
  • the photographing apparatus further includes a gasket disposed in the casing and located between the filter and the lens module.
  • the camera module further includes a circuit board, and the circuit board includes a bottom plate located at a bottom of the lens module, and the bottom plate defines a through hole through which the reaction wheel passes.
  • circuit board surrounds the lens module.
  • the circuit board surrounds the lens module on three sides
  • the circuit board further includes a side plate and a top plate, the side plate is located between the top plate and the bottom plate, and the bottom plate, the side plate and the top plate are respectively fixed on the Different sides of the bracket.
  • the bottom plate and the side plate are connected by a flexible circuit board, and the side plate and the top plate are connected by another flexible circuit board.
  • the top plate and the side plate are provided with a plurality of functional chips
  • the camera module further includes a plurality of thermal pads, each of the thermal pads being disposed on one of the functional chips.
  • the camera module further includes a bracket for supporting the circuit board, and the lens module is bored from the bracket and fixed in the bracket.
  • bracket is fixedly connected to the housing to fix the camera module to the housing.
  • reaction wheel is fixed to the bracket and penetrates the through hole.
  • the reaction wheel includes a body and a connecting end, the connecting end extends outward from the body, the reaction wheel is connected to the circuit board through the connecting end, and the body is disposed in the through hole In the hole.
  • the outer peripheral surface of the body is convexly provided with a plurality of flanges, and the flange is connected with the bracket to connect the reaction wheel to the bracket.
  • the bracket includes a first bottom arm and a second bottom arm at a bottom thereof, the flange being located between the bottom plate and the first bottom arm and the bottom plate and the second bottom arm.
  • a drone that includes:
  • the photographing device includes a camera module and a reaction wheel, and the reaction wheel is disposed on the camera module to provide the camera module with an external disturbance during the rotation of the photographing device by the pan/tilt Compensation torque to achieve stable shooting of the shooting device;
  • a pan/tilt is connected to the body for mounting the photographing device, and the photographing device is rotated by the pan/tilt.
  • the airframe includes a bottom surface and a top surface
  • the cloud platform is connected to a bottom surface of the body
  • the cloud platform is rotatable relative to the body, and drives the photographing device relative to the camera Said the fuselage movement.
  • the pan/tilt head includes a plurality of rotating members that are rotatably connected in sequence, and the photographing device can realize rotational position photographing in a three-dimensional space by the cooperation of the plurality of rotating members.
  • the pan/tilt includes a first rotating member, and the first rotating member is rotatably coupled to the body, and drives the photographing device to rotate, so that the photographing device is located at the same height relative to the body. Different locations.
  • the pan/tilt further includes a second rotating member rotatably coupled to the first rotating member and a third rotating member rotatably coupled to the second rotating member, the photographing device being rotatably coupled to the third The rotating member cooperates with the third rotating member to drive the photographing device to rotate, so that the lens of the photographing device at the same position relative to the same height of the body is different in lens orientation.
  • the airframe includes a main body, an arm extending outward from the main body, and a power device disposed on the arm, the power device providing driving power to the drone.
  • the drone is an unmanned aerial vehicle
  • the power unit includes a propeller and a motor for driving the propeller to rotate.
  • the drone is an unmanned aerial vehicle, an unmanned aerial vehicle, or an unmanned vehicle.
  • the photographing apparatus includes a housing, and the camera module and the reaction wheel are housed in the housing.
  • the housing includes a top cover and a lower cover that are fastened together, and the upper cover and the lower cover enclose a receiving space, and the camera module and the reaction wheel are received in the receiving space.
  • a shaft hole is disposed on both sides of the housing, and the photographing device is rotatably connected to the platform through the shaft hole.
  • a heat dissipating device is disposed at a rear end of the housing, and the heat dissipating device is disposed opposite to the camera module, and a ventilation hole is defined in a top of the housing.
  • the camera module further includes a first heat sink fixed on a top portion thereof, and a part of the first heat sink is exposed from the ventilation hole.
  • the camera module further includes a second heat sink fixed to one side thereof, the housing is provided with a shaft hole on opposite sides thereof, and the second heat sink is disposed opposite to one of the shaft holes.
  • the front end of the housing is provided with a light-passing hole
  • the camera module includes a lens module, and an optical axis of the lens module is coaxially disposed with the light-passing hole.
  • the photographing apparatus further includes a filter facing the lens module, the filter is fixedly disposed on the casing, and closes the light passing hole.
  • the photographing apparatus further includes a gasket disposed in the casing and located between the filter and the lens module.
  • the camera module further includes a circuit board, and the circuit board includes a bottom plate located at a bottom of the lens module, and the bottom plate defines a through hole through which the reaction wheel passes.
  • circuit board surrounds the lens module.
  • the circuit board surrounds the lens module on three sides
  • the circuit board further includes a side plate and a top plate, the side plate is located between the top plate and the bottom plate, and the bottom plate, the side plate and the top plate are respectively fixed on the Different sides of the bracket.
  • the bottom plate and the side plate are connected by a flexible circuit board, and the side plate and the top plate are connected by another flexible circuit board.
  • the top plate and the side plate are provided with a plurality of functional chips
  • the camera module further includes a plurality of thermal pads, each of the thermal pads being disposed on one of the functional chips.
  • the camera module further includes a bracket for supporting the circuit board, and the lens module is bored from the bracket and fixed in the bracket.
  • bracket is fixedly connected to the housing to fix the camera module to the housing.
  • reaction wheel is fixed to the bracket and penetrates the through hole.
  • the reaction wheel includes a body and a connecting end, the connecting end extends outward from the body, the reaction wheel is connected to the circuit board through the connecting end, and the body is disposed in the through hole In the hole.
  • the outer peripheral surface of the body is convexly provided with a plurality of flanges, and the flange is connected with the bracket to connect the reaction wheel to the bracket.
  • the bracket includes a first bottom arm and a second bottom arm at a bottom thereof, the flange being located between the bottom plate and the first bottom arm and the bottom plate and the second bottom arm.
  • the photographing device and the drone provided by the present invention provide compensation for the camera module when the camera module is disturbed by external influences, because the photographing device includes a reaction wheel disposed on the camera module. Torque, thereby achieving stable shooting of the photographing device.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a schematic perspective view of the head of the UAV and the photographing apparatus of the drone of FIG.
  • FIG. 3 is a perspective view of the pan/tilt and the photographing device of FIG. 2 taken apart.
  • FIG. 4 is a perspective view of the housing of the photographing device of FIG. 3 taken apart.
  • FIG. 5 is a perspective view showing the camera module of FIG. 4 partially disassembled.
  • FIG. 6 is a perspective view of the camera module of FIG. 4 completely disassembled.
  • FIG. 7 is a perspective view of another perspective view of the camera module of FIG. 6 after being completely disassembled.
  • FIG. 8 is a perspective view of another perspective of the camera module of FIG. 4.
  • the drone 100 provided by the embodiment of the present invention may be an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • the drone 100 is an unmanned aerial vehicle, and includes a fuselage 1, a pan/tilt 3, and a photographing device 5.
  • the body 1 includes a bottom surface 101 and a top surface 102 opposite to each other.
  • the bottom surface 101 is a side surface of the body 1 close to the ground
  • the top surface 102 is a side surface of the body 1 facing away from the ground.
  • the body 1 includes a main body 11 and an arm 13 extending outward from the main body 11.
  • the body 11 includes a side surface 111 that is coupled between the bottom surface 101 and the top surface 102.
  • the arm 13 extends outward from the side 111 of the body 11.
  • the number of the arms 13 is four.
  • Each of the arms 13 is provided with a power unit (not shown).
  • the power unit is capable of providing the drone 100 with power to travel.
  • the power unit can be a rotor assembly.
  • the rotor assembly includes a propeller and a motor for driving the propeller to rotate.
  • the number of the arms 13 is not limited to four, and may be six, eight or other numbers.
  • the pan/tilt head 3 is connected to the body 1 for mounting the photographing device 5.
  • the pan/tilt head 3 is rotatably coupled to the body 1.
  • the pan/tilt head 3 is rotatably coupled to the bottom surface 101 or the top surface 102.
  • the pan/tilt head 3 is rotatably coupled to the corresponding bottom surface 101 or top surface 102 of the main body 11.
  • the pan/tilt head 3 is capable of driving the photographing device 5 to move relative to the body 1.
  • pan/tilt head 3 can also be connected to the side surface 111 of the main body 11.
  • the bottom surface 101, the top surface 102, and the side surface 111 are all planar. It can be understood that the bottom surface 101, the top surface 102, and the side surface 111 may be rules of any other suitable shape or not. Regular surfaces, such as curved surfaces, curved surfaces, and so on.
  • the pan/tilt head 3 includes a plurality of rotating members that are rotatably connected in sequence.
  • the photographing apparatus 5 can realize the functions of rotational photographing and stable photographing in a three-dimensional space by the cooperation of the plurality of rotating members.
  • the pan/tilt head 3 includes a first rotating member 31, a second rotating member 33, and a third rotating member 35 that are rotatably connected in sequence.
  • the rotating shafts of the first rotating member 31, the second rotating member 33 and the third rotating member 35 are perpendicular to each other.
  • the rotation axis of the first rotating member 31 is a heading axis
  • the rotating shaft of the second rotating member 33 is a rolling axis
  • the rotating shaft of the third rotating member 35 is a pitch axis.
  • the first rotating member 31 is rotatably coupled to the bottom surface 101 of the body 1.
  • the first rotating member 31 drives the photographing device 5 to rotate, so that the photographing device 5 is located at different positions relative to the same height of the body 1.
  • the first rotating member 31 includes a first rotating shaft 311 , a first connecting arm 313 , and a first connecting portion 315 .
  • the first rotating shaft 311 is rotatably fixedly coupled to the bottom surface 101 of the body 1.
  • the axial direction of the first rotating shaft 311 is disposed in parallel with the heading axis of the drone 100.
  • the first rotating shaft 311 can be driven by a first motor (not shown).
  • the first motor can be controlled by a control system (not shown).
  • the end of the first rotating shaft 311 is provided with a connecting head 3111.
  • the connector 3111 includes an engaging portion 3112 for mechanical connection with the body 1 and an electrical connection portion 3113 for electrical connection with the drone 100.
  • the connector 3111 is engaged or disengaged with a mating portion (not shown) of the body 1, thereby achieving detachable connection of the platform 3 to the body 1.
  • the first connecting arm 313 extends outward from one end of the first rotating shaft 311.
  • the first connecting arm 313 is curved. In this embodiment, the first connecting arm 313 extends outward from the end of the first rotating shaft 311 away from the connecting head 3111.
  • the first connecting portion 315 is coupled to an end of the first connecting arm 313.
  • the second rotating member 33 is rotatably coupled to the first rotating member 31.
  • the second rotating member 33 is rotatably coupled to the first connecting portion 315.
  • the second rotating member 33 includes a second rotating shaft 331 , a second connecting arm 333 , a third connecting arm 335 , a second connecting portion 337 , and a third connecting portion 339 .
  • the second rotating shaft 331 is rotatably coupled to the first connecting portion 315.
  • the roll axis and the pitch axis of the unmanned aerial vehicle 100 intersect, and the axial direction of the second rotating shaft 331 is disposed in parallel with the plane of the roll axis and the pitch axis of the drone 100.
  • the second rotating shaft 331 can be driven by a second motor (not shown).
  • the second electric machine can be controlled by the control system.
  • the second connecting arm 333 and the third connecting arm 335 extend outward from opposite ends of the second rotating shaft 331 .
  • the second connecting arm 333 is disposed opposite to the third connecting arm 335.
  • the second connecting arm 333 and the third connecting arm 335 are each curved.
  • the second connecting portion 337 is connected to an end of the second connecting arm 333.
  • the third connecting portion 339 is coupled to an end of the third connecting arm 335.
  • the third rotating member 35 is rotatably coupled to the second rotating member 33.
  • the third rotating member 35 is coupled to the photographing device 5 and cooperates with the second rotating member 33 to drive the photographing device 5 to rotate, so that the photographing device 5 is at the same height relative to the body 1
  • the lens orientation at the same position is different.
  • the third rotating member 35 includes a third rotating shaft 351.
  • the third rotating shaft 351 is rotatably coupled to the second connecting portion 337.
  • the pitch axis of the drone 100 intersects with the heading axis, and the axial direction of the third rotating shaft 351 is disposed in parallel with the plane of the pitch axis and the heading axis of the drone 100.
  • the third rotating shaft 351 can be driven by a third motor.
  • the third motor can be controlled by the control system.
  • the third rotating shaft 351 is fixedly connected to the photographing device 5 and drives the photographing device 5 to rotate.
  • the third rotating shaft 351 has a substantially columnar shape.
  • the outer peripheral surface of the third rotating shaft 351 is provided with a flange 352 axially outward.
  • the flange 352 is provided with a first screw hole 3521 for fixing to the photographing device 5.
  • the first screw hole 3521 cooperates with the first screw 711 to fix the third rotating member 35 to the photographing device 5 .
  • the fixing between the third rotating member 35 and the photographing device 5 can also be achieved by other means, for example, the flange 352 of the third rotating member 35 and the photographing device 5 can be respectively separated.
  • a hook and a card slot structure are provided, and for example, the third rotating member 35 and the photographing device 5 can be fixed by adhesive.
  • the platform 3 further includes a support shaft 37.
  • the support shaft 37 is coupled to the third connecting portion 339 and disposed opposite to the third rotating shaft 351.
  • the support shaft 37 is disposed inside the photographing device 5, provides support for the photographing device 5, and can serve as a winding shaft for rotating the photographing device 5.
  • the photographing apparatus 5 includes a casing 51 and a camera module 52 fixedly housed in the casing 51, a reaction wheel 56, a heat sink 57, a washer 58 and a filter 59.
  • the photographing device 5 is a variable focus photographing device. Specifically, the photographing apparatus 5 can realize zooming of multiples of 3.5 times, 5 times, and the like. It can be understood that the photographing device 5 can also be a fixed focal length.
  • the housing 51 is coupled to the pan/tilt head 3 and is rotatable under the driving of the pan/tilt head 3.
  • a shaft receiving hole 511 is respectively disposed at opposite ends of the housing 51.
  • the photographing device 5 is connected to the pan head 3 through the shaft hole 511.
  • the third rotating shaft 351 and the supporting shaft 37 are respectively disposed through the shaft receiving hole 511 to the photographing device 5 .
  • the rear end of the housing 51 is provided with a heat dissipation hole 512 for discharging hot air from the photographing device 5 when the heat sink 57 is in operation.
  • the front end of the housing 51 is provided with a light-passing hole 513 for allowing light to enter the photographing device 5 for photoaging of the camera module 52.
  • a vent hole 514 is defined in the top end of the housing 51 for air to enter the photographing device 5.
  • the casing 51 is substantially ellipsoidal.
  • the heat dissipation holes 512 and the light transmission holes 513 are respectively located at opposite ends of the housing 51 in the longitudinal direction.
  • the shaft hole 511 is located at opposite ends of the housing 51 in the short axis direction.
  • the venting holes 514 are located in the short axis direction of the housing 51, and the opening direction of the venting holes 514 and the opening direction of the shaft connecting holes 511 are perpendicular to each other.
  • the housing 51 includes an upper cover 501 and a lower cover 502 that are fastened to each other.
  • the fixing between the upper cover 501 and the lower cover 502 can be a manner in which the screw and the screw hole are matched. It can be understood that the fixing between the upper cover 501 and the lower cover 502 can also be a manner in which the card hole and the hook fit.
  • the upper cover 501 and the lower cover 502 are enclosed to form a receiving space for accommodating the camera module 52, the reaction wheel 56, the heat sink 57, the washer 58, and the filter 59.
  • the ventilation hole 514 is opened at the top end of the upper cover 501.
  • the upper cover 501 is further provided with a first half hole 5011, a third half hole 5012, a fifth half hole 5013 and a seventh half hole 5014.
  • the first half hole 5011 and the third half hole 5012 are located at opposite ends of the upper cover 501 in the short axis direction.
  • the fifth half hole 5013 and the seventh half hole 5014 are located at opposite ends of the upper cover 501 in the longitudinal direction.
  • a flange protruding downward at both ends of the fifth half hole 5013 is provided with a second screw hole 5015.
  • the second screw hole 5015 is for engaging with the second screw 712 to fix the upper cover 501 and the lower cover 502. In this embodiment, the number of the second screw holes 5015 is two.
  • the lower cover 502 includes an integrally formed back cover 503.
  • the rear cover 503 is located at a rear end of the lower cover 502.
  • the heat dissipation hole 512 is opened on the back cover 503.
  • the lower cover 502 is provided with a second half hole 5021 corresponding to the first half hole 5011, a fourth half hole 5022 corresponding to the third half hole 5012, and a corresponding portion corresponding to the fifth half hole 5013.
  • Six and a half holes 5023 are opposite ends of the lower cover 502 in the short axis direction.
  • the rear cover 503 and the sixth half hole 5023 are located at opposite ends of the lower cover in the longitudinal direction.
  • a plurality of studs 5024 are protruded from the inner bottom surface of the lower cover 502.
  • Each of the studs 5024 is axially opened with a third screw hole 5025.
  • the third screw hole 5025 is for engaging with the third screw 713 to fix the camera module 52 to the housing 51.
  • the number of the studs 5024 is four.
  • the rear cover 503 is further provided with a plurality of fourth screw holes 5031.
  • a flange protruding upward from the two ends of the sixth half hole 5023 is provided with a fifth screw hole 5026.
  • the fourth screw hole 5031 is for engaging with the fourth screw 714 to fix the upper cover 501 and the lower cover 502.
  • the fifth screw hole 5026 cooperates with the second screw hole 5015 and the second screw 712 to fix the upper cover 501 and the lower cover 502.
  • the number of the fourth screw holes 5031 is two
  • the number of the fifth screw holes 5026 is two.
  • the upper cover 501 is fixed to the lower cover 502.
  • the fourth screw 714 is engaged with a screw hole (not shown) and a fourth screw hole 5031 on the flange protruding from the rear end of the upper cover 501
  • the second screw 712 is
  • the second screw hole 5015 and the fifth screw hole 5026 cooperate to fix the upper cover 501 and the lower cover 502.
  • the first half hole 5011 and the second half hole 5021, and the third half hole 5012 and the fourth half hole 5022 respectively define a shaft hole 511 at both ends of the housing 51 in the short axis direction.
  • the fifth half hole 5013 and the sixth half hole 5023 surround the light passing hole 513.
  • the back cover 503 closes the seventh half hole 5014.
  • the camera module 52 is fixedly housed in the housing 51.
  • the camera module 52 includes a lens module 521 , a bracket 53 , a circuit board 54 , and a heat dissipation component 55 .
  • the optical axis of the lens module 521 is disposed coaxially with the light passing hole 513 , and the light incident end of the lens module 521 is opposite to the light passing hole 513 .
  • a connecting plate 522 extends upward from the end of the lens module 521 facing away from the light-incident end.
  • the connecting board 522 is electrically connected to the circuit board 54 to implement signal transmission between the lens module 521 and the circuit board 54.
  • the connecting plate 522 extends upward, and an end thereof away from the bottom of the lens module 521 is bent toward the light entering end.
  • a plurality of flanges 523 are disposed at the bottom of the lens module 521 .
  • Each of the flanges is provided with a sixth screw hole 5231.
  • the sixth screw hole 5231 is configured to cooperate with the fifth screw 715 to fix the lens module 521 to the bracket 53.
  • the bracket 53 is fixed to the housing 51.
  • the bracket 53 has a substantially rectangular parallelepiped shape.
  • the bracket 53 includes a first sidewall 531, a second sidewall 532, a first top arm 533, a second top arm 534, a first bottom arm 535, and a second bottom arm 536.
  • the first sidewall 531 is disposed opposite to the second sidewall 532.
  • the first top arm 533 and the second top arm 534 extend from opposite ends of the top of the first side wall 531 toward the second side wall 532 and are connected to the top of the second side wall 532 Relative ends.
  • the first bottom arm 535 and the second bottom arm 536 extend from opposite ends of the bottom of the first side wall 531 toward the second side wall 532 and are connected to opposite sides of the bottom of the second side wall 532 end.
  • the lens module 521 is disposed in the bracket 53 and is disposed between the first sidewall 531 and the second sidewall 532 . In the embodiment, the lens module 521 is fixed to the first bottom arm 535 and the second bottom arm 536.
  • the first side wall 531 is disposed opposite to the third rotating member 35.
  • the first side wall 531 defines a through hole 5311 through which the third rotating shaft 351 is bored.
  • the first sidewall 531 is further provided with a plurality of seventh screw holes 5312.
  • the seventh screw hole 5312 is disposed around the through hole 5311.
  • the seventh screw hole 5312 is in one-to-one correspondence with the first screw hole 3521 and cooperates with the first screw 711 to fix the camera module 52 and the third rotating member 35.
  • the second sidewall 532 is substantially parallel and opposite to the first sidewall 531 , and the second sidewall 532 is opposite to the third connecting portion 339 .
  • the second side wall 532 defines a through hole 5321 through which the support shaft 37 is bored.
  • the first side wall 531 and the second side wall 532 extend outwardly from a plurality of flanges 537 corresponding to the protrusions 5024 of the bottom surface of the lower cover 502.
  • Each of the flanges 537 is provided with an eighth screw hole 5371 corresponding to the third screw hole 5025.
  • the eighth screw hole 5371 cooperates with the third screw hole 5025 and the third screw 713 to fix the bracket 53 and the housing 51 , thereby the camera module 52 and the housing 51 . Secured.
  • the first top arm 533 and the second top arm 534 are convexly disposed with a plurality of protrusions 538 .
  • Each of the studs is provided with a ninth screw hole 5381.
  • the ninth screw hole 5381 is used for the sixth screw 716 to cooperate to fix the circuit board 54 and the heat dissipation assembly 55 on the bracket 53.
  • the first bottom arm 535 and the second bottom arm 536 are convexly disposed with a plurality of flanges 5391.
  • Each of the flanges 5391 is provided with a tenth screw hole 5392.
  • the tenth screw hole 5392 is configured to cooperate with the seventh screw 717 to fix the reaction wheel 56, the circuit board 54 and the bracket 53.
  • a plurality of flanges 5393 are protruded from the ends of the first bottom arm 535 and the second bottom arm 536 near the second side wall 532 .
  • Each of the flanges 5393 is provided with an eleventh screw hole 5394.
  • the eleventh screw hole 5394 is configured to cooperate with the sixth screw hole 5231 and the fifth screw 715 to fix the lens module 521 and the bracket 53.
  • the circuit board 54 is fixed to the bracket 53.
  • the circuit board 54 is disposed around the lens module 521.
  • the circuit board 54 is disposed on the three sides of the lens module 521.
  • the circuit board 54 includes a top plate 541, a side plate 542, and a bottom plate 543 that are electrically connected to each other.
  • the side plate 542 is located between the top plate 541 and the bottom plate 543.
  • the top plate 541, the side plates 542, and the bottom plate 543 are respectively fixed to different sides of the bracket 53.
  • the top plate 541 and the side plate 542 are connected by a flexible circuit board, and the side plate 542 and the bottom plate 543 are also connected by a flexible circuit board.
  • the top plate 541 is fixed to the first top arm 533 and the second top arm 534.
  • the side plate 542 is fixed to the second side wall 532.
  • the bottom plate 543 is fixed to the first bottom arm 535 and the second bottom arm 536.
  • the top plate 541 defines a plurality of twelfth screw holes 5411 corresponding to the ninth screw holes 5381.
  • the twelfth screw hole 5411 cooperates with the ninth screw hole 5381 and the sixth screw 716 to fix the top plate 541 to the first top arm 533 and the second top arm 534.
  • the bottom plate 543 defines a plurality of thirteenth screw holes 5431 corresponding to the tenth screw holes 5392.
  • the thirteenth screw hole 5431 cooperates with the tenth screw hole 5392 and the seventh screw 717 to fix the bottom plate 543 with the first bottom arm 535 and the second bottom arm 536.
  • the bottom plate 543 is further provided with a through hole 5432 through which the reaction wheel 56 is bored. The reaction wheel 56 is disposed in the through hole 5432 to facilitate miniaturization of the camera module 52.
  • second side wall 532 and the side plate 542 can be provided with corresponding screw holes, and the side plate 542 and the second side wall 532 are fixed by being engaged with the screw.
  • a plurality of function chips 544 are further disposed on the circuit board 54.
  • the function chip 544 includes a logic chip such as a central processing unit chip, an image processing chip, or a memory chip or the like.
  • the top plate 541 and the side plate 542 are each provided with a function chip 544.
  • the structure of the circuit board 54 and the positional relationship between the circuit board 54 and the lens module 521 are not limited to the manner described in this embodiment.
  • the circuit board 54 includes at least one of a top plate 541, a side plate 542, and a bottom plate 543.
  • the circuit board 54 can be disposed opposite the heat sink 57 to facilitate heat dissipation.
  • the heat dissipation component 55 includes a first heat sink 551, a second heat sink 553, and a plurality of thermal pads 555.
  • the heat dissipation component 55 is used to improve the heat dissipation efficiency of the camera module 52.
  • the thermal pad 555 is disposed in one-to-one correspondence with the function chip 544 for deriving heat generated by the function chip 544. Specifically, each of the thermal pads 555 is attached to a corresponding functional chip 544.
  • the first heat sink 551 and the second heat sink 553 are both fixed to the circuit board 54 and the bracket 53.
  • the first heat sink 551 is located at the top of the camera module 52 and is disposed opposite to the ventilation hole 514 of the housing 51 . A portion of the first fin 551 is exposed from the vent 514.
  • the first heat sink 551 is fixed to the top plate 541, the first top arm 533 and the second top arm 534.
  • the first heat sink 551 is in contact with a thermal pad 555 disposed on the function chip 544 of the top plate 541.
  • the first heat sink 551 is provided with a fourteenth screw hole 5511 corresponding to the twelfth screw hole 5411 and the ninth screw hole 5381.
  • the fourteenth screw hole 5511, the twelfth screw hole 5411, and the ninth screw hole 5381 cooperate with the sixth screw 716 to fix the first heat sink 551, the top plate 541, and the first top
  • the arm 533 and the second top arm 534 are fixed to fix the first heat sink 551 to the circuit board 54 and the bracket 53.
  • the first heat sink 551 is a fin heat sink.
  • the extending direction of the heat dissipation channel of the first heat sink 551 coincides with the optical axis direction of the camera module 52.
  • the second heat sink 553 is located at one side of the camera module 52 and is disposed opposite to the first sidewall 531 of the bracket 53 .
  • the second heat sink 553 and the first side wall 531 of the bracket 53 are respectively disposed opposite to one of the shaft holes 511 of the housing 51.
  • the second heat sink 553 and the outer side of the side plate 542 of the circuit board 54 are fixed to the side plate 542 and the second side wall 532.
  • the second heat sink 553 is provided with a plurality of fifteenth screw holes 5531.
  • the fifteenth screw hole 5531 cooperates with the eighth screw 718 and a screw hole (not shown) disposed on the side plate 542 and the second side wall 532 to make the second heat sink 553 and the side
  • the plate 542 and the second side wall 532 are fixed to fix the second heat sink 553 to the circuit board 54 and the bracket 53.
  • the second heat sink 553 is in contact with the thermal pad 555 on a functional chip (not shown) of the side plate 542.
  • the second fin 553 is further provided with a through hole 5532 through which the support shaft 37 is bored.
  • the through hole 5532 of the second heat sink 553 corresponds to the through hole 5321 of the second side wall 532.
  • the support shaft 37 passes through the through hole 5532 of the second heat sink 553, the corresponding through hole (not shown) on the side plate 542 and the through hole 5321 of the second side wall 532.
  • the reaction wheel 56 is disposed on the camera module 52, and can provide a compensation torque for the camera module 52 relative to the disturbance of the drone 100 according to the law of conservation of angular momentum to realize the photographing device 5 Stable shooting.
  • the reaction wheel 56 can be the camera module 52 relative to its heading axis, roll axis or/and pitch according to the law of conservation of angular momentum during the rotation of the camera device 5 by the pan/tilt head 3
  • the disturbance of the shaft provides a compensation torque to achieve stable shooting of the photographing device 5.
  • the reaction wheel 56 is fixedly disposed at the bottom of the camera module 52. Specifically, the reaction wheel 56 is fixed to the bracket 53 and penetrates through the through hole 5432 of the bottom plate 543 of the circuit board 54.
  • the reaction wheel 56 includes a body 561 and a connecting end 562 extending outward from the body 561.
  • the body 561 is substantially cylindrical.
  • the body 561 is bored in the through hole 5432.
  • a plurality of flanges 563 are convexly disposed on the outer circumferential surface of the body 561.
  • the flange 563 is fixed to the bracket 53 to fix the reaction wheel 56 to the bracket 53.
  • the flange 563 is provided with a sixteenth screw hole 5631 corresponding to the thirteenth screw hole 5431 and the tenth screw hole 5392.
  • the sixteenth screw hole 5631, the thirteenth screw hole 5431, and the tenth screw hole 5392 cooperate with the seventh screw 717 to connect the reaction wheel 56, the bottom plate 543 and the first bottom arm 535.
  • the second bottom arm 536 is fixed to fix the reaction wheel 56 to the bottom of the camera module 52.
  • the flange 563 is located between the bottom plate 543 and the first bottom arm 535 and the bottom plate 543 and the second bottom arm 536.
  • the reaction wheel 56 is coupled to a control system (not shown) on the circuit board 54 via the connection end 562.
  • the control system controls the reaction wheel 56 to provide a compensation torque for the camera module 52 to be disturbed by the drone 100.
  • the reaction wheel 56 is configured to provide a compensation torque for the camera module 52 in real time with respect to the disturbance in the direction of the heading axis of the drone 100.
  • the drone 100 When the camera module 52 is disturbed by the counterclockwise external moment in the direction of its heading axis, the drone 100 generates a correction torque, since the correction torque needs to be from other parts (such as the gimbal) The rotation axis) is transmitted to the camera module 52, so there is a delay.
  • the reaction wheel 56 is directly disposed on the camera module 52, the reaction wheel 56 can provide a direction in the same manner as the correction torque in time before the correction torque reaches the camera module 52.
  • a compensating torque that is opposite to the direction of the external moment. If the external torque is a moment that changes in real time.
  • the reaction wheel 56 can be adjusted in real time according to the change of the external torque, and provides a compensation torque matching the external torque magnitude and opposite directions to cancel the external torque, thereby maintaining the camera module 52. Stable shooting.
  • the correction torque reaches the camera module 52
  • the compensation torque provided by the reaction wheel 56 gradually weakens to disappear, or when the correction torque does not match the external torque magnitude, the reaction wheel 56
  • the direction of the torque is adjusted such that the opposite moments cancel each other out, thereby improving the sensitivity of the photographing apparatus 5 itself to be stably adjusted, so that the photographing apparatus 5 can quickly return to a stable state even if it is disturbed by an external moment, thereby stably shooting.
  • reaction wheels 56 can also be disposed at other positions of the camera module 52, such as on both sides, the rear end or the top of the camera module 52.
  • the reaction wheel 56 can also provide a compensation torque for the camera module 52 to be disturbed in the direction of the roll or pitch axis of the drone 100.
  • the heat sink 57 is used to accelerate heat dissipation of the camera module 52.
  • the heat sink 57 is disposed inside the rear end of the casing 51 and disposed opposite to the camera module 52.
  • the heat sink 57 is disposed opposite to the heat dissipation hole 512.
  • the heat sink 57 is fixed to the inner side of the rear end of the casing 51 by dispensing.
  • the heat sink 57 is a fan.
  • the fixing of the heat dissipating device 57 and the housing 51 can also be achieved by screwing holes and screws.
  • the washer 58 is disposed within the housing 51.
  • the washer 58 is fixed to the camera module 52.
  • the gasket 58 is fixed to the light entrance end of the lens module 521 of the camera module 52.
  • the washer 58 is provided with a seventeenth screw hole 581.
  • the seventeenth screw hole 581 cooperates with a ninth screw 719 and a screw hole (not shown) of the outer edge of the optical module of the lens module 521 to fix the washer 58 to the camera module 52.
  • the washer 58 has an annular shape.
  • the filter 59 is fixed to the housing 51 and closes the light passing hole 513.
  • the filter 59 is disposed opposite to the light incident end of the camera module 52.
  • the filter 59 is disposed opposite to the lens module 521.
  • the washer 58 is located between the light entrance end of the camera module 52 and the filter 59.
  • the embodiment of the present invention introduces the internal components of the camera module 52, such as the lens module 521, the bracket 53, the circuit board 54, and the heat dissipation component 55, in a manner of a screw and a screw hole; the camera module 52
  • the connection between the housing 51 and the camera module 52 and the platform 3 is not limited thereto. In other embodiments, the connection between the internal components of the camera module 52, the camera module 52 and the housing 521, and the connection between the camera module 52 and the platform 3 may also be screwed and screwed. Hole fit, hook and snap fit, glue, etc.
  • the photographing apparatus and the drone provided by the present invention provide a compensation turn when the camera module is disturbed by external influences because the photographing apparatus includes a reaction wheel disposed on the camera module. Moment, thereby achieving stable shooting of the photographing device.
  • the circuit board of the camera module is provided with a through hole for the reaction wheel to be inserted, it is helpful to realize miniaturization of the camera module, and it is convenient to mount the camera module to the drone.
  • the heat collecting device and the heat dissipating component are disposed inside the photographing apparatus, the cooperation of the two helps to accelerate heat dissipation inside the photographing apparatus.
  • the pan/tilt includes a plurality of rotating members that are rotationally coupled to each other, the photographing apparatus can realize rotational shooting of a three-dimensional space.

Abstract

一种拍摄设备（5）及包括所述拍摄设备（5）的无人机（100），拍摄设备（5）能够在一云台（3）的驱动下转动。所述拍摄设备（5）包括相机模组（52）及反作用轮（56）。所述反作用轮（56）设置在所述相机模组（52）上能够在所述拍摄设备（5）被所述云台（3）驱动转动的过程中，为所述相机模组（52）提供抵消外界扰动的补偿转矩，以实现所述拍摄设备（5）的稳定拍摄。

Description

拍摄设备及无人机 技术领域
本发明涉及无人机领域，尤其涉及一种拍摄设备及具有所述拍摄设备的无人机。
背景技术
无人机常用于拍摄，其通常包括一与机身连接的云台及与所述云台连接的拍摄设备如相机或摄像机。但在无人机行进过程中，所述拍摄设备易受外界扰动，使得拍摄设备无法实现稳定拍摄。
发明内容
有鉴于此，有必要提供一种解决上述问题的拍摄设备及无人机。
一种拍摄设备，能够在一云台的驱动下转动，所述拍摄设备包括相机模组及反作用轮，所述反作用轮设置在所述相机模组上能够在所述拍摄设备被所述云台驱动转动的过程中，为所述相机模组提供抵消外界扰动的补偿转矩，以实现所述拍摄设备的稳定拍摄。
进一步地，所述拍摄设备包括壳体，所述相机模组及所述反作用轮收容在所述壳体内。
进一步地，所述壳体包括扣接固定的上盖及下盖，所述上盖与下盖围合形成收容空间，所述相机模组及所述反作用轮收容在所述收容空间内。
进一步地，所述壳体两侧设置有轴接孔，所述拍摄设备通过所述轴接孔能够转动地连接至所述云台。
进一步地，所述壳体后端设置有散热装置，所述散热装置与所述相机模组相对设置，所述壳体顶部开设有通风孔。
进一步地，所述相机模组还包括固定在其顶部的第一散热片，部分所述第一散热片自所述通风孔露出。
进一步地，所述相机模组还包括固定在其一侧的第二散热片，所述壳体相对两侧设置有轴接孔，所述第二散热片与其中一个轴接孔相对设置。
进一步地，所述壳体前端开设有通光孔，所述相机模组包括镜头模组，所述镜头模组的光轴与所述通光孔共轴设置。
进一步地，所述拍摄设备还包括正对所述镜头模组的滤镜，所述滤镜固定设置在所述壳体上，并封闭所述通光孔。
进一步地，所述拍摄设备还包括垫圈，所述垫圈设置在所述壳体内，且位于所述滤镜与所述镜头模组之间。
进一步地，所述相机模组还包括电路板，所述电路板包括一位于所述镜头模组底部的底板，所述底板开设有供所述反作用轮穿设的通孔。
进一步地，所述电路板围绕所述镜头模组。
进一步地，所述电路板三面围绕所述镜头模组，所述电路板还包括侧板和顶板，所述侧板位于顶板和底板之间，所述底板、侧板、顶板分别固定在所述支架的不同侧。
进一步地，所述底板和所述侧板之间通过一柔性电路板连接，所述侧板和所述顶板之间通过另一柔性电路板连接。
进一步地，所述顶板及侧板设置有多个功能芯片，所述相机模组还包括多个导热垫，每个所述导热垫设置在一个所述功能芯片上。
进一步地，所述相机模组还包括支架，所述支架用于为所述电路板提供支撑，所述镜头模组从所述支架穿设并固定在所述支架内。
进一步地，所述支架与所述壳体固定连接，以使所述相机模组与所述壳体固定连接。
进一步地，所述反作用轮固定在所述支架并穿设所述通孔。
进一步地，所述反作用轮包括本体及连接端，所述连接端自所述本体向外延伸，所述反作用轮通过所述连接端连接至所述电路板，所述本体穿设在所述通孔中。
进一步地，所述本体外周面向外凸设有多个凸缘，所述凸缘与所述支架连接，以将所述反作用轮连接在所述支架上。
进一步地，所述支架包括位于其底部的第一底臂及第二底臂，所述凸缘位于所述底板与所述第一底臂及所述底板与所述第二底臂之间。
一种无人机，包括：
拍摄设备，包括相机模组及反作用轮，所述反作用轮设置在所述相机模组上能够在所述拍摄设备被所述云台驱动转动的过程中，为所述相机模组提供抵消外界扰动的补偿转矩，以实现所述拍摄设备的稳定拍摄；
机身；及
云台，与所述机身连接，用于搭载所述拍摄设备，所述拍摄设备在所述云台的驱动下转动。
进一步地，所述机身包括相背的底面及顶面，所述云台与所述机身的底面连接，所述云台能够相对所述机身转动，并带动所述拍摄设备相对于所述机身运动。
进一步地，所述云台包括依次转动连接的多个转动件，所述拍摄设备通过所述多个转动件的配合能够实现三维空间中的旋转位置拍摄。
进一步地，所述云台包括第一转动件，所述第一转动件与所述机身转动连接，并带动所述拍摄设备转动，使所述拍摄设备位于相对所述机身的同一高度的不同位置处。
进一步地，所述云台还包括与所述第一转动件转动连接的第二转动件及与所述第二转动件转动连接的第三转动件，所述拍摄设备转动连接至所述第三转动件，所述第二转动件与第三转动件配合带动所述拍摄设备转动，使所述拍摄设备在相对所述机身的同一高度的同一位置处的镜头朝向不同。
进一步地，所述机身包括主体、自所述主体向外延伸的机臂、以及设置于所述机臂的动力装置，所述动力装置为所述无人机提供行进的动力。
进一步地，所述无人机为无人飞行器，所述动力装置包括螺旋桨及用于驱动所述螺旋桨转动的电机。
进一步地，所述无人机为无人飞行器、无人船、无人车。
进一步地，所述拍摄设备包括壳体，所述相机模组及所述反作用轮收容在所述壳体内。
进一步地，所述壳体包括扣接固定的上盖及下盖，所述上盖与下盖围合形成收容空间，所述相机模组及所述反作用轮收容在所述收容空间内。
进一步地，所述壳体两侧设置有轴接孔，所述拍摄设备通过所述轴接孔能够转动地连接至所述云台。
进一步地，所述壳体后端设置有散热装置，所述散热装置与所述相机模组相对设置，所述壳体顶部开设有通风孔。
进一步地，所述相机模组还包括固定在其顶部的第一散热片，部分所述第一散热片自所述通风孔露出。
进一步地，所述相机模组还包括固定在其一侧的第二散热片，所述壳体相对两侧设置有轴接孔，所述第二散热片与其中一个轴接孔相对设置。
进一步地，所述壳体前端开设有通光孔，所述相机模组包括镜头模组，所述镜头模组的光轴与所述通光孔共轴设置。
进一步地，所述拍摄设备还包括正对所述镜头模组的滤镜，所述滤镜固定设置在所述壳体上，并封闭所述通光孔。
进一步地，所述拍摄设备还包括垫圈，所述垫圈设置在所述壳体内，且位于所述滤镜与所述镜头模组之间。
进一步地，所述相机模组还包括电路板，所述电路板包括一位于所述镜头模组底部的底板，所述底板开设有供所述反作用轮穿设的通孔。
进一步地，所述电路板围绕所述镜头模组。
进一步地，所述电路板三面围绕所述镜头模组，所述电路板还包括侧板和顶板，所述侧板位于顶板和底板之间，所述底板、侧板、顶板分别固定在所述支架的不同侧。
进一步地，所述底板和所述侧板之间通过一柔性电路板连接，所述侧板和所述顶板之间通过另一柔性电路板连接。
进一步地，所述顶板及侧板设置有多个功能芯片，所述相机模组还包括多个导热垫，每个所述导热垫设置在一个所述功能芯片上。
进一步地，所述相机模组还包括支架，所述支架用于为所述电路板提供支撑，所述镜头模组从所述支架穿设并固定在所述支架内。
进一步地，所述支架与所述壳体固定连接，以使所述相机模组与所述壳体固定连接。
进一步地，所述反作用轮固定在所述支架并穿设所述通孔。
进一步地，所述反作用轮包括本体及连接端，所述连接端自所述本体向外延伸，所述反作用轮通过所述连接端连接至所述电路板，所述本体穿设在所述通孔中。
进一步地，所述本体外周面向外凸设有多个凸缘，所述凸缘与所述支架连接，以将所述反作用轮连接在所述支架上。
进一步地，所述支架包括位于其底部的第一底臂及第二底臂，所述凸缘位于所述底板与所述第一底臂及所述底板与所述第二底臂之间。
相对于现有技术，本发明提供的拍摄设备及无人机，由于所述拍摄设备包括设置在所述相机模组上的反作用轮，可在所述相机模组受外界影响扰动时，提供补偿转矩，从而实现所述拍摄设备的稳定拍摄。
 附图说明
图1是本发明实施方式提供的一种无人机的立体示意图。
图2是图1中无人机的云台及拍摄设备的立体结构示意图。
图3是图2中的云台与拍摄设备拆开后的立体示意图。
图4是图3中的拍摄设备壳体拆开后的立体示意图。
图5是图4中的相机模组部分拆开后的立体示意图。
图6是图4中的相机模组完全拆开后的立体示意图。
图7是图6相机模组完全拆开后另一视角的立体示意图。
图8是图4中的相机模组另一视角的立体示意图。
主要元件符号说明
无人机 100
机身 1
云台 3
拍摄设备 5
底面 101
顶面 102
主体 11
机臂 13
侧面 111
第一转动件 31
第二转动件 33
第三转动件 35
第一转轴 311
第一连接臂 313
第一连接部 315
连接头 3111
第二转轴 331
第二连接臂 333
第三连接臂 335
第二连接部 337
第三连接部 339
第三转轴 351
凸缘 352、523、537、5391、563、5393
第一螺孔 3521
第一螺钉 711
支撑轴 37
壳体 51
相机模组 52
反作用轮 56
散热装置 57
垫圈 58
滤镜 59
轴接孔 511
散热孔 512
通光孔 513
通风孔 514
上盖 501
下盖 502
第一半孔 5011
第三半孔 5012
第五半孔 5013
第七半孔 5014
第二螺孔 5015
第二螺钉 712
后盖 503
第二半孔 5021
第四半孔 5022
第六半孔 5023
凸柱 5024、538、5393
第三螺孔 5025
第三螺钉 713
第四螺孔 5031
第五螺孔 5026
第四螺钉 714
镜头模组 521
支架 53
电路板 54
散热组件 55
第六螺孔 5231
连接板 522
第五螺钉 715
第一侧壁 531
第二侧壁 532
第一顶臂 533
第二顶臂 534
第一底臂 535
第二底臂 536
通孔 5311、5321、5432、5532
第七螺孔 5312
第八螺孔 5371
第九螺孔 5381
第六螺钉 716
第十螺孔 5392
第七螺钉 717
第十一螺孔 5394
顶板 541
侧板 542
底板 543
第十二螺孔 5411
第十三螺孔 5431
功能芯片 544
第一散热片 551
第二散热片 553
导热垫 555
第十四螺孔 5511
第十五螺孔 5531
第八螺钉 718
本体 561
连接端 562
第十六螺孔 5631
第十七螺孔 581
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
下面将结合具体实施方式及附图对本发明所提供的相机模组及无人机做进一步说明。
请参阅图1，本发明实施方式提供的无人机100可为无人飞行器、无人车或无人船等。本实施方式中，所述无人机100为无人飞行器，包括机身1，云台3及拍摄设备5。
所述机身1包括相背的底面101及顶面102。在无人机100处于正常的飞行状态下时，所述底面101为所述机身1靠近地面的一侧表面，所述顶面102为所述机身1背离地面的一侧表面。
所述机身1包括主体11及从所述主体11向外延伸的机臂13。所述主体11包括连接在所述底面101与顶面102之间的侧面111。所述机臂13从所述主体11的侧面111向外延伸。本实施方式中，所述机臂13为四个。每个所述机臂13上均设置有动力装置（图未示）。所述动力装置能够为所述无人机100提供行进的动力。所述动力装置可为旋翼组件。所述旋翼组件包括螺旋桨及用于驱动所述螺旋桨转动的电机。
可以理解，所述机臂13的数量不限于四个，也可为六个、八个或其他数量。
所述云台3与所述机身1连接，用于搭载所述拍摄设备5。本实施方式中，所述云台3能够转动的连接在所述机身1上。进一步地，所述云台3能够转动地连接至所述底面101或顶面102。具体地，所述云台3能够转动地连接至所述主体11对应的底面101或顶面102上。所述云台3能够带动所述拍摄设备5相对于所述机身1运动。
可以理解，所述云台3也可连接至所述主体11的侧面111。
在图示的示意性的实施方式中，所述底面101、顶面102以及侧面111均为平面，可以理解，所述底面101、顶面102以及侧面111可以为其他任意合适形状的规则或者不规则表面，例如，曲面、弧面等。
请一并参阅图2及图3，所述云台3包括依次转动连接的多个转动件。所述拍摄设备5通过所述多个转动件的配合能够实现三维空间中的旋转拍摄以及稳定拍摄的功能。本实施方式中，所述云台3包括依次转动连接的第一转动件31、第二转动件33及第三转动件35。所述第一转动件31、第二转动件33及第三转动件35的转轴两两相互垂直。本实施方式中，所述第一转动件31的转轴为航向轴，所述第二转动件33的转轴为横滚轴，第三转动件35的转轴为俯仰轴。
所述第一转动件31转动连接至所述机身1的底面101。所述第一转动件31带动所述拍摄设备5转动，使所述拍摄设备5位于相对所述机身1的同一高度的不同位置处。所述第一转动件31包括第一转轴311、第一连接臂313及第一连接部315。
所述第一转轴311能够转动的固定连接在所述机身1的底面101。本实施方式中，所述第一转轴311的轴向与所述无人机100的航向轴平行设置。所述第一转轴311可由第一电机（图未示）驱动。所述第一电机可由一控制系统（图未示）控制。本实施方式中，所述第一转轴311的端部设置有连接头3111。所述连接头3111包括用于与所述机身1机械连接的卡合部3112及用于与所述无人机100电连接的电连接部3113。所述连接头3111与所述机身1的配合部（图未示）相卡合或分离，从而实现所述云台3与所述机身1的可拆卸连接。
所述第一连接臂313自所述第一转轴311的一端向外延伸。所述第一连接臂313呈弯曲状。本实施方式中，所述第一连接臂313自所述第一转轴311背离所述连接头3111的端部向外延伸。
所述第一连接部315连接在所述第一连接臂313的末端。
所述第二转动件33能够转动地连接至所述第一转动件31。本实施方式中，所述第二转动件33能够转动地连接在所述第一连接部315。所述第二转动件33包括第二转轴331、第二连接臂333、第三连接臂335、第二连接部337及第三连接部339。
所述第二转轴331能够转动地连接至所述第一连接部315。本实施方式中，所述无人机100的横滚轴及俯仰轴相交，所述第二转轴331的轴向与所述无人机100的横滚轴及俯仰轴所在平面平行设置。所述第二转轴331可由第二电机（图未示）驱动。所述第二电机可由所述控制系统控制。
所述第二连接臂333及第三连接臂335自所述第二转轴331的相对两端向外延伸设置。所述第二连接臂333与所述第三连接臂335相对设置。所述第二连接臂333及第三连接臂335均呈弯曲状。
所述第二连接部337连接在所述第二连接臂333的末端。所述第三连接部339连接在所述第三连接臂335的末端。
所述第三转动件35能够转动地连接至所述第二转动件33。所述第三转动件35连接所述拍摄设备5，并与所述第二转动件33配合，带动所述拍摄设备5转动，使所述拍摄设备5在相对所述机身1的同一高度的同一位置处的镜头朝向不同。
所述第三转动件35包括第三转轴351。
所述第三转轴351能够转动地连接在所述第二连接部337。本实施方式中，所述无人机100的俯仰轴与航向轴相交，所述第三转轴351的轴向与所述无人机100的俯仰轴及航向轴所在平面平行设置。所述第三转轴351可由第三电机驱动。所述第三电机可由所述控制系统控制。所述第三转轴351与所述拍摄设备5固定连接，并带动所述拍摄设备5转动。本实施方式中，所述第三转轴351大致呈圆柱状。所述第三转轴351的外周面轴向向外设置有凸缘352。所述凸缘352开设有用于与所述拍摄设备5固接的第一螺孔3521。所述第一螺孔3521与第一螺钉711配合，以使所述第三转动件35与所述拍摄设备5固接。
可以理解，所述第三转动件35与所述拍摄设备5之间的固接也可通过其他方式实现，例如，所述第三转动件35的凸缘352及所述拍摄设备5上可分别设置有相互配合的卡钩及卡槽结构，又例如，所述第三转动件35与所述拍摄设备5可通过粘胶固接。
本实施方式中，所述云台3还包括支撑轴37。所述支撑轴37连接在所述第三连接部339，且与所述第三转轴351相对设置。所述支撑轴37穿设在所述拍摄设备5内部，为所述拍摄设备5提供支撑，并可作为所述拍摄设备5转动的绕轴。
请一并参阅图3及图4，所述拍摄设备5包括壳体51及固定收容在所述壳体51内的相机模组52，反作用轮56，散热装置57，垫圈58及滤镜59。所述拍摄设备5为可变焦拍摄设备。具体地，所述拍摄设备5可实现3.5倍、5倍等倍数的变焦。可以理解的是，所述拍摄设备5也可以为固定焦距。
所述壳体51连接至所述云台3，并能够在所述云台3的驱动下转动。所述壳体51相对两端分别设置有一轴接孔511。所述拍摄设备5通过所述轴接孔511连接至所述云台3。所述第三转轴351及所述支撑轴37分别经一轴接孔511穿设至所述拍摄设备5。所述第三转轴351及所述支撑轴37与其所穿设的轴接孔511之间存在间隙，空气可自所述间隙进入所述拍摄设备5，有助于通风散热。
所述壳体51后端设置有散热孔512，用于在所述散热装置57工作时将热空气从所述拍摄设备5排出。
所述壳体51前端设置有通光孔513，用于使光线进入所述拍摄设备5，以供所述相机模组52采光成像。
所述壳体51的顶端开设有通风孔514，用于供空气进入所述拍摄设备5。
本实施方式中，所述壳体51大致呈椭球状。所述散热孔512及所述通光孔513分别位于所述壳体51长轴方向的相对端。所述轴接孔511位于所述壳体51短轴方向的相对两端。所述通风孔514位于所述壳体51短轴方向，且所述通风孔514的开口方向与所述轴接孔511的开口方向相互垂直。
进一步地，所述壳体51包括相互扣接的上盖501及下盖502。所述上盖501与所述下盖502之间的固接可为螺钉与螺孔的配合的方式。可以理解，所述上盖501与下盖502之间的固接也可为卡孔与卡钩配合的方式。所述上盖501与下盖502围合形成收容所述相机模组52、所述反作用轮56、所述散热装置57、所述垫圈58及所述滤镜59的收容空间。
所述通风孔514开设在所述上盖501顶端。所述上盖501还设置有第一半孔5011、第三半孔5012、第五半孔5013及第七半孔5014。所述第一半孔5011及所述第三半孔5012位于所述上盖501短轴方向的相对两端。所述第五半孔5013及第七半孔5014位于所述上盖501长轴方向的相对两端。所述第五半孔5013的两端向下凸设的凸缘开设有第二螺孔5015。所述第二螺孔5015用于与第二螺钉712配合，以将所述上盖501与下盖502固接。本实施方式中，所述第二螺孔5015的数目为两个。
所述下盖502包括一体成型的后盖503。所述后盖503位于所述下盖502的后端。所述散热孔512开设在所述后盖503上。所述下盖502设置有与所述第一半孔5011对应的第二半孔5021、与所述第三半孔5012对应的第四半孔5022及与所述第五半孔5013对应的第六半孔5023。所述第二半孔5021及第四半孔5022为与所述下盖502短轴方向的相对两端。所述后盖503及所述第六半孔5023位于所述下盖长轴方向的相对两端。
所述下盖502的内底面四周凸设有多个凸柱5024。每个所述凸柱5024轴向开设有第三螺孔5025。所述第三螺孔5025用于与第三螺钉713配合，以将所述相机模组52固定在所述壳体51上。本实施方式中，所述凸柱5024的个数为四个。所述后盖503还设有多个第四螺孔5031。所述第六半孔5023两端向上凸设的凸缘开设有第五螺孔5026。所述第四螺孔5031用于与第四螺钉714配合，以将所述上盖501与下盖502固接。所述第五螺孔5026与所述第二螺孔5015及所述第二螺钉712配合，以将所述上盖501与下盖502固接。本实施方式中，所述第四螺孔5031的数目为两个，所述第五螺孔5026的数目为两个。
所述上盖501与所述下盖502固接。本实施方式中，所述第四螺钉714与所述上盖501后端向下凸设的凸缘上的螺孔（图未示）及第四螺孔5031配合，所述第二螺钉712与所述第二螺孔5015及第五螺孔5026配合以将所述上盖501与下盖502固接。所述第一半孔5011与所述第二半孔5021，及所述第三半孔5012与所述第四半孔5022分别围成壳体51短轴方向两端的轴接孔511。所述第五半孔5013与所述第六半孔5023围成所述通光孔513。所述后盖503封闭所述第七半孔5014。
所述相机模组52固定收容在所述壳体51内。
请一并参阅图4至图8，所述相机模组52包括镜头模组521、支架53、电路板54及散热组件55。
所述镜头模组521的光轴与所述通光孔513共轴设置，且所述镜头模组521的进光端与所述通光孔513相对设置。所述镜头模组521背离所述进光端的端部向上延伸设置有连接板522。所述连接板522用于与所述电路板54电性连接，以实现所述镜头模组521与所述电路板54的信号传递。本实施方式中，所述连接板522向上延伸，且其远离所述镜头模组521底部的一端向所述进光端弯折。所述镜头模组521底部设置有多个凸缘523。每个凸缘均开设有第六螺孔5231。所述第六螺孔5231用于与第五螺钉715配合，以将所述镜头模组521固定至所述支架53上。
所述支架53与所述壳体51固接。
本实施方式中，所述支架53大致呈长方体状。所述支架53包括第一侧壁531、第二侧壁532、第一顶臂533、第二顶臂534、第一底臂535及第二底臂536。所述第一侧壁531与所述第二侧壁532相对设置。所述第一顶臂533及所述第二顶臂534自所述第一侧壁531顶部的相对两端向所述第二侧壁532延伸，并连接至所述第二侧壁532顶部的相对两端。所述第一底臂535及第二底臂536自所述第一侧壁531底部的相对两端向所述第二侧壁532延伸，并连接至所述第二侧壁532底部的相对两端。所述镜头模组521穿设并固定在所述支架53中，且位于所述第一侧壁531与所述第二侧壁532之间。本实施方式中，所述镜头模组521与所述第一底臂535及第二底臂536固接。
所述第一侧壁531与所述第三转动件35相对设置。所述第一侧壁531开设有供所述第三转轴351穿设的通孔5311。所述第一侧壁531还开设有多个第七螺孔5312。所述第七螺孔5312围绕所述通孔5311设置。所述第七螺孔5312与所述第一螺孔3521一一对应，并与所述第一螺钉711配合以将所述相机模组52与所述第三转动件35固接。
所述第二侧壁532与所述第一侧壁531大致平行且相对设置，且所述第二侧壁532与第三连接部339相对设置。所述第二侧壁532开设有供所述支撑轴37穿设的通孔5321。所述第一侧壁531及第二侧壁532向外延伸有多个与所述下盖502内底面的凸柱5024一一对应的凸缘537。每个所述凸缘537均开设有与所述第三螺孔5025对应的第八螺孔5371。所述第八螺孔5371与所述第三螺孔5025及第三螺钉713配合以将所述支架53与所述壳体51固接，从而将所述相机模组52与所述壳体51固接。
所述第一顶臂533及第二顶臂534向上凸设有多个凸柱538。每个凸柱均开设有第九螺孔5381。所述第九螺孔5381用于第六螺钉716配合，以将所述电路板54及散热组件55固定在所述支架53上。
所述第一底臂535及第二底臂536相向凸设有多个凸缘5391。每个所述凸缘5391均开设有第十螺孔5392。所述第十螺孔5392用于与第七螺钉717配合以将所述反作用轮56、所述电路板54与所述支架53固接。所述第一底臂535两端及第二底臂536靠近所述第二侧壁532的端部凸设有多个凸缘5393。每个所述凸缘5393均开设有第十一螺孔5394。所述第十一螺孔5394用于与第六螺孔5231及第五螺钉715配合以将所述镜头模组521与所述支架53固接。
所述电路板54固定在所述支架53上。所述电路板54围绕所述镜头模组521设置。
本实施方式中，所述电路板54三面环绕所述镜头模组521设置。所述电路板54包括相互电导通的顶板541、侧板542及底板543。所述侧板542位于所述顶板541与底板543之间。所述顶板541、侧板542及底板543分别固定在所述支架53的不同侧。本实施例中，所述顶板541与所述侧板542之间通过柔性电路板连接，所述侧板542与所述底板543之间也通过柔性电路板连接。所述顶板541与所述第一顶臂533及第二顶臂534固接。所述侧板542与所述第二侧壁532固接。所述底板543与所述第一底臂535及第二底臂536固接。
本实施方式中，所述顶板541开设有多个与所述第九螺孔5381对应的第十二螺孔5411。所述第十二螺孔5411与所述第九螺孔5381及所述第六螺钉716配合，以将所述顶板541与所述第一顶臂533及第二顶臂534固接。
所述底板543开设有多个与所述第十螺孔5392对应的第十三螺孔5431。所述第十三螺孔5431与所述第十螺孔5392及所述第七螺钉717配合，以将所述底板543与所述第一底臂535及第二底臂536固接。所述底板543还开设有供所述反作用轮56穿设的通孔5432。所述反作用轮56穿设在所述通孔5432内，有助于实现所述相机模组52的小型化。
可以理解，所述第二侧壁532及所述侧板542可以开设有对应的螺孔，通过与螺钉配合以将所述侧板542与所述第二侧壁532固接。
所述电路板54上还设有多个功能芯片544。所述功能芯片544包括逻辑芯片，例如中央处理器芯片、图像处理芯片，或记忆芯片等。本实施方式中，所述顶板541、侧板542均设置有功能芯片544。
可以理解，所述电路板54的结构，所述电路板54与所述镜头模组521之间的位置关系并不以本实施方式所介绍的方式为限，其他实施方式中，所述电路板54包括顶板541、侧板542及底板543中的至少一个，所述电路板54可与所述散热装置57相对设置，以利于散热。
所述散热组件55包括第一散热片551、第二散热片553及多个导热垫555。所述散热组件55用于提升所述相机模组52的散热效率。
本实施方式中，所述导热垫555与所述功能芯片544一一对应设置，用于将所述功能芯片544产生的热量导出。具体地，每个所述导热垫555贴设在对应的功能芯片544上。
所述第一散热片551及第二散热片553均与所述电路板54及所述支架53固接。
本实施方式中，所述第一散热片551位于所述相机模组52的顶部，且与所述壳体51的通风孔514相对设置。部分所述第一散热片551自所述通风孔514露出。所述第一散热片551与所述顶板541，所述第一顶臂533及所述第二顶臂534固接。所述第一散热片551与设置在所述顶板541的功能芯片544上的导热垫555接触。具体地，所述第一散热片551开设有与所述第十二螺孔5411及所述第九螺孔5381对应的第十四螺孔5511。所述第十四螺孔5511、第十二螺孔5411、第九螺孔5381与所述第六螺钉716配合，以将所述第一散热片551、所述顶板541及所述第一顶臂533及所述第二顶臂534固接，从而使所述第一散热片551与所述电路板54及所述支架53固接。
本实施方式中，所述第一散热片551为鳍形散热片。所述第一散热片551的散热通道的延伸方向与所述相机模组52的光轴方向一致。
本实施方式中，所述第二散热片553位于所述相机模组52的一侧，且与所述支架53的第一侧壁531相背设置。所述第二散热片553及所述支架53的第一侧壁531分别与所述壳体51的一个轴接孔511相对设置。本实施方式中，所述第二散热片553与所述电路板54的侧板542的外侧，并与所述侧板542及所述第二侧壁532固接。具体地，所述第二散热片553开设有多个第十五螺孔5531。所述第十五螺孔5531与第八螺钉718及设置在所述侧板542及第二侧壁532的螺孔（图未示）配合，以使所述第二散热片553与所述侧板542及所述第二侧壁532固接，从而使所述第二散热片553与所述电路板54及所述支架53固接。所述第二散热片553与位于所述侧板542的功能芯片（图未示）上的导热垫555接触。
所述第二散热片553还开设有供所述支撑轴37穿设的通孔5532。所述第二散热片553的通孔5532与所述第二侧壁532的通孔5321对应。所述支撑轴37依次穿过所述第二散热片553的通孔5532，所述侧板542上对应的通孔（图未示）以及所述第二侧壁532的通孔5321。
所述反作用轮56设置在所述相机模组52上，能够根据角动量守恒定律为所述相机模组52相对所述无人机100的扰动提供补偿转矩，以实现所述拍摄设备5的稳定拍摄。具体地，所述反作用轮56能够在所述拍摄设备5被所述云台3驱动转动的过程中根据角动量守恒定律为所述相机模组52相对其航向轴、横滚轴或/及俯仰轴的扰动提供补偿转矩，以实现所述拍摄设备5的稳定拍摄。
本实施方式中，所述反作用轮56固定设置在所述相机模组52的底部。具体地，所述反作用轮56固定在所述支架53，并穿设在所述电路板54底板543的通孔5432中。所述反作用轮56包括本体561及自所述本体561向外延伸的连接端562。
所述本体561大致呈圆柱状。所述本体561穿设在所述通孔5432中。所述本体561外周面向外凸设有多个凸缘563。所述凸缘563与所述支架53固接，以将所述反作用轮56固定在所述支架53上。本实施方式中，所述凸缘563开设有与所述第十三螺孔5431及所述第十螺孔5392对应的第十六螺孔5631。所述第十六螺孔5631，第十三螺孔5431，第十螺孔5392与所述第七螺钉717配合，以将所述反作用轮56、所述底板543与所述第一底臂535及所述第二底臂536固接，从而使所述反作用轮56固接在所述相机模组52的底部。本实施方式中，所述凸缘563位于所述底板543与所述第一底臂535及所述底板543与所述第二底臂536之间。
所述反作用轮56通过所述连接端562连接至所述电路板54上的控制系统（图未示）。所述控制系统控制所述反作用轮56为所述相机模组52相对所述无人机100的扰动提供补偿转矩。
本实施方式中，所述反作用轮56用于为所述相机模组52相对所述无人机100航向轴方向上的扰动实时地提供补偿转矩。当所述相机模组52在其航向轴方向上受到逆时针外部力矩的作用而发生扰动时，所述无人机100会生成一个校正力矩，由于所述校正力矩需从其他部位（如云台的转轴）传递至所述相机模组52，因此存在延迟。由于所述反作用轮56直接设置在所述相机模组52上，所述反作用轮56能够在所述校正力矩未到达所述相机模组52前，及时地提供一个与所述校正力矩方向相同且与所述外部力矩的方向相反的补偿力矩。若所述外部力矩为实时变化的力矩。所述反作用轮56能够根据所述外部力矩的变化实时调整，提供一个与所述外部力矩大小匹配且方向相反的补偿力矩，以与所述外部力矩相互抵消，进而维持所述相机模组52的稳定拍摄。当所述校正力矩到达所述相机模组52后，所述反作用轮56提供的补偿力矩逐渐减弱至消失，或者当所述校正力矩与所述外部力矩大小不相匹配时，所述反作用轮56调整力矩方向使得方向相反的力矩得以相互抵消，从而提高所述拍摄设备5自身稳定调节的灵敏度，使得所述拍摄设备5即使受外部力矩扰动，也能够快速地回复至稳定状态，进而稳定拍摄。
可以理解，所述反作用轮56也可设置在所述相机模组52的其他位置，例如位于所述相机模组52的两侧，后端或顶部。所述反作用轮56也可为所述相机模组52相对所述无人机100横滚轴或俯仰轴方向上的扰动提供补偿转矩。
所述散热装置57用于加速所述相机模组52的散热。所述散热装置57设置在所述壳体51后端内侧，并与所述相机模组52相对设置。所述散热装置57与所述散热孔512相对设置。本实施方式中，所述散热装置57通过点胶固定在所述壳体51后端内侧。所述散热装置57为风扇。
可以理解，所述散热装置57与所述壳体51的固定也可通过螺孔与螺钉配合实现。
所述垫圈58设置在所述壳体51内。所述垫圈58与所述相机模组52固接。具体地，所述垫圈58固定在所述相机模组52的镜头模组521的进光端。本实施方式中，所述垫圈58开设有第十七螺孔581。所述第十七螺孔581与第九螺钉719及所述镜头模组521进光端外缘的螺孔（图未示）配合，以将所述垫圈58与所述相机模组52固接。本实施方式中，所述垫圈58所述垫圈58呈圆环状。
所述滤镜59固定在所述壳体51上，并封闭所述通光孔513。所述滤镜59与所述相机模组52的进光端相对设置。本实施方式中，所述滤镜59正对所述镜头模组521设置。所述垫圈58位于所述相机模组52的进光端与所述滤镜59之间。所述滤镜59相对所述壳体51的固定可由所述上盖501与下盖502固接时，所述第五半孔5013与第六半孔5023的孔壁卡持所述滤镜59实现。可以理解，所述滤镜59相对所述壳体51的固定也可通过螺孔与螺钉的配合或卡扣与卡钩的配合实现。
可以理解，本发明实施方式以螺钉与螺孔配合方式介绍所述相机模组52的内部构件，例如镜头模组521、支架53、电路板54及散热组件55之间；所述相机模组52与壳体51之间及所述相机模组52与云台3之间的固接，但并不以此为限。其他实施方式中，所述相机模组52的内部构件之间、所述相机模组52与壳体521之间及所述相机模组52与云台3之间的连接还可以采用螺钉与螺孔配合、卡钩与卡扣配合、胶粘等方式。
相对于现有技术，本发明提供的拍摄设备及无人机由于所述拍摄设备包括设置在所述相机模组上的反作用轮，可在所述相机模组受外界影响扰动时，提供补偿转矩，从而实现所述拍摄设备的稳定拍摄。
另外，由于所述相机模组的电路板开设有供所述反作用轮穿设的通孔，有助于实现所述相机模组的小型化，为将相机模组搭载至无人机提供便利。
另外，由于所述拍摄设备内部设置有散热装置及散热组件，两者配合有助于加速所述拍摄设备内部的热量散出。
另外，由于所述云台包括相互转动连接的多个转动件，使得所述拍摄设备可实现三维空间的旋转拍摄。
对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (49)

  1. 一种拍摄设备，能够在一云台的驱动下转动，所述拍摄设备包括相机模组及反作用轮，所述反作用轮设置在所述相机模组上能够在所述拍摄设备被所述云台驱动转动的过程中，为所述相机模组提供抵消外界扰动的补偿转矩，以实现所述拍摄设备的稳定拍摄。
  2. 如权利要求1所述的拍摄设备，其特征在于，所述拍摄设备包括壳体，所述相机模组及所述反作用轮收容在所述壳体内。
  3. 如权利要求2所述的拍摄设备，其特征在于，所述壳体包括扣接固定的上盖及下盖，所述上盖与下盖围合形成收容空间，所述相机模组及所述反作用轮收容在所述收容空间内。
  4. 如权利要求2所述的拍摄设备，其特征在于，所述壳体两侧设置有轴接孔，所述拍摄设备通过所述轴接孔能够转动地连接至所述云台。
  5. 如权利要求2所述的拍摄设备，其特征在于，所述壳体后端设置有散热装置，所述散热装置与所述相机模组相对设置，所述壳体顶部开设有通风孔。
  6. 如权利要求5所述的拍摄设备，其特征在于，所述相机模组还包括固定在其顶部的第一散热片，部分所述第一散热片自所述通风孔露出。
  7. 如权利要求6所述的拍摄设备，其特征在于，所述相机模组还包括固定在其一侧的第二散热片，所述壳体相对两侧设置有轴接孔，所述第二散热片与其中一个轴接孔相对设置。
  8. 如权利要求2所述的拍摄设备，其特征在于，所述壳体前端开设有通光孔，所述相机模组包括镜头模组，所述镜头模组的光轴与所述通光孔共轴设置。
  9. 如权利要求8所述的拍摄设备，其特征在于，所述拍摄设备还包括正对所述镜头模组的滤镜，所述滤镜固定设置在所述壳体上，并封闭所述通光孔。
  10. 如权利要求9所述的拍摄设备，其特征在于，所述拍摄设备还包括垫圈，所述垫圈设置在所述壳体内，且位于所述滤镜与所述镜头模组之间。
  11. 如权利要求8所述的拍摄设备，其特征在于，所述相机模组还包括电路板，所述电路板包括一位于所述镜头模组底部的底板，所述底板开设有供所述反作用轮穿设的通孔。
  12. 如权利要求11所述的拍摄设备，其特征在于，所述电路板围绕所述镜头模组。
  13. 如权利要求12所述的拍摄设备，其特征在于，所述电路板三面围绕所述镜头模组，所述电路板还包括侧板和顶板，所述侧板位于顶板和底板之间，所述底板、侧板、顶板分别固定在所述支架的不同侧。
  14. 如权利要求13所述的拍摄设备，其特征在于，其特征在于，所述底板和所述侧板之间通过一柔性电路板连接，所述侧板和所述顶板之间通过另一柔性电路板连接。
  15. 如权利要求13所述的拍摄设备，其特征在于，所述顶板及侧板设置有多个功能芯片，所述相机模组还包括多个导热垫，每个所述导热垫设置在一个所述功能芯片上。
  16. 如权利要求11所述的拍摄设备，其特征在于，所述相机模组还包括支架，所述支架用于为所述电路板提供支撑，所述镜头模组从所述支架穿设并固定在所述支架内。
  17. 如权利要求16所述的拍摄设备，其特征在于，所述支架与所述壳体固定连接，以使所述相机模组与所述壳体固定连接。
  18. 如权利要求16所述的拍摄设备，其特征在于，所述反作用轮固定在所述支架并穿设所述通孔。
  19. 如权利要求18所述的拍摄设备，其特征在于，所述反作用轮包括本体及连接端，所述连接端自所述本体向外延伸，所述反作用轮通过所述连接端连接至所述电路板，所述本体穿设在所述通孔中。
  20. 如权利要求19所述的拍摄设备，其特征在于，所述本体外周面向外凸设有多个凸缘，所述凸缘与所述支架连接，以将所述反作用轮连接在所述支架上。
  21. 如权利要求20所述的拍摄设备，其特征在于，所述支架包括位于其底部的第一底臂及第二底臂，所述凸缘位于所述底板与所述第一底臂及所述底板与所述第二底臂之间。
  22. 一种无人机，包括：
    拍摄设备，包括相机模组及反作用轮，所述反作用轮设置在所述相机模组上能够在所述拍摄设备被所述云台驱动转动的过程中，为所述相机模组提供抵消外界扰动的补偿转矩，以实现所述拍摄设备的稳定拍摄；
    机身；及
    云台，与所述机身连接，用于搭载所述拍摄设备，所述拍摄设备在所述云台的驱动下转动。
  23. 如权利要求22所述的无人机，其特征在于，所述机身包括相背的底面及顶面，所述云台与所述机身的底面连接，所述云台能够相对所述机身转动，并带动所述拍摄设备相对于所述机身运动。
  24. 如权利要求22所述的无人机，其特征在于，所述云台包括依次转动连接的多个转动件，所述拍摄设备通过所述多个转动件的配合能够实现三维空间中的旋转位置拍摄。
  25. 如权利要求24所述的无人机，其特征在于，所述云台包括第一转动件，所述第一转动件与所述机身转动连接，并带动所述拍摄设备转动，使所述拍摄设备位于相对所述机身的同一高度的不同位置处。
  26. 如权利要求25所述的无人机，其特征在于，所述云台还包括与所述第一转动件转动连接的第二转动件及与所述第二转动件转动连接的第三转动件，所述拍摄设备转动连接至所述第三转动件，所述第二转动件与第三转动件配合带动所述拍摄设备转动，使所述拍摄设备在相对所述机身的同一高度的同一位置处的镜头朝向不同。
  27. 如权利要求22所述的无人机，其特征在于：所述机身包括主体、自所述主体向外延伸的机臂、以及设置于所述机臂的动力装置，所述动力装置为所述无人机提供行进的动力。
  28. 如权利要求27所述的无人机，其特征在于，所述无人机为无人飞行器，所述动力装置包括螺旋桨及用于驱动所述螺旋桨转动的电机。
  29. 如权利要求22所述的无人机，其特征在于，所述无人机为无人飞行器、无人船、无人车。
  30. 如权利要求22所述的拍摄设备，其特征在于，所述拍摄设备包括壳体，所述相机模组及所述反作用轮收容在所述壳体内。
  31. 如权利要求30所述的拍摄设备，其特征在于，所述壳体包括扣接固定的上盖及下盖，所述上盖与下盖围合形成收容空间，所述相机模组及所述反作用轮收容在所述收容空间内。
  32. 如权利要求30所述的拍摄设备，其特征在于，所述壳体两侧设置有轴接孔，所述拍摄设备通过所述轴接孔能够转动地连接至所述云台。
  33. 如权利要求30所述的拍摄设备，其特征在于，所述壳体后端设置有散热装置，所述散热装置与所述相机模组相对设置，所述壳体顶部开设有通风孔。
  34. 如权利要求33所述的拍摄设备，其特征在于，所述相机模组还包括固定在其顶部的第一散热片，部分所述第一散热片自所述通风孔露出。
  35. 如权利要求34所述的拍摄设备，其特征在于，所述相机模组还包括固定在其一侧的第二散热片，所述壳体相对两侧设置有轴接孔，所述第二散热片与其中一个轴接孔相对设置。
  36. 如权利要求30所述的拍摄设备，其特征在于，所述壳体前端开设有通光孔，所述相机模组包括镜头模组，所述镜头模组的光轴与所述通光孔共轴设置。
  37. 如权利要求36所述的拍摄设备，其特征在于，所述拍摄设备还包括正对所述镜头模组的滤镜，所述滤镜固定设置在所述壳体上，并封闭所述通光孔。
  38. 如权利要求37所述的拍摄设备，其特征在于，所述拍摄设备还包括垫圈，所述垫圈设置在所述壳体内，且位于所述滤镜与所述镜头模组之间。
  39. 如权利要求36所述的拍摄设备，其特征在于，所述相机模组还包括电路板，所述电路板包括一位于所述镜头模组底部的底板，所述底板开设有供所述反作用轮穿设的通孔。
  40. 如权利要求39所述的拍摄设备，其特征在于，所述电路板围绕所述镜头模组。
  41. 如权利要求40所述的拍摄设备，其特征在于，所述电路板三面围绕所述镜头模组，所述电路板还包括侧板和顶板，所述侧板位于顶板和底板之间，所述底板、侧板、顶板分别固定在所述支架的不同侧。
  42. 如权利要求41所述的拍摄设备，其特征在于，其特征在于，所述底板和所述侧板之间通过一柔性电路板连接，所述侧板和所述顶板之间通过另一柔性电路板连接。
  43. 如权利要求41所述的拍摄设备，其特征在于，所述顶板及侧板设置有多个功能芯片，所述相机模组还包括多个导热垫，每个所述导热垫设置在一个所述功能芯片上。
  44. 如权利要求39所述的拍摄设备，其特征在于，所述相机模组还包括支架，所述支架用于为所述电路板提供支撑，所述镜头模组从所述支架穿设并固定在所述支架内。
  45. 如权利要求44所述的拍摄设备，其特征在于，所述支架与所述壳体固定连接，以使所述相机模组与所述壳体固定连接。
  46. 如权利要求44所述的拍摄设备，其特征在于，所述反作用轮固定在所述支架并穿设所述通孔。
  47. 如权利要求46所述的拍摄设备，其特征在于，所述反作用轮包括本体及连接端，所述连接端自所述本体向外延伸，所述反作用轮通过所述连接端连接至所述电路板，所述本体穿设在所述通孔中。
  48. 如权利要求47所述的拍摄设备，其特征在于，所述本体外周面向外凸设有多个凸缘，所述凸缘与所述支架连接，以将所述反作用轮连接在所述支架上。
  49. 如权利要求48所述的拍摄设备，其特征在于，所述支架包括位于其底部的第一底臂及第二底臂，所述凸缘位于所述底板与所述第一底臂及所述底板与所述第二底臂之间。
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