WO2017173752A1 - 一种云台系统及无人机 - Google Patents

一种云台系统及无人机 Download PDF

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Publication number
WO2017173752A1
WO2017173752A1 PCT/CN2016/093599 CN2016093599W WO2017173752A1 WO 2017173752 A1 WO2017173752 A1 WO 2017173752A1 CN 2016093599 W CN2016093599 W CN 2016093599W WO 2017173752 A1 WO2017173752 A1 WO 2017173752A1
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WIPO (PCT)
Prior art keywords
pan
tilt
guide rail
support plate
guiding groove
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PCT/CN2016/093599
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English (en)
French (fr)
Inventor
张正力
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深圳市道通智能航空技术有限公司
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Publication of WO2017173752A1 publication Critical patent/WO2017173752A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the invention relates to a photographing device, in particular to a pan/tilt system and a drone.
  • the cloud platform is a supporting workbench for mounting the image capturing device, and the image capturing device is disposed on the pan/tilt. Through the adjustment of the gimbal, the camera lens is adjusted to achieve accurate imaging of the target.
  • the PTZ can be compatible with many different types of cameras or lenses.
  • the pan/tilt is fixedly mounted on a platform for carrying it, such as a drone, and the pan/tilt is generally suspended in the abdomen of the drone, and the image capturing unit mounted on the pan/tilt is used to take a viewing angle.
  • the conversion is converted by the rotating shaft mounted on the pan/tilt. Since the pan/tilt is fixed at a specific position of the platform, no matter how the rotating shaft rotates, a blocking angle is generated. If the gimbal is suspended below the abdomen of the drone, the image capture device cannot take a picture of the bottom view blocked by the unsupported device.
  • the technical problem to be solved by the present invention is to provide a pan/tilt head system.
  • the pan-tilt can be displaced along the movable device with the movable device, and the solution is solved.
  • the image acquisition device disposed on the pan/tilt cannot perform the problem of unobstructed 360° viewing angle acquisition.
  • a technical solution adopted by the present invention is to provide a pan/tilt system for carrying an image capturing device, the pan/tilt head comprising:
  • a cloud platform bracket for mounting the image capturing device, and at least one rotating device for driving the image capturing device to rotate;
  • a movable device configured to be mounted on the pan/tilt bracket, configured to carry the pan/tilt bracket to be displaced along a preset guide rail;
  • a carrying device having faces in different directions, the carrying device being provided with rails mounted on the rails of the carrying device and moving along the rails of the carrying device to different faces of the carrying device.
  • the guide rail includes: a first guiding groove and a second guiding groove correspondingly disposed, and a riding beam disposed between the first guiding groove and the second guiding groove.
  • the guide rail comprises: a linear guide rail and/or a curved guide rail.
  • the movable device comprises: a plurality of snap-fit devices that are snap-connected in the first guiding slot and the second guiding slot.
  • the movable device further includes: a support plate connecting the rotating device.
  • the support plate is specifically a flexible panel whose shape is changed under the action of an external force.
  • the mobile device further includes: a driving device connected to the support plate.
  • the driving device includes a driving motor and a rotating member connected to the driving motor.
  • the support plate is connected with a pan/tilt base, and the pan/tilt is connected to the support plate by a buffer device, and the pan/tilt base is used to carry the pan-tilt support.
  • the present invention also provides a drone, and the drone includes the pan/tilt head system.
  • the utility model has the beneficial effects that: by providing a guide rail on the carrying device and connecting the movable device matched with the guide rail at one end of the pan/tilt, the pan-tilt can be displaced along the movable device with the movable device, thereby solving the prior art, due to the cloud
  • the image acquisition device installed on the pan/tilt cannot be used for the unobstructed 360° viewing angle.
  • Embodiment 1 is a schematic overall structural view of Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural view of a mobile device and a cloud platform according to Embodiment 1 of the present invention.
  • the carrying device is an unmanned aerial vehicle (not limited to) as an example to describe the specific structure of the cloud platform system, but the carrying device in the cloud platform system is not limited to the drone, and cannot be exemplified in the embodiment.
  • the drone ie the carrying device in the defined claims, is limited to drones.
  • a pan/tilt system includes a pan/tilt bracket, a mobile device and a drone.
  • the drone includes a UAV body 1 and a rotor device 11 connected to the UAV body 1.
  • the corresponding upper surface 12 and lower surface 13 of the drone body 1 are connected by a guide rail 4.
  • the guide rail 4 includes a first guiding groove 41 and a second guiding groove 42 correspondingly disposed, and a riding beam 43 disposed between the first guiding groove 41 and the second guiding groove 42.
  • the first guiding groove 41 is formed by the left side wall (not labeled) of the UAV body 1 and is recessed near the edge
  • the second guiding groove 42 is formed by the indentation of the right side wall (not labeled) of the UAV body 1
  • first A riding beam 43 is formed between the guiding groove 41 and the second guiding groove 42.
  • the riding beam is specifically T-shaped to form a surface for walking, and cooperates with the first guiding groove 41 and the second guiding groove 42 to prevent connection to the guiding rail. The object on it falls.
  • the first guiding groove 41 and the second guiding groove 42 are U-shaped as a whole.
  • the corresponding upper surface 12 and lower surface 13 of the drone body 1 are connected by a guide rail 4.
  • the guide rail 4 includes a first guiding groove 41 and a second guiding groove 42 correspondingly disposed, and a riding beam 43 disposed between the first guiding groove 41 and the second guiding groove 42.
  • the riding beam is a T-shaped protrusion formed on the surface of the UAV body.
  • the first guiding groove is located on the left side of the riding beam
  • the second guiding groove is located on the right side of the riding beam
  • the first guiding groove and the second guiding groove are The edge of the riding beam is formed with the surface of the drone.
  • the riding beam is specifically a T-shaped structure, forming a surface for walking, and cooperates with the first guiding groove 41 and the second guiding groove 42 to prevent an object connected to the rail from falling.
  • the first guiding groove 41 and the second guiding groove 42 are U-shaped as a whole.
  • the specific shape of the guide rail is not limited to the U shape, and the first guide groove 41 and the second guide groove 42 can be formed into a racetrack shape, an elliptical shape or a circular shape depending on the specific application scenario.
  • a complete annular passage is formed between the upper surface and the lower surface of the UAV body 1, and the device connected to the guiding groove is Capable of being forwarded by the lower surface of the drone body 1 By circling to the upper surface, it is also possible to orbit the lower surface of the UAV body 1 to the upper surface of the UAV body 1.
  • first guiding groove and the second guiding groove may also be disposed in an annular shape around the edges of the left side wall and the right side wall, respectively.
  • the means connected to the first guiding groove and the second guiding groove are circumferentially movable around the UAV body 1.
  • the movable rail device 4 is provided with a movable device, and comprises: a snapping device, wherein the latching device is specifically four rollers 32 that are snapped into the first guiding slot 41 and the second guiding slot 42, wherein the two rollers are engaged
  • the first guide groove 41 is connected, and the other two rollers are disposed in the second guide groove 42.
  • the number of the rollers that are engaged in the first guiding groove 41 and the second guiding groove 42 is not limited thereto, and the number of the rollers can be six, eight or more depending on the specific application scenario.
  • the snap device is not limited to the roller, and the snap device may be (not limited to) a T-shaped clip or a bearing, depending on the specific application scenario.
  • the protrusion in the guiding groove forms a stop edge (not shown), and the distance of the stop along the riding beam 43 is smaller than the diameter of the roller, which can effectively prevent the roller from coming off.
  • the roller located in the first guiding groove 41 and the second guiding groove 42 is connected with a supporting plate 3, and the supporting plate 3 forms four ears 31 perpendicular to the plate surface of the supporting plate 3 at the edge position, and the ear portion 31 is convexly formed with the roller Cooperating shaft column (not shown), the shaft column is set on the roller.
  • the support plate 3 is located above the riding beam 43, and the drive unit 5 is fixed to one end of the support plate 3.
  • the driving device 5 includes a driving motor and a rotating member connected to the driving motor, and the rotating member is specifically a gear 51.
  • the driving motor is connected to the supporting plate 3, the surface of the gear is in contact with the surface of the riding beam 43, the driving gear rotates when the driving motor rotates, and the friction of the surface of the riding beam 43 when the gear rotates generates friction, and is driven and driven by friction
  • the motor-connected support plate 3 is displaced.
  • a guide rail 4 that cooperates with the gear is disposed on the surface of the riding beam 43 that is in contact with the gear, and the guide rail is specifically a rack 44, and the gear rotates.
  • the rack 44 When traveling along the rack 44, the rack 44 can not only increase the frictional force when the gear rotates, but also make it easier to overcome the inertial force when the gear stops rotating, which facilitates precise control of the position of the support plate 3.
  • the rotating member and the guide rail matched therewith are not limited to the gear and the rack 44.
  • the rotating member can be a grinding wheel according to a specific application scenario, the guide rail can be a rough surface matched with the grinding wheel, or the rotating member is a roller, and the guide rail is The path of the channel that the wheel fits.
  • the driving device is a conveyor belt (not shown) provided on the main body of the drone, and a conveying wheel (not shown) is connected to the conveyor belt.
  • a conveying wheel (not shown) is connected to the conveyor belt.
  • the support plate is fixedly connected with the conveyor belt, and when the conveyor belt rotates, the support plate is driven to move, thereby driving the pan/tilt bracket to move.
  • the support plate is located on the riding beam Above, the support plate is provided with a drive motor (not labeled) at two rollers on the same horizontal line.
  • the drive motor is connected to the roller through a gear set (not shown), and the drive roller drives the roller through the gear set.
  • the supporting plate is driven to move accordingly.
  • the pattern is etched on the inner surfaces of the first guiding groove and the second guiding groove to increase the rotation of the roller and the first Friction between the guide groove and the inner surface of the second guide groove.
  • the drive motor directly drives the roller, and there is no need to lay the guide rail on the riding beam.
  • the support plate 3 is connected by a plurality of connecting plates, and the adjacent two connecting plates are connected by a rotating shaft (not shown).
  • the support plate 3 is displaced along the guide rail 4, since the guide rail 4 does not extend linearly, but the partial position is bent, if the shape of the support plate 3 is invariable and supported when passing through the bent portion of the guide rail 4 When the distance between the plate 3 and the riding beam 43 is small, the support plate 3 is not normally bent through the guide rail 4.
  • the support plate 3 is spliced by a plurality of connecting plates. When the bent portion is passed through the guide rail 4, the support plate 3 can undergo a corresponding shape change, so that the support plate 3 is unrestrictedly bent through the guide rail.
  • the support plate 3 moves on the guide rail, the center of gravity of the drone is displaced, thereby affecting the stability of the flight of the drone, and the distance between the support plate 3 and the riding beam 43 is further, and the support plate 3 is moved.
  • the greater the moment between the center of gravity and the center of gravity of the drone the greater the impact on the stability of the drone flight.
  • the support plate 3 which is spliced by the connecting plates, the distance between the support plate 3 and the riding beam 43 can be shortened to the utmost extent, so that the influence of the support plate 3 on the center of gravity of the drone is minimized.
  • the support plate is constructed of a flexible material including, but not limited to, a flexible rubber sheet.
  • a support base 3 is connected to the support base 3, and the support plate 3 and the pan/tilt base 6 are connected by a buffer device 7.
  • the four edge positions of the support plate 3 are respectively connected with a buffer device 7, and the buffer device 7 is additionally connected.
  • One end is connected to the pan/tilt base 6.
  • the buffer device 7 can be a shock absorbing ball, and the shock absorbing ball is a spherical buffer device 7 made of silica gel, which is suitable for small buffer damping field, and can be made according to different silicone hardness. Shock absorber balls with different shock absorption effects.
  • the different damping device 7 can also be a spring damper according to the specific operation scenario.
  • a pan-tilt bracket 2 is connected to the base 6, as an alternative embodiment of the embodiment, the pan-tilt bracket 2 is a three-axis pan-tilt bracket, and the platform bracket is a three-axis pan-tilt bracket including three rotating shafts, respectively for controlling the cloud Taiwan along the Y
  • the shaft is rotated by the Yaw axis 22, the Roll axis 23 that controls the gimbal rotation along the Z axis, and the Pitch axis 24 that controls the pan head to rotate along the X axis.
  • the three rotating shafts are respectively connected to the bracket by a movable connection to realize three-dimensional rotation of the camera.
  • the image capture device is attached to the Pitch shaft.
  • the pan/tilt bracket is not limited to the use of a three-axis pan/tilt. Depending on the specific application scenario, the pan/tilt can also use a single-axis pan/tilt or a dual-axis pan/tilt.
  • the image capturing device 21 is connected to the pan-tilt bracket. In the present embodiment, the image capturing device 21 is mounted on the pan-tilt bracket to which the movable device is connected, so that the image capturing device 21 can be moved from below the drone body 1 to none. Above the man-machine body 1, so that the image capturing device 21 has a viewing angle of view, and 360° has no dead angle shooting in the true sense.
  • the image capture device 21 described in this embodiment includes (not limited to) a camera or a video camera.
  • the pan/tilt system described in the present embodiment can be mounted on (not limited to) a drone, an unmanned vehicle, an unmanned ship, a model airplane, or a land robot.

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Abstract

本发明公开了一种云台系统，用于承载影像采集装置，所述云台包括：云台支架，用于安装所述影像采集装置，其设置有至少一个带动所述影像采集装置转动的转动装置；活动装置，用于安装在所述云台支架，其构造成携带所述云台支架沿预设导轨进行位移；承载装置，其具有位于不同方向的面，所述承载装置上设置有导轨，所述活动装置安装在承载装置的导轨上，并沿承载装置的导轨移动至承载装置不同的面。通过在承载装置上设置导轨，并在云台一端连接与导轨配合的活动装置，能够使云台随活动装置在导轨上进行位移，解决了现有技术中，由于云台无法进行移动造成的，设置在云台上的影像采集装置无法进行无阻碍360°视角采集的问题。

Description

一种云台系统及无人机 技术领域
本发明涉及一种拍摄装置，尤其涉及一种云台系统及无人机。
背景技术
云台是用于安装影像采集装置使用的支撑工作台，影像采集装置设置在云台上。通过对云台的调整，以调整摄像机的镜头，实现准确对目标的摄像。云台可以兼容多种不同型号的摄像机或镜头。
一般现有技术中，云台都是固定安装在用于承载它的平台上，如无人机，云台一般均悬挂在无人机腹部，安装在云台上的影像采集单元进行拍摄视角的转换，由安装在云台上的转轴带动进行转换，由于云台是固定在平台的特定位置的，所以无论转轴如何转动都会产生一个阻碍视角。如云台悬挂在无人机腹部下方，故影像采集装置无法拍摄无承载装置阻挡的仰视画面。
发明内容
本发明主要解决的技术问题是提供一种云台系统，通过在承载装置上设置导轨，并在云台一端连接与导轨配合的活动装置，能够使云台随活动装置在导轨上进行位移，解决了现有技术中，由于云台无法进行移动造成的，设置在云台上的影像采集装置无法进行无阻碍360°视角采集的问题。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种云台系统，用于承载影像采集装置，所述云台包括：
云台支架，用于安装所述影像采集装置，其设置有至少一个带动所述影像采集装置转动的转动装置；
活动装置，用于安装在所述云台支架，其构造成携带所述云台支架沿预设导轨进行位移；
承载装置，其具有位于不同方向的面，所述承载装置上设置有导轨，所述活动装置安装在承载装置的导轨上，并沿承载装置的导轨移动至承载装置不同的面。
进一步地，所述导轨包括：对应设置的第一导向槽与第二导向槽，以及设置在所述第一导向槽与所述第二导向槽之间的骑行梁。
更进一步地，所述导轨包括：直线导轨和/或弯曲导轨。
更进一步地，所述活动装置包括：多个卡接连接在所述第一导向槽与所述第二导向槽中的卡接装置。
更进一步地，所述活动装置还包括：连接所述转动装置的支撑板。
更进一步地，所述支撑板具体为在外力作用下形状发生改变的可挠性面板。
更进一步地，所述活动装置还包括：连接在所述支撑板上的驱动装置。
更进一步地，所述驱动装置包括：驱动马达以及连接在驱动马达上的转动件。
更进一步地，所述支撑板上的连接有云台基座，所述云台通过缓冲装置与所述支撑板连接，所述云台基座用于承载所述云台支架。
为解决上述技术问题，本发明还提供一种无人机，所述无人机包括所述云台系统。
本发明的有益效果是：通过在承载装置上设置导轨，并在云台一端连接与导轨配合的活动装置，能够使云台随活动装置在导轨上进行位移，解决了现有技术中，由于云台无法进行移动造成的，设置在云台上的影像采集装置无法进行无阻碍360°视角采集的问题。
附图说明
图1为本发明实施例1整体结构示意图；
图2为本发明实施例1活动装置及云台结构示意图。
附图标记说明：1、无人机本体；11、旋翼装置；12、上表面、13、下表面；2、云台；21、影像采集装置；22、Yaw轴；23、Ro l l轴；24、Pitch轴；3、支撑板；31、耳部；32、滚轮；4、导轨；41、第一导向槽；42、第二导向槽；43、骑行梁；44、齿条；5、驱动装置；51、齿轮；6、云台基座；7、缓冲装置。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
实施例1
本实施方式中承载装置以无人机(不限于)为例说明本云台系统的具体结构，但本云台系统中的承载装置不局限于无人机，不能以本实施例中例举的无人机，即限定权利要求中的承载装置仅限于无人机。
如图1、图2所示，一种云台系统，包括云台支架、活动装置与无人机。其中，无人机包括无人机本体1以及连接在无人机本体1上的旋翼装置11。无人机本体1的相对应的上表面12与下表面13之间通过导轨4连接。其中，导轨4包括：对应设置的第一导向槽41与第二导向槽42，以及设置在第一导向槽41与第二导向槽42之间的骑行梁43。第一导向槽41由无人机本体1左侧壁(未标识)沿靠近边缘处内陷形成，第二导向槽42由无人机本体1右侧壁(未标识)内陷形成，第一导向槽41与第二导向槽42之间形成骑行梁43，骑行梁具体为T型结构，形成可供行走的面，与第一导向槽41与第二导向槽42配合防止连接在导轨上的物体掉落。在本实施例中，第一导向槽41与第二导向槽42整体呈U形。
作为导轨在无人机设置位置的一种选择性实施方式，无人机本体1的相对应的上表面12与下表面13之间通过导轨4连接。其中，导轨4包括：对应设置的第一导向槽41与第二导向槽42，以及设置在第一导向槽41与第二导向槽42之间的骑行梁43。骑行梁是在无人机本体表面隆起形成的T形凸起，第一导向槽位于骑行梁左侧，第二导向槽位于骑行梁右侧，第一导向槽与第二导向槽由骑行梁的边沿与无人机表面构成。骑行梁具体为T型结构，形成可供行走的面，与第一导向槽41与第二导向槽42配合防止连接在导轨上的物体掉落。在本实施例中，第一导向槽41与第二导向槽42整体呈U形。
导轨的具体形状不局限于U形，根据具体应用场景的不同，第一导向槽41与第二导向槽42能够成跑道形、椭圆形或圆形。以跑道形为例说明，第一导向槽41与第二导向槽42为跑道形时，无人机本体1上表面与下表面之间形成一个完整的环形通道，连接在导向槽上的装置既能够向前由无人机本体1下表面 绕动至上表面，也能够向后由无人机本体1下表面绕动至无人机本体1上表面。可以理解的是，所述第一导向槽以及所述第二导向槽也可呈环状分别绕所述左侧壁及所述右侧壁的边缘设置。连接在所述第一导向槽及所述第二导向槽上的装置可绕所述无人机本体1做周向移动。
导轨4上设置有与其配合的活动装置，包括：卡接装置，卡接装置具体为四个卡接连接在第一导向槽41与第二导向槽42中的滚轮32，其中两个滚轮卡接连接在第一导向槽41内，另外两个滚轮设置在第二导向槽42内。卡接在第一导向槽41与第二导向槽42内的滚轮个数不限于此，根据具体应用场景的不同，滚轮的个数能够是六个、八个或者更多。卡接装置不局限于滚轮，根据具体应用场景的不同，卡接装置可以为(不限于)：T形卡接件或轴承。
在一些实施方式中，为防止滚轮脱离导向槽，导向槽内凸起形成止挡沿(图未示)，止挡沿距离骑行梁43的距离小于滚轮的直径，能够有效防止滚轮脱离。位于第一导向槽41和第二导向槽42内的滚轮连接有支撑板3，支撑板3在边缘位置形成四个与支撑板3板面垂直的耳部31，耳部31凸起形成与滚轮配合的轴柱(图未示)，轴柱套装在滚轮上。支撑板3位于骑行梁43的上方，支撑板3的一端固定有驱动装置5。驱动装置5包括：驱动马达以及连接在驱动马达上的转动件，转动件具体为齿轮51。其中，驱动马达连接在支撑板3上，齿轮表面与骑行梁43的表面接触，驱动马达转动时带动齿轮转动，齿轮转动时与骑行梁43表面摩擦产生摩擦力，通过摩擦力推动与驱动马达连接的支撑板3进行位移。在一些优选实施方式中，为了增大齿轮转动时与骑行梁43表面的摩擦力，在与齿轮接触的骑行梁43表面设置与齿轮配合的导轨4，导轨具体为齿条44，齿轮转动时沿齿条44行进，齿条44不仅能够增大齿轮转动时的摩擦力，同时，能够使齿轮在停止转动时更加方便的克服惯性力，方便对支撑板3的位置进行精确控制。转动件以及与其配合的导轨不局限于齿轮和齿条44，根据具体应用场景的不同，转动件能够为磨砂轮，导轨能够为与磨砂轮配合的粗糙面，或转动件为滚轮，导轨为与滚轮配合的通道路径。
作为本实施方之中，驱动装置的一种选择性实施例，驱动装置为设置在无人机本体上的传送带(图未示)，传送带与上连接有传送轮(图未示)。传送轮转动时带动传送带进行转动。支撑板与传送带固定连接，传送带转动时带动支撑板进行移动，进而带动云台支架移动。
作为本实施方式中，驱动装置的在一中选择性实施例，支撑板位于骑行梁 的上方，支撑板在位于同一水平线上的两个滚轮处各设有一个驱动马达(未标识)，驱动马达通过齿轮组(图未示)与滚轮连接，驱动马达转动时通过齿轮组传导带动滚轮转动，滚轮在第一导向槽与第二导向槽内转动时，带动支撑板进行相应的移动。在一些实施方式中，为了增大滚轮与第一导向槽和第二导向槽之间的摩擦力，在第一导向槽与第二导向槽内表面上刻蚀花纹，增加滚轮转动时与第一导向槽和第二导向槽内表面的摩擦力。本实施方式中驱动马达直接驱动滚轮，无需在骑行梁上再铺设导轨。
作为支撑板的一种选择性实施例，支撑板3是由多块连接板连接而成的，相邻两个连接板之间通过转轴(图未示)连接。支撑板3在沿导轨4进行位移时，由于导轨4不是直线的延伸的，而是局部位置有弯折的，在通过导轨4弯折部位时如果支撑板3的形状是不可变的，且支撑板3距离骑行梁43的距离较小的情况下，此时支撑板3是无法正常通过导轨4弯折部位。而支撑板3是由多块连接板拼接成，在通过导轨4弯折部位时，支撑板3能够进行相应的形状变化，使支撑板3不受限制的通过导轨曲折部位。支撑板3在导轨上进行移动时，使无人机的重心移位，进而影响无人机的飞行的稳定性，支撑板3与骑行梁43之间的距离越远，支撑板3移动过程中与无人机重心之间的力矩也会越大，对于无人机飞行的稳定性影响也越大。采用由连接板拼接而成的支撑板3，能够最大限度的缩短支撑板3与骑行梁43之间的距离，使支撑板3在位移时对无人机重心影响降到最低。在一些实施方式中，作为拼接支撑板的一种替代实施方式，支撑板由柔性材料构成，包括但不限于如柔性橡胶板。
支撑板3上连接有云台基座6，支撑板3与云台基座6之间通过缓冲装置7连接，支撑板3的四个边缘位置分别连接有一个缓冲装置7，缓冲装置7的另一端与云台基座6连接。当支撑板3由多块连接板拼接而成时，在通过导轨4曲折位置时，缓冲装置7随支撑板3的形状变化产生形变，由与缓冲装置7的形变，能够减小支撑板3形状变化时对于基座的形变力，能够使基座保持稳定。作为实施方式的一种选择性实施例，缓冲装置7能够为减震球，减震球是由硅胶做成的球形缓冲装置7，适用于小型缓冲减震领域，根据不同的硅胶硬度能够做出不同减震效果的减震球。根据具体应运场景的不同缓冲装置7还能够为弹簧减震器。
基座6上连接有云台支架2，作为实施方式的一种选择性实施例，云台支架2为三轴云台支架，台支架为三轴云台支架包括三个转轴，分别为控制云台沿Y 轴转动的Yaw轴22，控制云台沿Z轴转动的Roll轴23，控制云台沿X轴转动的Pitch轴24，方向的确定请参阅笛卡尔右手坐标系。三个转轴分别与支架采用活动连接的方式实现相机的三维转动。影像采集装置连接在Pitch轴上。但云台支架不限于使用三轴云台，根据具体应用场景的不同，云台还能够选用单轴云台或双轴云台。云台支架上连接有影像采集装置21，在本实施方式中，影像采集装置21由于搭载在连接有活动装置的云台支架上，使影像采集装置21能够由无人机本体1下方移动至无人机本体1上方，从而使影像采集装置21具有了仰视拍摄视角，真正意义上拥有了360°无死角拍摄。
本实施方式中所述的影像采集装置21包括(不限于)：相机或摄像机。
本实施方式中所述的云台系统能够搭载在(不限于)：无人机、无人车、无人船、航模或陆地机器人上。
需要说明的是，本发明的说明书及其附图中给出了本发明的较佳的实施方式，但是，本发明可以通过许多不同的形式来实现，并不限于本说明书所描述的实施方式，这些实施方式不作为对本发明内容的额外限制，提供这些实施方式的目的是使对本发明的公开内容的理解更加透彻全面。并且，上述各技术特征继续相互组合，形成未在上面列举的各种实施方式，均视为本发明说明书记载的范围；进一步地，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，而所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (10)

  1. 一种云台系统，用于承载影像采集装置，其特征在于，所述云台包括：
    云台支架，用于安装所述影像采集装置，其设置有至少一个带动所述影像采集装置转动的转动装置；
    活动装置，用于安装在所述云台支架，其构造成携带所述云台支架沿预设导轨进行位移；
    承载装置，其具有位于不同方向的面，所述承载装置上设置有导轨，所述活动装置安装在承载装置的导轨上，并沿承载装置的导轨移动至承载装置不同的面。
  2. 根据权利要求1所述云台系统，其特征在于，所述导轨包括：对应设置的第一导向槽与第二导向槽，以及设置在所述第一导向槽与所述第二导向槽之间的骑行梁。
  3. 根据权利要求1或2所述云台系统，其特征在于，所述导轨包括：直线导轨和/或弯曲导轨。
  4. 根据权利要求1所述云台系统，其特征在于，所述活动装置包括：多个卡接连接在所述第一导向槽与所述第二导向槽中的卡接装置。
  5. 根据权利要求4所述云台系统，其特征在于，所述活动装置还包括：连接所述转动装置的支撑板。
  6. 根据权利要求5所述云台系统，其特征在于，所述支撑板具体为在外力作用下形状发生改变的可挠性面板。
  7. 根据权利要求5或6所述云台系统，其特征在于，所述活动装置还包括：连接在所述支撑板上的驱动装置。
  8. 根据权利要求7所述云台系统，其特征在于，所述驱动装置包括：驱动马达以及连接在驱动马达上的转动件。
  9. 根据权利要求8所述云台系统，其特征在于，所述支撑板上的连接有云台基座，所述云台基座通过缓冲装置与所述支撑板连接，所述云台基座用于承载所述云台支架。
  10. 一种无人机，其特征在于，所述无人机包括权利要求1～9任意一项所述云台系统。
PCT/CN2016/093599 2016-04-06 2016-08-05 一种云台系统及无人机 WO2017173752A1 (zh)

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