WO2017128051A1

WO2017128051A1 - Pan-tilt, unmanned aerial vehicle, photographing device, and movable device

Info

Publication number: WO2017128051A1
Application number: PCT/CN2016/072218
Authority: WO
Inventors: 陈子寒; 潘大虎
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2016-01-26
Filing date: 2016-01-26
Publication date: 2017-08-03
Also published as: CN107250908A; CN109823557A; CN109823557B; CN107250908B

Abstract

A pan-tilt (100), and an unmanned aerial vehicle (1000), a photographing device and a movable device using the pan-tilt (100). The pan-tilt (100) comprises a body (40) and a first support assembly (30) provided on the body (40). The first support assembly (30) comprises a first supporting arm (32) and a second supporting arm (33) separately extending from the body (40) and rotatable relative to the body (40); tail ends of the first supporting arm (32) and the second supporting arm (33) are arranged opposite to each other, and a load (200) can be rotatably clamped between the tail ends of the first and second supporting arms. The first support assembly (30) further comprises a first driving means (31) provided on a tail end, which is far away from the body (40), of the first supporting arm (32) and used for driving the load (200) to rotate relative to the first support assembly (30). The pan-tilt (100) further comprises a first signal transmission component (35) extending along the second supporting arm (33) and capable of being electrically connected to the load (200).

Description

PTZ, unmanned aerial vehicles, shooting equipment and mobile devices

Technical field

The invention relates to a connection structure of an airborne platform, in particular to a cloud platform, an unmanned aerial vehicle, a photographing device and a movable device.

Background technique

In the existing pan/tilt design, the airborne pan/tilt mostly adopts a single-arm support structure, especially a pitch (Pitch) axis design. In the design of the Dayuntai, although there are two-arm support structure, it is usually placed at the same end of the PTZ control motor and control line. This will cause the end of the motor and control line to be heavy and occupy a large space. When the unmanned aerial vehicle equipped with the pan/tilt is accelerated or decelerated in different directions, the pan/tilt is likely to be shaken due to the imbalance of the center of gravity, which is disadvantageous for controlling the pan/tilt and the load mounted on the pan/tilt.

Summary of the invention

In view of this, it is necessary to propose a pan/tilt head and an unmanned aerial vehicle, a photographing apparatus, and a movable apparatus using the same, to solve the above problem.

A pan/tilt head includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.

Further, the load includes a carrying portion and an image acquiring portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, the bearing A receiving chamber is disposed between the opposite ends, and the receiving chamber is configured to receive the electronic components of the image acquiring portion and fix the image acquiring portion.

Further, the load is a camera, and the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the ends of the first driving device and the second supporting arm away from the body, The carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.

Further, the first signal transmission member includes a first end portion and a second end portion, a first end portion of the first signal transmission member is disposed on the body, and the second end portion is from the first The first end of the second support arm extends along the arm portion of the second support arm to the second end of the second support arm and is disposed around the second end of the second support arm.

Further, the second end of the second support arm is provided with a mounting portion and a winding box, the winding box is fixed on the mounting portion, and the winding box is provided with a receiving portion, the carrying portion The connecting shaft is disposed in the receiving portion, and the second end of the first signal transmitting member is disposed around the outer circumference of the connecting shaft and received in the receiving portion.

Further, the second end of the first signal transmitting member is wound around the outer circumference of the connecting shaft by at least one turn, and the maximum driving amount of the first driving device for driving the load is not more than one week.

Further, the shape of the first signal transmission member is adapted to the shape of the arm portion of the second support arm such that the first signal transmission member is closely attached to the second support arm.

Further, a circuit board is disposed in the receiving chamber, and the circuit board is provided with at least a load circuit, and the load circuit is electrically connected to the image acquiring unit or the camera housed in the receiving room, the first signal a second end of the transmission member is electrically connected to a circuit board disposed in the accommodation chamber to achieve electrical connection with the image acquisition portion or camera, the first signal transmission member for receiving and transmitting the image acquisition The image signal collected by the camera or camera.

Further, the first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component The third end portion is electrically connected, the second end of the second signal transmission member is electrically connected to the image disposed in a mounting platform, and the second signal transmission member is configured to receive the first signal transmission member for transmission Image signal and transmit the image signal to the image.

Further, the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component The load control signal sent by the control device is transmitted, and the load control signal is transmitted to the image acquisition unit or the camera to control an operation state and an operation parameter of the image acquisition unit or the camera.

Further, the pan/tilt further includes an inertial sensor and a controller, the controller is electrically connected to the inertial sensor and the first signal transmitting member, and the inertial sensor is configured to detect posture information of the load;

The first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting, the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;

The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.

Further, the first driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to an end of the first supporting arm away from the body, and the rotating portion is fixedly connected to one end of the carrying portion; The pan/tilt further includes a first electronic governor electrically connected to the first driving device and the controller, the first electronic governor for receiving the control The driving control signal of the device drives the rotating portion to rotate relative to the fixing portion, and adjusts the rotation speed of the rotating portion; the rotation of the rotating portion of the first driving device can drive the bearing portion to rotate.

Further, a circuit board is disposed in the receiving chamber, and the first electronic governor, the controller, and the inertial sensor are disposed on a circuit board in the receiving chamber.

Further, the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber, the pan/tilt further includes a third signal transmitting member, and the first end of the third signal transmitting member is inserted into the Electrically connecting to the circuit board in the socket to achieve electrical connection with the first electronic governor, the second end of the third signal transmitting member being electrically connected to the first driving device, thereby An electronic governor is electrically connected to the first driving device through the third signal transmitting member.

Further, a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, so that the rotating shaft drives the rotating portion relative to The fixing portion rotates.

Further, one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, and the carrying portion can be driven by the rotating portion The rotating portions rotate together.

Further, the body includes a second bracket assembly, the second bracket assembly includes a connecting member and a second driving device, the second driving device is fixedly coupled to one end of the connecting member, and is rotatably coupled to the a first end of the first support arm and a first end of the second support arm, the second drive means for driving the first support arm and the second support arm to rotate relative to the connector.

Further, the rotation axis of the second driving device is substantially perpendicular to the rotation axis of the first driving device.

Further, the second driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, the rotating portion is fixedly coupled to the first end of the first supporting arm, and the a first end of the second support arm; the pan/tilt further includes a second electronic governor, the second electronic governor being electrically connected to the second driving device and the controller, the second An electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion; The rotation of the rotating portion can drive the first support arm and the second support arm to rotate.

Further, a circuit board is disposed on the connector, and the second electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection The circuit board on the device is electrically connected to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal transmitting member and the second driving device and The controller implements an electrical connection.

Further, the body further includes a third driving device rotatably coupled to the other end of the connecting member for driving the second bracket assembly to rotate.

Further, the rotation axis of the third driving device is substantially perpendicular to the rotation axis of the second driving device.

Further, the third driving device includes a fixing portion for mounting the pan/tilt head integrally on a mounting platform, and the rotating portion is fixedly connected to the connecting member away from the One end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor being electrically connected to the third driving device and the controller, the third electronic tuning The speed controller is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixing portion, and adjust a rotation speed of the rotating portion relative to the fixing portion, the rotation of the third driving device The rotation of the portion can drive the second bracket assembly to rotate.

Further, a circuit board is disposed on the connector, and the third electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection The circuit board on the device is electrically connected, and the third end of the first signal transmission member is disposed on the third driving device and electrically connected to the third driving device, so that the third electronic governor passes The first signal transmission member is electrically connected to the third driving device and the controller.

Further, the first signal transmission member and the second signal transmission member are flexible circuit boards for transmitting power and/or data; or

The first signal transmitting component and the second signal transmitting component are data lines for transmitting power and/or transmitting data.

Further, the third signal transmission member is a flexible circuit board for transmitting power and/or data; or

The third signal transmission component is a data line for transmitting power and/or transmitting data.

Further, the driving device is a brushless motor, a brush motor or a motor.

Further, the pan/tilt is applied to a mobile device, and the movable device includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and a handheld photographing device.

An unmanned aerial vehicle includes a body and a pan/tilt head disposed on the body, the pan/tilt includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:

Further, the load is a camera, and the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, The carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.

Further, a circuit board is disposed in the receiving chamber, and the circuit board is provided with at least a load circuit, and the load circuit is electrically connected to the image acquiring unit or the camera housed in the receiving room, the first signal a second end of the transmitting member is electrically connected to a circuit board disposed in the receiving chamber after being wound around an outer circumference of the connecting shaft to realize electrical connection with the image acquiring portion or the camera, the first signal transmission The piece is configured to receive and transmit an image signal collected by the image acquisition unit or the camera.

Further, the first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component The three ends are electrically connected, the second end of the second signal transmitting member is electrically connected to a picture disposed in a mounting platform, and the second signal transmitting member is configured to receive the transmission of the first signal transmitting member An image signal and transmitting the image signal to the image.

Further, the third driving device includes a fixing portion for mounting the pan/tilt head integrally on the body of the unmanned aerial vehicle, and a rotating portion fixedly connected to the The connecting member is away from one end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor is electrically connected to the third driving device and the controller, a third electronic governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion relative to the fixed portion, the third drive The rotation of the rotating portion of the device can drive the second bracket assembly to rotate.

A photographing device includes a pan/tilt head and an image capturing device disposed on the pan/tilt head, the pan/tilt head includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and the image can be The acquisition device is rotatably sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the image acquiring device to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the image acquisition device.

Further, the image acquisition device is a camera, a camera or a lens.

Further, the photographing device is a handheld photographing device, and the photographing device further includes a handle, and the pan/tilt is mounted on the handle.

Further, the photographing apparatus is applied to a mobile device, and the movable device includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, and an unmanned ship.

Further, the photographing apparatus further includes a carrying portion, the opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, and the carrying portion is in the A receiving chamber is provided between the opposite ends for receiving the electronic components of the image capturing device and fixing the image capturing device.

Further, a circuit board is disposed in the accommodating chamber, and at least a load circuit is disposed on the circuit board, and the load circuit is electrically connected to the image acquiring device housed in the accommodating chamber, the first signal transmitting component a second end portion is electrically connected to a circuit board disposed in the receiving chamber after being wound around an outer circumference of the connecting shaft to achieve electrical connection with the image acquiring device, and the first signal transmitting member is configured to receive And transmitting an image signal collected by the image acquisition device.

Further, the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component The load control signal sent by the control device is transmitted, and the load control signal is transmitted to the image acquisition device to control an operation state and an operation parameter of the image acquisition device.

A movable device includes a mounting platform and a pan/tilt mounted on the mounting platform, the pan/tilt includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:

Further, the movable device is a handheld photographing device, the mounting platform is a handle, and the pan/tilt is mounted on the handle.

Further, the movable device is an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle, and the installation platform is a casing of the movable device, and the pan/tilt is mounted on the casing.

Further, the load is a camera, and the movable device further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device The carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.

Further, a circuit board is disposed in the accommodating chamber, and at least a load circuit is disposed on the circuit board, and the load circuit is electrically connected to the camera housed in the accommodating chamber, and the first signal transmitting component is The two ends are electrically connected to a circuit board disposed in the receiving chamber after being wound around the outer circumference of the connecting shaft to realize electrical connection with the camera, and the first signal transmitting member is configured to receive and transmit the The image signal captured by the camera.

Further, the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component A load control signal sent by the control device is transmitted, and the load control signal is transmitted to the camera to control an operating state of the camera and an operating parameter.

Further, the third driving device includes a fixing portion for mounting the pan/tilt head integrally on the mounting platform, and the rotating portion fixedly connected to the connecting member away from the One end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor is electrically connected to the third driving device and the controller, the third electronic a governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion relative to the fixed portion, the said third driving device The rotation of the rotating portion can drive the second bracket assembly to rotate.

The pan/tilt in the embodiment of the invention adopts two-arm design, and the motor and the control line are respectively disposed on the two arms, so that the overall appearance structure and the weight distribution of the gimbal are relatively symmetrical, thereby being able to resist the application platform such as the unmanned aerial vehicle. Shake or other disturbances that occur when flying or moving in different directions to accelerate or decelerate.

DRAWINGS

1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention, the unmanned aerial vehicle including a pan/tilt.

2 is a perspective view showing a partial structure of the unmanned aerial vehicle of FIG. 1.

3 is an exploded perspective view of the platform of FIG. 2.

4 is a schematic structural view of a first signal transmission member of the cloud platform of FIG. 3.

Figure 5 is an exploded perspective view of another perspective of the platform of Figure 3;

Fig. 6 is a partial schematic structural view of the pan/tilt of Fig. 2;

Main component symbol description

Unmanned aerial vehicle 1000

Yuntai 100

First bracket assembly 30

First drive unit 31

Fixed part 311

Mounting hole 3111

Rotating portion 312

Mounting hole 3121

Rotary axis 313

First support arm 32

Mounting hole 321

Second support arm 33

Arm 331

Mounting part 332

Winding box 333

Containment department 334

Third signal transmission member 34

First signal transmission member 35

First end 351

Second end 352

Third end 353

Carrying part 36

Storage room 361

Receiving hole 362

Connecting shaft 363

Socket 364

Mounting hole 365

Ontology 40

Second bracket assembly 41

Connector 411

Second drive unit 412

Fixed part 4121

Rotating part 4122

Cover 413

Third drive unit 42

Fixed part 421

Rotating portion 422

Second signal transmission member 43

Load 200

Image acquisition unit 21

Body 300

The invention will be further illustrated by the following detailed description in conjunction with the accompanying drawings.

detailed description

It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Please refer to FIG. 1, which is a perspective view of an unmanned aerial vehicle 1000 according to an embodiment of the present invention. In the present embodiment, the UAV 1000 is a rotorcraft. Wherein, the rotor may be a single rotor, a double rotor, a three-rotor, a quadrotor, a six-rotor and an eight-rotor. In other embodiments, the UAV 1000 can be a fixed wing aircraft or an aircraft in which the fixed wing and the rotor are mixed. In the present embodiment, the UAV 1000 includes a body 300 and a platform 100 mounted on the body 300. The pan/tilt head 100 is used to carry a load 200 and control the orientation of the load 200.

Referring to FIG. 2 and FIG. 3 together, in the present embodiment, the load 200 includes an image acquisition unit 21. The pan/tilt head 100 can carry the image acquisition unit 21 to constitute a photographing device, and the photographing device can be applied to a mobile device. The mobile device includes, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, a handheld photographing device. For example, the photographing device may be installed on the unmanned aerial vehicle 1000 for aerial photography, or the photographing device may be disposed on a handle as a handheld photographing device for photographing, recording, etc., and allowing the user to The pan/tilt head 100 is manually operated to control the photographing angle of the image acquisition section 21. Alternatively, the photographing apparatus may be mounted on a housing of other movable equipment such as an unmanned boat or an unmanned vehicle.

In the present embodiment, the image acquisition unit 21 is mounted on the pan/tilt head 100 and attached to the body 300 of the unmanned aerial vehicle 1000 as an example.

In the present embodiment, the platform 100 includes a body 40 and a first bracket assembly 30 disposed on the body 40. The first bracket assembly 30 is configured to carry the load 200.

In the present embodiment, the first bracket assembly 30 includes a first support arm 32, a second support arm 33, and a first driving device 31. The first support arm 32 and the second support arm 33 respectively extend from the body 40 and are rotatable relative to the body 40. In the present embodiment, the ends of the first support arm 32 and the second support arm 33 are oppositely disposed, and the load 200 can be rotatably interposed therebetween.

The first driving device 31 is disposed at an end of the first supporting arm 32 away from the body 40 for driving the load 200 to rotate relative to the first bracket assembly 30.

In the present embodiment, the load 200 may be a device having a photographing function, and includes a carrying portion 36 and an image acquiring portion 21. The opposite ends of the carrying portion 36 are respectively connected to the end of the second supporting arm 33 away from the body 40 and the first driving device 31. In the present embodiment, the carrying portion 36 is provided with a receiving chamber 361 for accommodating the electronic components (such as CCD or CMOS, image) of the image acquiring portion 21 between the opposite ends. The processor or the like) fixes the image acquisition unit 21.

In another embodiment, the load 200 is a camera, and the platform 100 further includes a carrying portion for receiving and fixing the camera, that is, the carrying portion and the camera are two independent components. In other embodiments, the carrier portion for housing and securing the camera may be omitted, and the load 200 is directly mounted between the first driving device 31 and the second support arm 33. Alternatively, the carrying portion may be integrally formed with the image acquiring portion 21 to constitute a whole as the load 200 of the pan/tilt head 100. In other embodiments, the load 200 can be an image acquisition device such as a camera or a lens.

In the present embodiment, the platform 100 further includes a first signal transmission member 35 that extends along the second support arm 33 and is electrically connectable to the load 200.

Specifically, please refer to FIG. 3 and FIG. 4 together, the first signal transmission member 35 includes a first end portion 351, a second end portion 352, and a third end portion 353, the first signal transmission member 35 a first end portion 351 is disposed on the body 40, and the second end portion 352 extends from the first end of the second support arm 33 along the arm portion 331 of the second support arm 33 to the The second end of the second support arm 33 is wound around the second end of the second support arm 33.

In the embodiment, the second end of the second support arm 33 is provided with a mounting portion 332 and a winding box 333, and the winding box 333 is fixed on the mounting portion 332 on the winding box 333. A housing portion 334 is provided. In this embodiment, one end of the carrying portion 36 is provided with a connecting shaft 363. The connecting shaft 363 is sleeved in the receiving portion 334, and the second end portion 352 of the first signal transmitting member 35 is disposed. The outer periphery of the connecting shaft 363 is received in the receiving portion 334.

In other embodiments, the winding box 333 can be omitted, and the receiving portion 334 is disposed on the mounting portion 332.

In the present embodiment, the shape of the first signal transmission member 35 is adapted to the shape of the arm portion 331 of the second support arm 33, so that the first signal transmission member 35 can be closely attached to the The second support arm 33 is described.

In the embodiment, the second end portion 352 of the first signal transmitting member 35 is wound around the outer circumference of the connecting shaft 363 at least one turn, and the first driving device 31 drives the maximum rotation of the load 200. The amount is no more than one week. In this embodiment, the first signal transmission member 35 is movably wound around the second end of the second support arm 33, and the number of turns of the winding is at least one turn to the bearing portion. 36 in the process of rotating the first bracket assembly 30 from an initial state to a maximum limit angle in a first direction, or in a direction opposite to the first direction to a maximum limit angle, The flexibility and freedom of rotation of the carrying portion 36 are not limited by the length of the first signal transmitting member 35, and the first signal transmitting member 35 is not broken by the rotation of the carrying portion 36. There is also no accumulation or entanglement in the winding box 333.

In the present embodiment, a circuit board (not shown) is disposed in the accommodating chamber 361, and at least a load circuit (not shown), such as a camera circuit, is disposed on the circuit board. The load circuit is electrically connected to the image acquisition unit 21 or the camera housed in the storage chamber 361. The second end portion 352 of the first signal transmitting member 35 is electrically connected to the circuit board disposed in the accommodating chamber 361 after being wound around the outer circumference of the connecting shaft 363 to realize the image acquiring portion 21 or An electrical connection of the camera, the first signal transmitting member 35 is configured to receive and transmit an image signal acquired by the image acquiring unit 21 or a camera.

In this embodiment, the platform 100 further includes a second signal transmitting member 43 , and the first end of the second signal transmitting member 43 is electrically connected to the third end portion 353 of the first signal transmitting member 35 . The second end of the second signal transmitting member 43 is electrically connected to a picture (not shown) provided in the body 300 of the mounting platform, such as the UAV 1000. The second signal transmitting component 43 is configured to receive an image signal transmitted by the first signal transmitting component 35 and transmit the image signal to the image transmission.

In this embodiment, the second end of the second signal transmitting member 43 is further electrically connected to a control device (not shown) provided in the mounting platform, and the first signal transmitting member 35 is also used for Receiving, by the second signal transmitting unit 43 , a load control signal sent by the control device, for example, a shooting control signal, and transmitting the load control signal to the image acquiring unit 21 or a camera to control the image acquiring unit. 21 or the working state of the camera and working parameters.

In the embodiment, the second signal transmitting member 43 and the first signal transmitting member 35 are disposed separately. It can be understood that, in other embodiments, the second signal transmitting member 43 can be integrally formed with the first signal transmitting member 35.

In this embodiment, the platform 100 further includes an inertial sensor (IMU, not shown) and a controller (not shown). The controller is electrically connected to the inertial sensor and the first signal transmitting member 35. The inertial sensor is used to detect attitude information of the load 200. In this embodiment, the first signal transmitting component 35 is further configured to receive, by the second signal transmitting component, a pan-tilt control signal sent by the control device, and transmit the pan-tilt control signal to the control Device. The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.

Referring to FIG. 3 and FIG. 5 together, in the embodiment, the first driving device 31 includes a fixing portion 311 and a rotating portion 312. The fixing portion 311 is fixedly connected to the end of the first supporting arm 32 away from the body 40 , and the rotating portion 312 is fixedly connected to the other end of the carrying portion 36 . In the embodiment, the fixing portion 311 and the end of the first supporting arm 32 away from the body 40 are respectively provided with opposite mounting

holes

3111, 321 and are passed through the mounting by screws (not shown). The

holes

3111, 321 fix the fixing portion 311 and the first support arm 32 away from the end of the body 40. The rotating portion 312 and the other end of the carrying portion 36 are respectively provided with opposite mounting

holes

3121, 365, and the rotating portion 312 is passed through the mounting

holes

3121, 365 by screws (not shown). The other end of the carrying portion 36 is fixed together.

It can be understood that the end of the fixing portion 311 and the first supporting arm 32 away from the body 40, the rotating portion 312 and the other end of the carrying portion 36 can be separately fixed by other means.

In this embodiment, the pan/tilt head 100 further includes a first electronic governor (not shown), and the first electronic governor is electrically connected to the first driving device 31 and the controller. The first electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 312 to rotate relative to the fixed portion 311, and adjust a rotational speed of the rotating portion 312 relative to the fixed portion 311. The rotation of the rotating portion 312 of the first driving device 31 can drive the carrying portion 36 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as the pitch axis angle, to adapt the image acquiring portion 21 to various types. attitude.

In the embodiment, the first electronic governor, the controller, and the inertial sensor are all disposed on a circuit board in the accommodating chamber 361. The carrying portion 36 is further provided with a socket 364 electrically connected to the circuit board in the receiving chamber 361, the cloud platform 100 further includes a third signal transmitting member 34, the first of the third signal transmitting member 34 The end is inserted into the socket 364 to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmitting member is electrically connected to the first driving device 31 The first electronic governor is electrically connected to the first drive device 31 via the third signal transmission member 34.

In the embodiment, the rotating portion 312 of the first driving device 31 is further provided with a rotating shaft 313, and the first electronic governor is specifically configured to drive the rotating shaft 313 to rotate, so that the rotating shaft 313 drives the rotating portion 312 to rotate relative to the fixing portion 311. In the present embodiment, one end of the support portion 36 that is fixedly connected to the rotating portion 312 is provided with a receiving hole 362 , and the other end of the rotating shaft 313 is inserted into the receiving hole 362 . The carrying portion 36 can be rotated together with the rotating portion 312 by the rotating portion 312.

In other embodiments, the rotating portion 312 can be omitted, and the other end of the rotating shaft 313 is inserted into the receiving hole 362 and fixed in the receiving hole 362, so that the bearing is driven by the rotating shaft 313. The portion 36 rotates.

In the embodiment, the first signal transmitting member 35, the second signal transmitting member 43, and the third signal transmitting member 34 are flexible circuit boards for transmitting power and/or data. In other embodiments, one or more of the first signal transmitting member 35, the second signal transmitting member 43, and the third signal transmitting member 34 may be data lines for transmitting power and/or transfer data.

In the present embodiment, the body 40 includes a second bracket assembly 41 that includes a connector 411 and a second drive device 412. In the embodiment, the second driving device 412 is fixedly connected to one end of the connecting member 411 and rotatably connected to the first end of the first supporting arm 32 and the second supporting arm 33. First end. The second driving device 412 is configured to drive the first support arm 32 and the second support arm 33 to rotate relative to the connecting member 411.

Specifically, please refer to FIG. 3 and FIG. 6 together. In the embodiment, the second driving device 412 includes a fixing portion 4121 and a rotating portion 4122. The fixing portion 4121 is fixedly connected to one end of the connecting member 411 , and the rotating portion 4122 is fixedly coupled to the first end of the first supporting arm 32 and the first end of the second supporting arm 33 . The first end of the first support arm 32 and the first end of the second support arm 33 can be sleeved on the rotating portion 4122 of the second driving device 412, thereby simplifying the second driving. A connection structure between the device 412 and the first support arm 32 and the second support arm 33 to reduce the volume of the pan/tilt. It can be understood that in other embodiments, the rotating portion 4122 is integrally formed with the first support arm 32 and the second support arm 33.

In this embodiment, the pan/tilt further includes a second electronic governor (not shown), and the second electronic governor is electrically connected to the second driving device 412 and the controller. The second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 4122 to rotate relative to the fixed portion 4121, and adjust a rotational speed of the rotating portion 4122 relative to the fixed portion 4121. The rotation of the rotating portion 4122 of the second driving device 412 can drive the first supporting arm 32 and the second supporting arm 33 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as a roll axis. The angle is such that the image acquisition section 21 adapts to various postures.

In the embodiment, the connecting member 411 is provided with a circuit board (not shown), and the second electronic governor is disposed on the circuit board on the connecting member 411. The first end portion 351 of the first signal transmitting member 35 is electrically connected to a circuit board disposed on the connecting member 411 to achieve electrical connection with the second electronic governor, thereby the second electronic The governor is electrically connected to the second driving device 412 and the controller through the first signal transmitting member 35.

In this embodiment, the body 40 further includes a third driving device 42 rotatably coupled to the other end of the connecting member 411 for driving the second bracket assembly 41 to rotate. .

Specifically, please refer to FIG. 3 and FIG. 5 again. In the embodiment, the third driving device 42 includes a fixing portion 421 and a rotating portion 422, and the fixing portion 421 is used to integrally mount the pan/tilt head 100. On a mounting platform. In the present embodiment, the mounting platform is the body 300 of the UAV 1000. In other embodiments, the mounting platform may be a handle (not shown) of a handheld camera (not shown) or other movable device, such as a housing of an unmanned or unmanned vehicle. The rotating portion 422 is fixedly connected to one end of the connecting member 411 away from the second driving device 412. The one end of the connecting member 411 away from the second driving device 412 can be sleeved on the rotating portion 422 of the third driving device 42 , so that the third driving device 42 and the connecting member 411 can be simplified. A connection structure between them to reduce the volume of the gimbal.

In this embodiment, the pan/tilt further includes a third electronic governor (not shown), and the third electronic governor is electrically connected to the third driving device 42 and the controller. The third electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 422 to rotate relative to the fixed portion 421, and to adjust a rotational speed of the rotating portion 422 relative to the fixed portion 421. The rotation of the rotating portion 422 of the third driving device 42 can drive the second bracket assembly 41 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as a heading axis or a translation axis angle, so that the The image acquisition unit 21 adapts to various postures.

In this embodiment, the third electronic governor is disposed on a circuit board on the second bracket assembly 41. The third end portion 353 of the first signal transmitting member 35 is disposed on the third driving device 42 and electrically connected to the third driving device 42 such that the third electronic governor passes the first The signal transmission member 35 is electrically connected to the third driving device 42 and the controller.

In the present embodiment, the first driving device 31, the second driving device 412, and the third driving device 42 are all brushless motors. It can be understood that in other embodiments, one or more of the first driving device 31, the second driving device 412, and the third driving device 42 may also be a brush motor, a motor, or the like. It is not limited to this embodiment.

In the embodiment, the second bracket assembly 41 further includes a cover 413 disposed on the connecting member 411 for covering and protecting the second and third electronic switches provided on the connecting member 411. Speeder.

In this embodiment, the controller and the first electronic governor are disposed on a circuit board in the carrying portion 36, and the second electronic governor and the third electronic governor are disposed at the same The circuit board of the second bracket assembly 41 is described, and a control signal is sent to each electronic governor through the controller to implement control of each driving device, thereby achieving control of the orientation of the load 200. It can be understood that, in other embodiments, the controller and the first, second, and third electronic governors may also be disposed in the receiving chamber 361 of the carrying portion 36, or the control The first, second, and third electronic governors may also be disposed on the circuit board of the second bracket assembly 41.

In this embodiment, the pan/tilt head 100 is a three-axis pan/tilt, and the rotation axis of the second driving device 412 is substantially perpendicular to the rotation axis of the first driving device 31, and the rotation of the third driving device 42 is The shaft is substantially perpendicular to the axis of rotation of the second drive unit 412. The pan/tilt head 100 can adjust the photographing angle of the image acquiring unit 21 in the direction of the pitch axis by the first driving device 31, and the image capturing unit 21 can be adjusted in the roll axis by the second driving device 412. The photographing angle in the direction can be adjusted by the third driving device 42 in the photographing angle of the image capturing portion 21 in the heading axis or the translation axis direction.

The pan/tilt head 100 in the embodiment of the invention adopts a double-arm design, and the motor and the control line are respectively disposed on the two arms, so that the overall appearance structure and the weight distribution of the gimbal are relatively symmetrical, thereby being able to resist application platforms such as an unmanned aerial vehicle. Shake or other disturbances that occur when flying or moving in different directions.

It should be noted that the above embodiments are only for explaining the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments. Modifications or equivalents are made without departing from the spirit and scope of the invention.

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or the patent disclosure in the official records and files of the Patent and Trademark Office.

Claims

A pan/tilt head includes a body and a first bracket assembly disposed on the body, wherein the first bracket assembly comprises:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
The pan/tilt head according to claim 1, wherein the load comprises a carrying portion and an image acquiring portion, and opposite ends of the carrying portion are respectively away from the end of the main body and the second supporting arm and The first driving device is connected, and the carrying portion is provided with a receiving chamber between the opposite ends, the receiving chamber is configured to receive the electronic components of the image acquiring portion and fix the image acquiring portion.
The pan/tilt head according to claim 1, wherein the load is a camera, the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively associated with the first driving device and the first The two support arms are connected away from the end of the body, and the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
The pan/tilt head according to claim 2 or 3, wherein the first signal transmission member includes a first end portion and a second end portion, and the first end portion of the first signal transmission member is disposed on the On the body, the second end portion is extended from the first end of the second support arm along the arm portion of the second support arm to the second end of the second support arm The second end of the second support arm.
The pan/tilt head according to claim 4, wherein the second end of the second support arm is provided with a mounting portion and a winding box, and the winding box is fixed on the mounting portion, the winding The housing is provided with a receiving portion, and one end of the carrying portion is provided with a connecting shaft, the connecting shaft sleeve is disposed in the receiving portion, and the second end portion of the first signal transmitting member is disposed around the outer circumference of the connecting shaft And is housed in the accommodating portion.
The pan/tilt head according to claim 5, wherein the second end of the first signal transmission member is wound around at least one circumference of the outer circumference of the connecting shaft, and the first driving device drives the load to rotate. The maximum amount of rotation is no more than one week.
The pan/tilt head according to claim 5, wherein a shape of said first signal transmission member is adapted to a shape of an arm portion of said second support arm such that said first signal transmission member is tight The ground is attached to the second support arm.
The pan/tilt head according to claim 4, wherein the receiving chamber is provided with a circuit board, at least a load circuit is disposed on the circuit board, and the load circuit and the image acquired in the receiving chamber are acquired. The first signal transmitting member is electrically connected to the circuit board disposed in the receiving chamber to electrically connect with the image acquiring portion or the camera, the first signal The transmission component is configured to receive and transmit an image signal collected by the image acquisition unit or the camera.
A pan/tilt head according to claim 8, wherein said first signal transmission member further comprises a third end portion, said pan/tilt head further comprising a second signal transmission member, said first of said second signal transmission members The end portion is electrically connected to the third end of the first signal transmission member, and the second end portion of the second signal transmission member is electrically connected to the image disposed in a mounting platform, the second signal transmission member And configured to receive an image signal transmitted by the first signal transmission component, and transmit the image signal to the image transmission.
The pan/tilt head according to claim 9, wherein the second end of the second signal transmitting member is further electrically connected to a control device provided in the mounting platform, and the first signal transmitting member is further used Receiving, by the second signal transmission component, a load control signal sent by the control device, and transmitting the load control signal to the image acquisition unit or the camera to control an operation state of the image acquisition unit or the camera and Working parameters.
A pan/tilt head according to claim 4, wherein said pan/tilt head further comprises an inertial sensor and a controller, said controller being electrically connected to said inertial sensor and said first signal transmitting member, said inertia a sensor is configured to detect attitude information of the load;

The first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting, the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;

The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
The pan/tilt head according to claim 11, wherein the first driving device comprises a fixing portion and a rotating portion, and the fixing portion is fixedly connected to an end of the first supporting arm away from the body, the rotation The portion is fixedly connected to one end of the carrying portion; the pan/tilt further includes a first electronic governor, the first electronic governor being electrically connected to the first driving device and the controller, a first electronic governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion; a rotation of a rotating portion of the first driving device The bearing portion can be driven to rotate.
The pan/tilt head according to claim 12, wherein the receiving chamber is provided with a circuit board, and the first electronic governor, the controller and the inertial sensor are all disposed in the circuit in the receiving chamber On the board.
The pan/tilt head according to claim 13, wherein the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber, the pan/tilt further comprising a third signal transmitting member, wherein the a first end of the three signal transmission member is inserted into the socket to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmission member is The first driving device is electrically connected such that the first electronic governor is electrically connected to the first driving device through the third signal transmitting member.
The pan/tilt head according to claim 12, wherein a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, thereby The rotating shaft drives the rotating portion to rotate relative to the fixing portion.
The pan/tilt head according to claim 15, wherein one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, the carrying portion The rotating portion can be rotated together with the rotation of the rotating portion.
The platform of claim 11 wherein said body includes a second bracket assembly, said second bracket assembly including a connector and a second drive, said second drive and said connector One end is fixedly connected and is rotatably coupled to the first end of the first support arm and the first end of the second support arm, and the second driving device is configured to drive the first support arm and the first The two support arms rotate relative to the connecting member.
A pan/tilt head according to claim 17, wherein the rotation axis of said second driving means is substantially perpendicular to the axis of rotation of said first driving means.
The pan/tilt head according to claim 17, wherein the second driving device comprises a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, and the rotating portion is fixedly connected to the a first end of the first support arm and a first end of the second support arm; the pan/tilt further includes a second electronic governor, the second electronic governor and the second drive device The controllers are all electrically connected, the second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust the rotating portion relative to the fixed portion The rotation speed of the rotating portion of the second driving device can drive the first supporting arm and the second supporting arm to rotate.
The pan/tilt head according to claim 19, wherein the connecting member is provided with a circuit board, and the second electronic governor is disposed on the circuit board of the connecting member, the first signal transmitting member The first end is electrically connected to the circuit board disposed on the connecting member to realize electrical connection with the second electronic governor, so that the second electronic governor transmits through the first signal The device is electrically connected to the second driving device and the controller.
A pan/tilt head according to claim 17, wherein said body further comprises a third driving device rotatably coupled to the other end of said connector for driving said second The bracket assembly rotates.
The platform according to claim 21, wherein the rotation axis of said third driving means is substantially perpendicular to the rotation axis of said second driving means.
The pan/tilt head according to claim 21, wherein the third driving device comprises a fixing portion and a rotating portion, and the fixing portion is configured to mount the pan/tilt head integrally on a mounting platform, the rotation The portion is fixedly coupled to one end of the connecting member away from the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor and the third driving device, and the control The devices are electrically connected, the third electronic governor is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion The rotation of the rotating portion of the third driving device can drive the second bracket assembly to rotate.
The pan/tilt head according to claim 23, wherein the connecting member is provided with a circuit board, and the third electronic governor is disposed on the circuit board of the connecting member, the first signal transmitting member The first end portion is electrically connected to the circuit board disposed on the connecting member, and the third end portion of the first signal transmitting member is disposed on the third driving device and electrically connected to the third driving device Thus, the third electronic governor is electrically connected to the third driving device and the controller through the first signal transmitting member.
The pan/tilt head according to claim 9, wherein said first signal transmitting member and said second signal transmitting member are flexible circuit boards for transmitting power and/or data; or

The first signal transmitting component and the second signal transmitting component are data lines for transmitting power and/or transmitting data.
The pan/tilt head according to claim 14, wherein said third signal transmitting member is a flexible circuit board for transmitting power and/or data; or

The third signal transmission component is a data line for transmitting power and/or transmitting data.
A platform according to claim 1, 17, or 23, wherein said driving means is a brushless motor, a brushed motor or a motor.
The pan/tilt head according to claim 1, wherein the pan/tilt head is applied to a mobile device, and the movable device comprises at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and a handheld device. Shooting equipment.
An unmanned aerial vehicle includes a fuselage and a pan/tilt disposed on the fuselage, the pan/tilt includes a body and a first bracket assembly disposed on the body, wherein the first bracket assembly include:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
The UAV according to claim 29, wherein said load comprises a carrying portion and an image acquiring portion, and opposite ends of said carrying portion are respectively away from said end of said body by said second supporting arm And the first driving device is connected, the carrying portion is provided with a receiving chamber between the opposite ends, the receiving chamber is configured to receive each electronic component of the image acquiring portion and fix the image acquiring portion.
The UAV according to claim 29, wherein the load is a camera, and the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively away from the second supporting arm The end of the body and the first driving device are connected, and the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
The UAV according to claim 30 or 31, wherein the first signal transmission member includes a first end portion and a second end portion, and the first end portion of the first signal transmission member is disposed at the In the body, the second end portion is extended from the first end of the second support arm along the arm portion of the second support arm to the second end of the second support arm The second end of the second support arm.
The UAV according to claim 32, wherein the second end of the second support arm is provided with a mounting portion and a winding box, and the winding box is fixed to the mounting portion, the winding The wire box is provided with a receiving portion, and one end of the carrying portion is provided with a connecting shaft, the connecting shaft sleeve is disposed in the receiving portion, and the second end portion of the first signal transmitting member is wound around the connecting shaft The outer circumference is housed in the accommodating portion.
An unmanned aerial vehicle according to claim 33, wherein said second end portion of said first signal transmission member is wound around at least one circumference of said connecting shaft, said first driving means driving said load The maximum amount of rotation is no more than one week.
An unmanned aerial vehicle according to claim 33, wherein said first signal transmission member has a shape adapted to the shape of the arm portion of said second support arm to cause said first signal transmission member Tightly attached to the second support arm.
An unmanned aerial vehicle according to claim 32, wherein said receiving chamber is provided with a circuit board, said circuit board being provided with at least a load circuit, said load circuit and said image housed in said receiving chamber The receiving portion or the camera is electrically connected, and the second end of the first signal transmitting member is electrically connected to the circuit board disposed in the receiving chamber after being wound around the outer circumference of the connecting shaft to realize the image acquiring portion Or an electrical connection of the camera, the first signal transmission component is configured to receive and transmit an image signal collected by the image acquisition unit or the camera.
An unmanned aerial vehicle according to claim 36, wherein said first signal transmission member further comprises a third end portion, said pan/tilt head further comprising a second signal transmission member, said second signal transmission member being first The end portion is electrically connected to the third end of the first signal transmission member, and the second end portion of the second signal transmission member is electrically connected to the image disposed in a mounting platform, the second signal transmission member And configured to receive an image signal transmitted by the first signal transmission component, and transmit the image signal to the image transmission.
The UAV according to claim 37, wherein the second end of the second signal transmission member is further electrically connected to a control device provided in the mounting platform, and the first signal transmission member further Receiving, by the second signal transmission component, a load control signal sent by the control device, and transmitting the load control signal to the image acquisition unit or a camera to control an operation state of the image acquisition unit or the camera And working parameters.
The UAV according to claim 32, wherein said pan/tilt head further comprises an inertial sensor and a controller, said controller being electrically connected to said inertial sensor and said first signal transmitting member, said An inertial sensor is used to detect attitude information of the load;

The first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting, the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;

The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
The UAV according to claim 39, wherein said first driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to said first supporting arm away from an end of said body, said said The rotating portion is fixedly connected to one end of the carrying portion; the pan/tilt further includes a first electronic governor, and the first electronic governor is electrically connected to the first driving device and the controller, The first electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion; the rotating portion of the first driving device The rotation can drive the bearing portion to rotate.
The UAV according to claim 40, wherein said receiving chamber is provided with a circuit board, and said first electronic governor, said controller and said inertial sensor are disposed in said receiving chamber On the board.
The UAV according to claim 41, wherein the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber, the pan/tilt further comprising a third signal transmitting member, a first end of the third signal transmission member is inserted into the socket to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmission member The first driving device is electrically connected such that the first electronic governor is electrically connected to the first driving device through the third signal transmitting member.
The UAV according to claim 42, wherein the rotating portion of the first driving device is further provided with a rotating shaft, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, thereby The rotating shaft drives the rotating portion to rotate relative to the fixing portion.
The UAV according to claim 43, wherein one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, the bearing The portion can be rotated together with the rotating portion under the driving of the rotating portion.
The UAV according to claim 39, wherein said body includes a second bracket assembly, said second bracket assembly includes a connector and a second driving device, said second driving device and said connector One end of the fixed connection and is rotatably coupled to the first end of the first support arm and the first end of the second support arm, the second driving device for driving the first support arm and the The second support arm rotates relative to the connector.
The UAV according to claim 45, wherein the rotation axis of said second driving means is substantially perpendicular to the rotation axis of said first driving means.
An unmanned aerial vehicle according to claim 45, wherein said second driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to one end of said connecting member, said rotating portion being fixedly coupled to said a first end of the first support arm and a first end of the second support arm; the pan/tilt further includes a second electronic governor, the second electronic governor and the second drive device The controllers are all electrically connected, the second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust the rotating portion relative to the fixed portion The rotation speed of the portion; the rotation of the rotating portion of the second driving device can drive the first support arm and the second support arm to rotate.
The UAV according to claim 47, wherein said connecting member is provided with a circuit board, said second electronic governor is disposed on said circuit board of said connecting member, said first signal transmission a first end of the piece is electrically connected to a circuit board disposed on the connecting member to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal The transmission member is electrically connected to the second driving device and the controller.
An unmanned aerial vehicle according to claim 45, wherein said body further comprises a third driving means rotatably coupled to the other end of said connecting member for driving said The two bracket assemblies rotate.
The UAV according to claim 49, wherein the rotation axis of said third driving means is substantially perpendicular to the rotation axis of said second driving means.
The UAV according to claim 49, wherein said third driving means comprises a fixing portion and a rotating portion, said fixing portion being for mounting said pan/tilt head integrally with said unmanned aerial vehicle The rotating portion is fixedly connected to one end of the connecting member away from the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor and the third The driving device and the controller are electrically connected, the third electronic governor is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixing portion, and adjust the rotating portion to be opposite The rotation speed of the fixing portion, the rotation of the rotating portion of the third driving device can drive the second bracket assembly to rotate.
The UAV according to claim 51, wherein said connecting member is provided with a circuit board, said third electronic governor is disposed on said circuit board of said connecting member, said first signal transmission The first end of the piece is electrically connected to the circuit board disposed on the connecting member, and the third end of the first signal transmitting member is disposed on the third driving device and electrically connected to the third driving device Connecting, such that the third electronic governor is electrically connected to the third driving device and the controller through the first signal transmitting member.
A photographing apparatus includes a cloud platform and an image acquiring device disposed on the cloud platform, the cloud platform comprising a body and a first bracket assembly disposed on the body, wherein the first bracket assembly include:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and the image can be The acquisition device is rotatably sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the image acquiring device to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the image acquisition device.
A photographing apparatus according to claim 53, wherein said image acquisition means is a camera, a camera or a lens.
A photographing apparatus according to claim 53, wherein said photographing apparatus is a hand-held photographing apparatus, and said photographing apparatus further includes a handle, and said pan-tilt is mounted on said handle.
The photographing apparatus according to claim 53, wherein the photographing apparatus is applied to a movable apparatus, and the movable apparatus includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, and an unmanned ship.
The photographing apparatus according to claim 53, wherein the photographing apparatus further comprises a carrying portion, the opposite ends of the carrying portion are respectively away from the end of the main body and the first support arm and the first The driving device is connected, and the carrying portion is provided with a receiving chamber between the opposite ends, the receiving chamber is for accommodating the electronic components of the image capturing device and fixing the image acquiring device.
The photographing apparatus according to claim 57, wherein said first signal transmission member comprises a first end portion and a second end portion, and said first end portion of said first signal transmission member is disposed on said body The second end extends from the first end of the second support arm along the arm portion of the second support arm to the second end of the second support arm, and is disposed around the second end The second end of the support arm.
The photographing apparatus according to claim 58, wherein the second end of the second support arm is provided with a mounting portion and a winding box, and the winding box is fixed to the mounting portion, the winding The housing is provided with a receiving portion, and one end of the carrying portion is provided with a connecting shaft, the connecting shaft sleeve is disposed in the receiving portion, and the second end portion of the first signal transmitting member is disposed around the outer circumference of the connecting shaft And is housed in the accommodating portion.
The photographing apparatus according to claim 59, wherein a shape of said first signal transmission member is adapted to a shape of an arm portion of said second support arm such that said first signal transmission member is tight The ground is attached to the second support arm.
The photographing apparatus according to claim 58, wherein said receiving chamber is provided with a circuit board, said circuit board is provided with at least a load circuit, said load circuit and said image acquisition received in said housing chamber The device is electrically connected, and the second end of the first signal transmitting member is electrically connected to the circuit board disposed in the receiving chamber after being wound around the outer circumference of the connecting shaft to realize electrical connection with the image acquiring device The first signal transmission component is configured to receive and transmit an image signal collected by the image acquisition device.
The photographing apparatus according to claim 61, wherein said first signal transmitting member further comprises a third end, said pan/tilt further comprising a second signal transmitting member, said first end of said second signal transmitting member The portion is electrically connected to the third end of the first signal transmission member, the second end of the second signal transmission member is electrically connected to the image disposed in a mounting platform, and the second signal transmission member is used for Receiving an image signal transmitted by the first signal transmission component, and transmitting the image signal to the image transmission.
The photographing apparatus according to claim 62, wherein the second end of the second signal transmitting member is further electrically connected to a control device provided in the mounting platform, and the first signal transmitting member is further used Receiving, by the second signal transmission component, a load control signal sent by the control device, and transmitting the load control signal to the image acquisition device to control an operation state and an operation parameter of the image acquisition device.
The photographing apparatus according to claim 58, wherein said pan/tilt head further comprises an inertial sensor and a controller, said controller being electrically connected to said inertial sensor and said first signal transmitting member, said inertia a sensor is configured to detect attitude information of the load;

The first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting, the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;

The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
The photographing apparatus according to claim 64, wherein said first driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to an end of said first supporting arm away from said body, said rotating The portion is fixedly connected to one end of the carrying portion; the pan/tilt further includes a first electronic governor, the first electronic governor being electrically connected to the first driving device and the controller, a first electronic governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion; a rotation of a rotating portion of the first driving device The bearing portion can be driven to rotate.
The photographing apparatus according to claim 65, wherein said receiving chamber is provided with a circuit board, and said first electronic governor, said controller and said inertial sensor are each disposed in said receiving chamber On the board.
The photographing apparatus according to claim 66, wherein said carrying portion is further provided with a socket electrically connected to a circuit board in said receiving chamber, said pan/tilt further comprising a third signal transmitting member, said a first end of the three signal transmission member is inserted into the socket to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmission member is The first driving device is electrically connected such that the first electronic governor is electrically connected to the first driving device through the third signal transmitting member.
The photographing apparatus according to claim 65, wherein a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, thereby The rotating shaft drives the rotating portion to rotate relative to the fixing portion.
A photographing apparatus according to claim 64, wherein said body comprises a second bracket assembly, said second bracket assembly includes a connecting member and a second driving means, said second driving means and said connecting member One end is fixedly connected and is rotatably coupled to the first end of the first support arm and the first end of the second support arm, and the second driving device is configured to drive the first support arm and the first The two support arms rotate relative to the connecting member.
A photographing apparatus according to claim 69, wherein a rotation axis of said second driving means is substantially perpendicular to a rotation axis of said first driving means.
The photographing apparatus according to claim 69, wherein said second driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to one end of said connecting member, said rotating portion being fixedly coupled to said a first end of the first support arm and a first end of the second support arm; the pan/tilt further includes a second electronic governor, the second electronic governor and the second drive device The controllers are all electrically connected, the second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust the rotating portion relative to the fixed portion The rotation speed of the rotating portion of the second driving device can drive the first supporting arm and the second supporting arm to rotate.
The photographing apparatus according to claim 71, wherein said connecting member is provided with a circuit board, said second electronic governor is disposed on said circuit board of said connecting member, said first signal transmitting member The first end is electrically connected to the circuit board disposed on the connecting member to realize electrical connection with the second electronic governor, so that the second electronic governor transmits through the first signal The device is electrically connected to the second driving device and the controller.
A photographing apparatus according to claim 69, wherein said body further comprises a third driving means rotatably coupled to the other end of said connecting member for driving said second The bracket assembly rotates.
A photographing apparatus according to claim 73, wherein a rotation axis of said third driving means is substantially perpendicular to a rotation axis of said second driving means.
The photographing apparatus according to claim 73, wherein said third driving means comprises a fixing portion for rotating said pan/tilt head integrally on a mounting platform, and said rotating portion The portion is fixedly coupled to one end of the connecting member away from the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor and the third driving device, and the control The devices are electrically connected, the third electronic governor is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion The rotation of the rotating portion of the third driving device can drive the second bracket assembly to rotate.
The photographing apparatus according to claim 75, wherein said connecting member is provided with a circuit board, said third electronic governor is disposed on said circuit board of said connecting member, said first signal transmitting member The first end portion is electrically connected to the circuit board disposed on the connecting member, and the third end portion of the first signal transmitting member is disposed on the third driving device and electrically connected to the third driving device Thus, the third electronic governor is electrically connected to the third driving device and the controller through the first signal transmitting member.
A movable device includes a mounting platform and a pan/tilt mounted on the mounting platform, the pan/tilt includes a body and a first bracket assembly disposed on the body, wherein the first bracket assembly include:

a first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;

a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly;

The pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
A mobile device according to claim 77, wherein said movable device is a hand-held photographing device, said mounting platform is a handle, and said pan/tilt is mounted on said handle.
The mobile device according to claim 77, wherein said movable device is an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle, and said mounting platform is a casing of a movable device, said pan/tilt Mounted on the housing.
A mobile device as claimed in claim 77, wherein said load is a camera, said movable device further comprising a carrying portion, said opposite ends of said carrying portion being respectively away from said second supporting arm The end of the body and the first driving device are connected, and the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
A mobile device as claimed in claim 80, wherein said first signal transmission member comprises a first end portion and a second end portion, and said first end portion of said first signal transmission member is disposed on said body The second end portion is extended from the first end of the second support arm to the second end of the second support arm along the arm portion of the second support arm, and is disposed on the second end The second end of the second support arm.
The movable device according to claim 81, wherein the second end of the second support arm is provided with a mounting portion and a winding box, and the winding box is fixed to the mounting portion, the winding The wire box is provided with a receiving portion, and one end of the carrying portion is provided with a connecting shaft, the connecting shaft sleeve is disposed in the receiving portion, and the second end portion of the first signal transmitting member is wound around the connecting shaft The outer circumference is housed in the accommodating portion.
A movable device according to claim 82, wherein said first signal transmission member has a shape adapted to a shape of an arm portion of said second support arm to cause said first signal transmission member Tightly attached to the second support arm.
The mobile device according to claim 81, wherein said receiving chamber is provided with a circuit board, said circuit board is provided with at least a load circuit, said load circuit and said camera housed in said receiving chamber Electrically connecting, the second end of the first signal transmitting member is electrically connected to a circuit board disposed in the receiving chamber after being wound around the outer circumference of the connecting shaft to realize electrical connection with the camera, The first signal transmission component is configured to receive and transmit an image signal collected by the camera.
A mobile device as claimed in claim 84, wherein said first signal transmission member further comprises a third end portion, said cloud platform further comprising a second signal transmission member, said second signal transmission member One end portion is electrically connected to the third end portion of the first signal transmission member, and the second end portion of the second signal transmission member is electrically connected to a picture disposed in a mounting platform, and the second signal transmission And configured to receive an image signal transmitted by the first signal transmission component, and transmit the image signal to the image transmission.
A mobile device as claimed in claim 85, wherein said second end portion of said second signal transmission member is further electrically connected to a control device provided in said mounting platform, said first signal transmission member further And receiving, by the second signal transmission component, a load control signal sent by the control device, and transmitting the load control signal to the camera to control an operating state of the camera and an operating parameter.
A mobile device according to claim 81, wherein said pan/tilt head further comprises an inertial sensor and a controller, said controller being electrically connected to said inertial sensor and said first signal transmitting member, said An inertial sensor is used to detect attitude information of the load;

The first signal transmission component further includes a third end, the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting, the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;

The controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
A movable device according to claim 87, wherein said first driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to said first supporting arm away from an end of said body, said said The rotating portion is fixedly connected to one end of the carrying portion; the pan/tilt further includes a first electronic governor, and the first electronic governor is electrically connected to the first driving device and the controller, The first electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion; the rotating portion of the first driving device The rotation can drive the bearing portion to rotate.
A mobile device as claimed in claim 88, wherein said receiving chamber is provided with a circuit board, and said first electronic governor, said controller and said inertial sensor are disposed in said receiving chamber On the board.
The mobile device as claimed in claim 89, wherein the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber, the pan/tilt further comprising a third signal transmitting member, a first end of the third signal transmission member is inserted into the socket to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmission member The first driving device is electrically connected such that the first electronic governor is electrically connected to the first driving device through the third signal transmitting member.
The movable device according to claim 88, wherein a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, thereby The rotating shaft drives the rotating portion to rotate relative to the fixing portion.
The movable device according to claim 91, wherein one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, the bearing The portion can be rotated together with the rotating portion under the driving of the rotating portion.
A mobile device according to claim 87, wherein said body includes a second bracket assembly, said second bracket assembly includes a connector and a second driving device, said second driving device and said connector One end of the fixed connection and is rotatably coupled to the first end of the first support arm and the first end of the second support arm, the second driving device for driving the first support arm and the The second support arm rotates relative to the connector.
A movable device according to claim 93, wherein said second driving means has a rotation axis substantially perpendicular to a rotation axis of said first driving means.
A movable device according to claim 93, wherein said second driving means comprises a fixing portion and a rotating portion, said fixing portion being fixedly coupled to one end of said connecting member, said rotating portion being fixedly coupled to said a first end of the first support arm and a first end of the second support arm; the pan/tilt further includes a second electronic governor, the second electronic governor and the second drive device The controllers are all electrically connected, the second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust the rotating portion relative to the fixed portion The rotation speed of the portion; the rotation of the rotating portion of the second driving device can drive the first support arm and the second support arm to rotate.
The mobile device according to claim 95, wherein said connecting member is provided with a circuit board, said second electronic governor is disposed on said circuit board of said connecting member, said first signal transmission a first end of the piece is electrically connected to a circuit board disposed on the connecting member to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal The transmission member is electrically connected to the second driving device and the controller.
A movable device according to claim 93, wherein said body further comprises a third driving means rotatably coupled to the other end of said connecting member for driving said The two bracket assemblies rotate.
A mobile device according to claim 97, wherein said third drive means has a rotation axis substantially perpendicular to a rotation axis of said second drive means.
The mobile device according to claim 97, wherein the third driving device comprises a fixing portion and a rotating portion, wherein the fixing portion is configured to integrally mount the pan/tilt head on the mounting platform. The rotating portion is fixedly connected to one end of the connecting member away from the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor and the third driving device and the The controllers are all electrically connected, the third electronic governor is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust the rotating portion relative to the fixed portion The rotation speed of the rotating portion of the third driving device can drive the second bracket assembly to rotate.
The mobile device as claimed in claim 99, wherein the connecting member is provided with a circuit board, and the third electronic governor is disposed on the circuit board of the connecting member, the first signal transmission The first end of the piece is electrically connected to the circuit board disposed on the connecting member, and the third end of the first signal transmitting member is disposed on the third driving device and electrically connected to the third driving device Connecting, such that the third electronic governor is electrically connected to the third driving device and the controller through the first signal transmitting member.