WO2017181387A1 - 无人机及摄像组件 - Google Patents

无人机及摄像组件 Download PDF

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Publication number
WO2017181387A1
WO2017181387A1 PCT/CN2016/079890 CN2016079890W WO2017181387A1 WO 2017181387 A1 WO2017181387 A1 WO 2017181387A1 CN 2016079890 W CN2016079890 W CN 2016079890W WO 2017181387 A1 WO2017181387 A1 WO 2017181387A1
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WO
WIPO (PCT)
Prior art keywords
assembly
shape memory
memory alloy
alloy wire
driving
Prior art date
Application number
PCT/CN2016/079890
Other languages
English (en)
French (fr)
Inventor
宾朋
刘浩
赵喜峰
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680003166.6A priority Critical patent/CN107079090B/zh
Priority to PCT/CN2016/079890 priority patent/WO2017181387A1/zh
Publication of WO2017181387A1 publication Critical patent/WO2017181387A1/zh

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • 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
    • G03B17/02—Bodies
    • G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
    • 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
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a drone and a camera assembly.
  • the drone is a carrier that is controlled by radio remote control equipment, such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc. Since the drone has the advantages of small size and flexibility, the drone is in aerial photography. The field is widely used.
  • the camera module used in the aerial photography process generally adopts a voice coil motor as a lens driving device.
  • this vibration is transmitted to the camera. Since the driving force of the voice coil motor is too small to resist this vibration, the camera will be in the process of focusing due to vibration. Moving, resulting in inaccurate focus.
  • the UAV and the camera assembly provided by the embodiments of the present invention are used to ensure accurate focusing of the lens assembly.
  • an embodiment of the present invention provides a drone that includes: a body and a camera assembly and a power assembly mounted to the body, the camera assembly including a lens assembly and a drive assembly;
  • the lens assembly includes at least one lens
  • the drive assembly includes a base and a shape memory alloy wire
  • the base is provided with a receiving cavity for receiving the lens assembly
  • the shape memory alloy wire is disposed on the base, and the shape memory alloy wire is contracted by energization to drive the lens assembly in the receiving cavity to move a predetermined displacement along an optical axis direction of the lens, and
  • the lens assembly can be fixed in position relative to the base after moving the preset displacement, thereby preventing the lens assembly from being shaken by a focal length caused by the vibration generated by the power assembly.
  • an embodiment of the present invention provides a power assembly mounted on a body of a drone, wherein the camera body further includes a power component, wherein the camera component includes a lens component and a driving component;
  • the lens assembly includes at least one lens
  • the drive assembly includes a base and a shape memory alloy wire
  • the base is provided with a receiving cavity for receiving the lens assembly
  • the shape memory alloy wire is disposed on the base, and the shape memory alloy wire is contracted by energization to drive the lens assembly in the receiving cavity to move a predetermined displacement along an optical axis direction of the lens, and
  • the lens assembly can be fixed in position relative to the base after moving the preset displacement, thereby preventing the lens assembly from being shaken by a focal length caused by the vibration generated by the power assembly.
  • the unmanned aerial vehicle and the camera assembly include a body and a camera assembly and a power component mounted on the body, the camera assembly including a lens assembly and a drive assembly;
  • the drive assembly includes a base and a shape a memory alloy wire;
  • the susceptor is provided with a accommodating cavity for accommodating the lens assembly;
  • the shape memory alloy wire is disposed on the pedestal, and the shape memory alloy wire is contracted by energization to drive the lens component in the accommodating cavity along the lens
  • the optical axis direction moves the preset displacement, and enables the lens assembly to maintain a fixed position relative to the base after moving the preset displacement, thereby preventing the lens assembly from being shaken by the vibration caused by the power assembly.
  • FIG. 1 is a schematic structural view of a drone provided by the present invention.
  • FIG. 2 is a schematic structural view 1 of a camera assembly provided by the present invention.
  • FIG. 3 is a schematic exploded view of the camera assembly provided by the present invention.
  • FIG. 4 is a schematic exploded view 2 of the camera assembly provided by the present invention.
  • FIG. 5 is a schematic exploded view 3 of the camera assembly provided by the present invention.
  • FIG. 6 is a schematic exploded view 4 of the camera assembly provided by the present invention.
  • FIG. 7 is a second schematic structural diagram of a camera assembly provided by the present invention.
  • the unmanned aerial vehicle provided by the embodiment of the invention drives the lens assembly by energization of the shape memory alloy wire, and ensures that the lens assembly does not move due to the vibration of the power component.
  • the UAV provided in this embodiment may specifically be an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, or the like.
  • a drone is used as an unmanned aerial vehicle as an example for detailed description.
  • the shape memory alloy wire in this embodiment may specifically be a TiNi-based shape memory alloy wire, a copper-based shape memory alloy wire, an iron-based shape memory alloy wire, etc., and a specific implementation form of the shape memory alloy wire, this embodiment does not Make special restrictions.
  • FIG. 1 is a schematic structural view of a drone provided by the present invention
  • FIG. 2 is a schematic structural view 1 of a camera assembly provided by the present invention.
  • the drone provided in this embodiment includes a body 100 and a camera assembly (not shown) and a power assembly 110 mounted to the body 100.
  • the power assembly 110 includes a propeller 111 and a motor 112 that drives the propeller 111 to rotate to provide lift of the drone.
  • the motor 112 drives the propeller 111 to rotate, the rapid rotation of the propeller 111 generates vibration, causing the drone to be subjected to vibrations generated by the power assembly.
  • the body 100 includes a body center portion 120 and at least one arm 130 extending along the body center portion 120.
  • the power assembly 110 described above may be disposed on the arm 130.
  • the body 100 includes an upper case 101 and a lower case 102;
  • the upper housing 101 and the lower housing 102 are disposed opposite each other to form a body center portion 120 and at least one arm 130 extending along the body center portion 120.
  • the drone further includes: a metal cavity (not shown) and a stand 150;
  • the metal cavity is disposed between the upper case 101 and the lower case 102, the metal cavity is for placing a battery, and the stand 150 is disposed below the lower case 102.
  • the camera assembly may include a platform 140 disposed on the body.
  • the platform 140 is disposed below the center portion 120 of the body, and the platform 140 is provided with a mounting portion 141 for mounting Drive component.
  • the drone further includes a damper device (not shown) disposed on the platform 140 and the machine Between the body center portions 120.
  • the damper device may specifically be a shock absorbing ball or the like, and the damper device can absorb the high frequency vibration encountered during the flight of the drone, and the pan/tilt head 140 itself can reduce the low frequency vibration. Therefore, only a small part of the high-frequency vibration can be transmitted to the lens assembly. Therefore, for the lens assembly, only a small portion of the high-frequency vibration needs to be subtracted.
  • FIG. 1 is a schematic diagram showing a physical structure diagram of a UAV, and is not a limitation on the structure of the UAV.
  • the present invention does not specifically limit the structure of the UAV.
  • the camera assembly provided in this embodiment includes a lens assembly 30 and a driving assembly.
  • the lens assembly 30 includes at least one lens
  • the driving assembly includes a base 10 and a shape memory alloy wire 20.
  • the susceptor 10 is provided with a accommodating cavity 11 for accommodating the lens assembly.
  • the shape memory alloy wire 20 is disposed on the base 10, and the receiving cavity of the drive assembly is for receiving the lens assembly 30.
  • the shape memory alloy wire 20 is contracted by energization to drive the lens assembly 30 in the accommodating cavity to move a predetermined displacement in the optical axis direction of the lens, and enables the lens assembly 30 to be fixed relative to the susceptor 10 after moving the preset displacement. Thereby, the focal length jitter of the lens assembly 30 due to the vibration of the power assembly is prevented.
  • the shape memory alloy wire 20 is disposed on the base 10 and connected to the base 10.
  • the shape memory alloy wire 20 may be coupled to the lens assembly 30 by means of snapping, hooking, etc. to drive the lens assembly 30, or may provide a driving portion for the driving assembly, the driving portion including the lens assembly 30 for carrying the lens assembly 30.
  • the shape memory alloy wire 20 has a deformation recovery capability.
  • the shape memory alloy wire 20 has two phases, a high temperature phase austenite phase and a low temperature phase martensite phase.
  • the initial state of the shape memory alloy wire 20 is a stretched state, and since the shape memory alloy wire 20 has electrical resistance, the temperature is increased by energizing the shape memory alloy wire 20. Thereby, the shape memory alloy wire 20 is transformed into austenite by martensite, and the length is shortened, thereby driving the lens assembly 30 to move a predetermined displacement in the optical axis direction of the lens. Further, since the shape memory alloy wire 20 is in a tensioned state, the shape memory alloy wire 20 also has a fixing function to the lens assembly 30 so that it does not move relative to the base 10 in the case of being subjected to vibration.
  • the temperature is lowered, and the shape memory alloy wire 20 is transformed from austenite to martensite. At this time, the length of the shape memory alloy wire 20 is restored to the original stretched state, and the lens assembly 30 is returned to the initial position.
  • the preset displacement is related to the magnitude of the current of the energization amount. The larger the current, the larger the contraction amount of the shape memory alloy wire 20, and the larger the preset displacement.
  • the embodiment can not only realize the autofocus function of the lens component to automatically adjust the focal length, but also enable the lens component to maintain a constant focal length after the focus is completed, and does not move back and forth with the vibration.
  • the focus adjustment of this embodiment specifically refers to adjusting the distance between the lens and the image sensor chip.
  • the shape memory alloy wire 20 is contracted after being energized, and the shape memory alloy wire 20 drives the lens assembly 30 to move a predetermined displacement along the optical axis direction of the lens.
  • the preset displacement may specifically be the current position of the lens assembly to the time when the lens is accurately focused. The distance from the location.
  • the shape memory alloy wire 20 is in a contracted state, but the amount of shrinkage of the shape memory alloy wire 20 may vary depending on the magnitude of the current applied.
  • the corresponding contraction amount is A1
  • the preset displacement is A11.
  • the energization current is controlled to increase, and when the current is increased to B (B>A), the contraction amount is B1, which is B1> A1, the preset displacement is B11, and the B11>A11, that is, the lens assembly 30 moves up relative to the current A, and the distance between the lens assembly 30 and the image sensor chip increases.
  • the lens assembly 30 is in the front focus state, then the energization current is controlled to decrease, and when the current is reduced to C amp (C ⁇ A), the contraction amount is C1, and the C1 ⁇ A1, the preset displacement is C11, and the C11 ⁇ A11, that is, the lens assembly 30 moves downward with respect to the current A, and the distance between the lens assembly and the image sensor chip decreases.
  • the focus function of the lens assembly can be achieved by controlling the magnitude of the current applied.
  • the above-described focusing process can be used in any focusing method that can feed back focus, back focus, and focus.
  • the current magnitude of the shape memory alloy wire 20 can be controlled by a current control circuit board.
  • the current control circuit board receives the signal of the front focus or the current decrease, the current of the shape memory alloy wire 20 is reduced, and when the current control circuit board receives the signal of the back focus or the current increase, the shape is formed.
  • the energization current of the memory alloy wire 20 is increased.
  • the image sensor chip can feed back a specific front focus, back focus, etc. signal to the current control circuit board. For the arrangement of the image sensor chip, refer to FIG. 6 involved in the following implementation.
  • the lens assembly 30 moves the preset displacement to the in-focus position, since the shape memory alloy wire 20 is in the contracted state, the contraction force of the shape memory alloy wire 20 fixes the lens assembly, so that the lens assembly 30 is in focus. After the lens is subjected to external vibration, the lens group The member 30 is held in a fixed position relative to the base 10 without movement, thereby making the focus accurate.
  • the lens assembly 30 is also subjected to feedback control of current, and when the lens assembly 30 has a relative movement tendency with respect to the base 10 (allowable displacement within the error range, The displacement focus is fixed and the imaging has no effect.)
  • a force in the opposite direction can be applied by controlling the magnitude of the current to ensure that the lens assembly 30 does not move and remains fixed relative to the base 10.
  • the shape memory alloy wire 20 itself has high damping, if the lens assembly 30 has a tendency to move, the shape memory alloy wire 20 also generates a damping force against the movement of the lens assembly 30. Thereby, the lens assembly 30 is held in position fixed with respect to the base 10 by the action of the reverse force and the damping force corresponding to the current.
  • the shape memory alloy wire is in the form of an arc or a curved line, and the angle between the plane of the shape memory alloy wire and the optical axis direction of the lens is greater than 0 degrees and less than 90 degrees.
  • the lens assembly 30 is connected at a bend or curvature of the shape memory alloy wire 20.
  • the shrinkage of the shape memory alloy wire 20 serves two purposes, on the one hand, the driving force F1 along the optical axis direction of the lens, and on the other hand, the action of squeezing the lens.
  • the pressure F2 of the assembly 30 The driving force F1 can drive the lens assembly 30 to move along the optical axis direction of the lens, and the pressure F2 can fix the lens assembly 30, preventing the lens assembly 30 from tilting due to the center of gravity offset, that is, ensuring that the lens assembly 30 is opposite to the base.
  • the seat does not tilt.
  • the memory alloy can be made.
  • the line produces a small telescopic L1, so that the lens assembly 30 can be moved along the optical axis of the lens by a relatively large distance L2, that is, L2>L1, thereby ensuring the expansion and contraction of the shape memory alloy wire, and ensuring the focusing requirement of the lens assembly.
  • FIG. 3 is a schematic exploded view of the camera assembly provided by the present invention.
  • FIG. 4 is a second exploded view of the camera assembly provided by the present invention.
  • Figures 3 and 4 show schematic views of camera assemblies of different viewing angles.
  • the base 10 of the embodiment is provided with two electrical contact portions 12, and two ends of the shape memory alloy wire 20 are respectively connected to the two electrical contact portions 12. In this manner, the shape memory alloy wire 20 is energized by the two electrical contact portions 12.
  • the conductive member is embedded in the susceptor 10 of the embodiment, and the conductive member is electrically connected to the electrical contact portion 12 and the circuit board.
  • the side surface of the base 10 is provided with a cutout 13 , and the shape memory alloy wire 20 moves within the cutout 13 .
  • a cutout by providing a cutout, a moving space is provided for the movement of the shape memory alloy wire 20, so that the moving plane of the shape memory alloy wire 20 does not exceed the surface of the base 10, thereby ensuring that the shape memory alloy wire 20 does not Subject to outside interference.
  • the driving assembly further includes a driving portion 40 disposed outside the accommodating cavity 11, and the shape memory alloy wire 20 is connected to the lens assembly 30 through the driving portion 40, and the driving portion 40 is used in the shape Driven by the memory alloy wire 20, the drive lens assembly 30 is moved by a predetermined displacement in the optical axis direction of the lens.
  • the connection of the shape memory alloy wire 20 to the lens assembly 30 is achieved by the driving portion 40.
  • the driving unit 40 realizes the connection between the driving unit 40 and the lens unit 30 by means of engagement, hooking, arranging, etc., and the driving unit 40 realizes the driving unit 40 and the shape memory alloy wire 20 by means of engagement, hooking or the like. connection.
  • the driving portion 40 includes a driving table 41 and a connecting member 42 disposed on the driving table 41.
  • the connector 42 is connected to the shape memory alloy wire 20.
  • the connecting member 42 may be a hook provided on the side of the driving table 41, or may be a through hole or the like, and the hook may catch the shape memory alloy wire 20 through which the shape memory alloy wire 20 can pass.
  • the specific implementation of the connecting member 42 is not particularly limited as long as the connecting member 42 can be connected to the shape memory alloy wire 20.
  • the connecting member 42 is a protrusion disposed on a side surface of the driving table 41, and at least a portion of the shape memory alloy wire hook is disposed at a lower edge of the protrusion.
  • the shape memory alloy wire 20 is hung on the lower edge of the protrusion by hooking, and the shape memory alloy wire 20 generates a driving force for the protrusion during the shrinking process, so that the protrusion drives the entire drive.
  • the portion 40 moves in the direction of the optical axis, and the driving portion 40 drives the lens assembly 30 to move in the direction of the optical axis. In the perspective of FIGS. 3 and 4, the lens assembly 30 is moved upward.
  • the driving portion 40 further includes a carrier 43 disposed in the accommodating cavity 11, and the carrier 43 is coupled to the driving platform 41, and the carrier 43 Used to carry the lens assembly 30.
  • the carrier member 43 may be an annular carrier, the lens assembly 30 is disposed in the annular carrier, and the lens assembly 30 and the annular carrier are fixed by adhesive, so that the lens assembly 30 and the carrier The position between the pieces 43 is fixed, and there is no external force between the two. Produces relative slip.
  • the carrier 43 drives the lens assembly 30 to move. It can be understood that the lens assembly 30 and the carrier 43 can also be connected by screws.
  • the distance between the two electrical contact portions 12 and the driving portion 40 is equal. Through the above arrangement, the force balance of the lens assembly 30 is ensured.
  • a sliding chamber 50 is formed between the carrier 43, the driving table 41 and the side wall of the base 10, and a sliding member 51 for reducing the friction between the driving table 41 and the base 10 is disposed in the sliding chamber 50.
  • the sliding member 51 may specifically be a sliding column or a rolling ball or the like. In the present embodiment, when the slider 51 is provided so that the drive table 41 slides relative to the base 10, a large driving force is not required.
  • the base 10 is further provided with a limiting portion 60.
  • the limiting portion 60 is located outside the receiving cavity 11, and the limiting portion 60 includes a first limit that is oppositely disposed.
  • the plate 61 and the second limiting plate 62, and the first limiting plate 61 and the second limiting plate 62 are perpendicular to the optical axis direction of the lens, and the driving portion 40 is disposed on the first limiting plate 61 and the second limiting position. Between plates 62.
  • the height of the driving platform 41 included in the driving portion 40 is smaller than the distance between the first limiting plate 61 and the second limiting plate 62, and the difference between the distance and the height is the driving portion 40.
  • the mobile space is smaller than the distance between the first limiting plate 61 and the second limiting plate 62, and the difference between the distance and the height.
  • the moving space of the driving portion 60 is set, so that the driving portion 40 is only between the first limiting plate 61 and the second limiting plate 62.
  • the drive unit 40 does not move out of the base 10.
  • the driving component further includes: an elastic member 70, such as a spring or the like, disposed between the driving portion 40 and the first limiting plate 61.
  • an elastic member 70 such as a spring or the like, disposed between the driving portion 40 and the first limiting plate 61.
  • the elastic member 70 is compression.
  • the shape memory alloy wire 20 when the shape memory alloy wire 20 is not energized, the shape memory alloy wire 20 is in a stretched state, and the elastic member 70 is in a free state or a small amount of compression state, and in the case of external vibration, the elastic member 70
  • the spring force can overcome the additional force generated by external vibrations, so that the lens assembly 30 remains in position relative to the base 10.
  • the shape memory alloy wire 20 is energized, the shape memory alloy wire 20 is electrically contracted, the distance between the drive table 41 and the first stopper plate 61 is reduced, and the elastic member 70 is in a contracted state.
  • the shape memory alloy wire 20 is powered off or the current is reduced, the shape memory is combined.
  • the gold wire 20 is extended, and the driving table 41 is returned to the original position or close to the original position by the elastic force of the elastic member 70, thereby realizing the focusing function.
  • FIG. 5 is a schematic exploded view 3 of the camera assembly provided by the present invention.
  • the present embodiment is based on the above embodiment, and the driving assembly further includes a displacement sensor 71 and a current control circuit board 72.
  • the displacement sensor 71 is disposed on the side wall of the base 10, and the displacement sensor 71 is electrically connected to the current control circuit board 72.
  • This embodiment is applicable to the current control circuit board 72.
  • the distance between the lens assembly 30 and the image sensor chip corresponds to the target position described below.
  • the target position can be directly obtained by, for example, focusing such as contrast focusing, and then sent to the current control circuit board 72.
  • the current control circuit board 72 cannot obtain the target position, for details, refer to the above embodiment of “based on the current A”, and details are not described herein again.
  • the displacement sensor 71 is for detecting the displacement of the lens assembly 30 and transmitting the displacement to the current control circuit board 72.
  • the current control circuit board 72 is configured to control the energization current of the shape memory alloy wire 20 according to the initial position of the lens assembly 30 and the displacement of the movement to move the lens assembly 30 to the target position.
  • the current control circuit board 72 of the embodiment can perform closed-loop control on the energization current according to the movement displacement sent by the displacement sensor 71 to implement the focusing process.
  • the target position is that the lens in the lens assembly 30 is in focus
  • the position of the lens assembly 30 is measured by the distance of the lens assembly 30 from the image sensor chip.
  • the distance between the lens assembly 30 and the image sensor chip at the corresponding time is referred to.
  • the displacement sensor 71 in this embodiment may be a potentiometer displacement sensor, an inductive displacement sensor, an eddy current displacement sensor, a magnetic inductive displacement sensor, an infrared displacement sensor, or the like. It will be understood by those skilled in the art that when the displacement sensor 71 is a magnetic induction displacement sensor, for example, a Hall sensor, a magnet (not shown) is further disposed at a corresponding position of the carrier 43.
  • the process of the closed loop control of the current control circuit board 72 is: the current control circuit board 72 receives the displacement displacement of the lens assembly 30 transmitted by the displacement sensor 71, according to the magnitude and direction of the movement displacement, and the initial position D1 of the lens assembly 30.
  • the difference between the current position D3 and the target position D3 is continuously determined, then the current front focus is determined, the energization current is controlled to be reduced to A2 according to the gap, and then the closed loop control process is repeatedly executed until the lens assembly 30 moves to the target position.
  • the closed loop control process described above can also be applied to a method of maintaining focus fixed. That is, the displacement sensor 71 can sense the minute displacement generated by the lens assembly 30, which is the operable displacement within the error range when the focus is fixed, and the displacement sensor 71 sends the minute displacement to the current control circuit board 72, the current control circuit. Plate 72 produces a feedback current.
  • the displacement sensor 71 can sense the minute displacement generated by the lens assembly 30, which is the operable displacement within the error range when the focus is fixed, and the displacement sensor 71 sends the minute displacement to the current control circuit board 72, the current control circuit. Plate 72 produces a feedback current.
  • FIG. 6 is a schematic diagram 4 of an explosion of the camera assembly provided by the present invention.
  • the driving assembly further includes a substrate 82 and an image sensor chip 81 disposed on the substrate 82.
  • the image sensor chip 81 is electrically connected to the current control circuit board (not shown).
  • FIG. 7 is a schematic structural view of the camera assembly provided by the present invention. As shown in FIG. 7, the camera assembly further includes a housing 90 that is disposed on the base 10.

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Abstract

一种无人机，其包括：一机身以及安装于机身的摄像组件和动力组件，摄像组件包括镜头组件和驱动组件；其中，镜头组件包括至少一个镜片；驱动组件包括基座以及形状记忆合金线；基座上设置有容纳腔，容纳腔用于容纳镜头组件；形状记忆合金线设置在基座上，形状记忆合金线通过通电产生收缩以带动容纳腔内的镜头组件沿镜片的光轴方向移动预设位移，并能使镜头组件在移动预设位移后相对基座保持位置固定，从而防止镜头组件由于动力组件所产生的震动而导致的焦距抖动。

Description

无人机及摄像组件 技术领域
本发明涉及飞行器技术领域，尤其涉及一种无人机及摄像组件。
背景技术
无人机是通过无线电遥控设备进行控制的、不载人的载体，如无人飞行器、无人车、无人船等，由于无人机具有体积小、机动灵活等优点，无人机在航拍领域得到广泛应用。
目前，在航拍过程中所采用的摄像模组普遍采用是音圈电机作为镜头驱动装置。然而，由于无人机存在着较高频率的振动，这种振动会传递到摄像头上，由于音圈电机的驱动力太小无法抵抗这种振动，将导致摄像头在对焦的过程中因为振动而前后移动，导致无法准确对焦。
发明内容
本发明实施例提供的无人机及摄像组件，用于保证镜头组件准确对焦。
一方面，本发明实施例提供一种无人机，其包括：一机身以及安装于所述机身的摄像组件和动力组件，所述摄像组件包括镜头组件和驱动组件；其中，
所述镜头组件包括至少一个镜片；
所述驱动组件包括基座以及形状记忆合金线；
所述基座上设置有容纳腔，所述容纳腔用于容纳所述镜头组件；
所述形状记忆合金线设置在所述基座上，所述形状记忆合金线通过通电产生收缩以带动所述容纳腔内的所述镜头组件沿所述镜片的光轴方向移动预设位移，并能使所述镜头组件在移动所述预设位移后相对所述基座保持位置固定，从而防止所述镜头组件由于所述动力组件所产生的震动而导致的焦距抖动。
另一方面，本发明实施例提供一种其安装于一无人机的机身上，所述机身上还安装有动力组件，所述摄像组件包括镜头组件和驱动组件；其中，
所述镜头组件包括至少一个镜片；
所述驱动组件包括基座以及形状记忆合金线；
所述基座上设置有容纳腔，所述容纳腔用于容纳所述镜头组件；
所述形状记忆合金线设置在所述基座上，所述形状记忆合金线通过通电产生收缩以带动所述容纳腔内的所述镜头组件沿所述镜片的光轴方向移动预设位移，并能使所述镜头组件在移动所述预设位移后相对所述基座保持位置固定，从而防止所述镜头组件由于所述动力组件所产生的震动而导致的焦距抖动。
本发明实施例提供的无人机及摄像组件，该无人机包括一机身以及安装于机身的摄像组件和动力组件，该摄像组件包括镜头组件和驱动组件；驱动组件包括基座以及形状记忆合金线；基座上设置有容纳腔，容纳腔用于容纳镜头组件；形状记忆合金线设置在基座上，该形状记忆合金线通过通电产生的收缩以带动容纳腔内的镜头组件沿镜片的光轴方向移动预设位移，并能使镜头组件在移动预设位移后相对基座保持位置固定，从而防止镜头组件由于动力组件所产生的震动而导致的焦距抖动。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本发明提供的无人机的结构示意图；
图2为本发明提供的摄像组件的结构示意图一；
图3为本发明提供的摄像组件的爆炸示意图一；
图4为本发明提供的摄像组件的爆炸示意图二；
图5为本发明提供的摄像组件的爆炸示意图三；
图6为本发明提供的摄像组件的爆炸示意图四；
图7为本发明提供的摄像组件的结构示意图二。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供的无人机，利用形状记忆合金线的通电来对镜头组件进行驱动，并且保证了镜头组件不会因为动力组件的震动而移动。
本实施例提供的无人机具体可以为无人飞行器、无人车、无人船等。本实施例以无人机为无人飞行器为例进行详细说明。本实施例中的形状记忆合金线具体可以为TiNi基形状记忆合金线、铜基形状记忆合金线、铁基形状记忆合金线等，对于形状记忆合金线的具体实现形式，本实施例此处不做特别限制。
图1为本发明提供的无人机的结构示意图，图2为本发明提供的摄像组件的结构示意图一。如图1所示，本实施例提供的无人机包括：一机身100以及安装于机身100的摄像组件(未示出)和动力组件110。
具体地，该动力组件110包括螺旋桨111和驱动螺旋桨111转动的电机112，以提供无人机的升力。在电机112驱动螺旋桨111旋转时，螺旋桨111的快速旋转产生震动，从而导致无人机受到动力组件产生的震动。
可选地，该机身100包括机体中心部120和沿机体中心部120延伸的至少一个机臂130。上述的动力组件110可以设置在机臂130上。
进一步地，机身100包括上壳体101和下壳体102；其中，
上壳体101和下壳体102对合设置，形成了机体中心部120和沿机体中心部120延伸的至少一个机臂130。
进一步地，无人机还包括：金属腔体(未示出)和脚架150；
该金属腔体设置在上壳体101和下壳体102之间，金属腔体用于放置电池，脚架150设置在下壳体102的下方。
可选地，该摄像组件可以包括设置在机体上的云台140，具体地，该云台140设置在机体中心部120的下方，云台140上设置有安装部141，该安装部用于安装驱动组件。
该无人机还包括减震装置(未示出)，该减震装置设置在云台140与机 体中心部120之间。该减震装置具体可以为减震球等，该减震装置可以对无人机飞行过程中遇到的高频震动进行减震，而云台140自身可以减去低频震动。因此，只有小部分高频震动可以传递到镜头组件，因此，针对镜头组件，只需要减掉小部分的高频震动即可。
需要说明的是，图1只是以示例的形式示意出一种无人机的实体结构图，并不是对无人机结构的限定，本发明对无人机的结构不作具体限定。
下面结合图2，对本发明提供的摄像组件的结构进行详细说明。如图2所示，本实施例提供的摄像组件，包括：镜头组件30和驱动组件，该镜头组件30包括至少一个镜片，该驱动组件包括基座10以及形状记忆合金线20。其中，基座10上设置有容纳腔11，容纳腔11用于容纳镜头组件。形状记忆合金线20设置在基座10上，该驱动组件的容纳腔用于容纳镜头组件30。该形状记忆合金线20通过通电产生的收缩以带动容纳腔内的镜头组件30沿镜片的光轴方向移动预设位移，并能使镜头组件30在移动预设位移后相对基座10保持位置固定，从而防止镜头组件30由于动力组件的震动而导致的焦距抖动。
在实际应用过程中，形状记忆合金线20设置在基座10上，且与基座10连接。本实施例中，形状记忆合金线20可通过卡合、挂钩等方式与镜头组件30连接，以驱动镜头组件30，也可以为驱动组件提供一个驱动部，该驱动部包括用于承载镜头组件30的承载件，以及与形状记忆合金线连接的连接件，以驱动镜头组件30。特别地，形状记忆合金线20具有变形恢复能力。形状记忆合金线20具有两种相，高温相奥氏体相，低温相马氏体相。形状记忆合金线20初始状态为拉伸状态，由于形状记忆合金线20具有电阻，通过向形状记忆合金线20通电使其温度升高。由此，形状记忆合金线20由马氏体发生相变为奥氏体，长度缩短，从而带动镜头组件30沿镜片的光轴方向移动预设位移。并且，由于形状记忆合金线20处于拉紧状态，则形状记忆合金线20对镜头组件30还具有固定作用，使其在受到震动的情况下，不会相对基座10发生移动。
当形状记忆合金线20断电时，温度降低，形状记忆合金线20由奥氏体发生相变为马氏体。此时，形状记忆合金线20的长度恢复为原始的拉伸状态，镜头组件30回到初始位置。
本领域技术人员可以理解，该预设位移与通电量的电流大小有关，电流越大，则形状记忆合金线20的收缩量越大，该预设位移越大。
进一步地，本实施例不仅可以实现镜头组件的自动调节焦距的自动对焦功能，还可以使得镜头组件在对焦完成后，保持焦距一定，不会随着震动前后移动。本实施例的调焦具体是指调整镜头到图像传感器芯片之间的距离。
具体地，形状记忆合金线20通电后收缩，形状记忆合金线20带动镜头组件30沿镜片的光轴方向移动预设位移，该预设位移具体可以为镜头组件的当前位置至镜头准确对焦时所处位置的距离。
本领域技术人员可以理解，在调焦和对焦的过程中，形状记忆合金线20处于收缩状态，只是依据通电的电流大小，形状记忆合金线20的收缩量会有所不同。例如，当以电流A为基准时，对应的收缩量为A1，预设位移为A11。在一种情况下，在电流A时，镜头组件30处于后焦状态，则控制通电电流使其增大，当增大电流至B安时(B＞A)，收缩量为B1，该B1＞A1，预设位移为B11，该B11＞A11，即相对于电流A，镜头组件30上移，镜头组件30距离图像传感器芯片之间的距离增加。另一种情况下，在电流A时，镜头组件30处于前焦状态，则控制通电电流使其减小，当减小电流至C安时(C＜A)，收缩量为C1，该C1＜A1，预设位移为C11，该C11＜A11，即相对于电流A，镜头组件30下移，镜头组件距离图像传感器芯片之间的距离减小。通过上述方式，直到镜头组件30达到合焦状态，即对焦准确。本实施例通过控制通电的电流大小，可以实现镜头组件的对焦功能。
本领域技术人员可以理解，上述的调焦过程可用到任意的可以反馈前焦、后焦以及合焦的调焦方法中。可选地，可通过电流控制电路板来控制形状记忆合金线20的电流大小。例如，在电流控制电路板收到前焦或者电流减小的信号时，将形状记忆合金线20的通电电流减小，在电流控制电路板收到后焦或者电流增大的信号时，将形状记忆合金线20的通电电流增加。可选地，图像传感器芯片可将具体的前焦、后焦等信号反馈至电流控制电路板。图像传感器芯片设置方式，可参见下述实施中涉及的图6。
进一步地，当镜头组件30移动预设位移到达对焦位置时，由于形状记忆合金线20处于收缩状态，则形状记忆合金线20的收缩力对镜头组件起到固定作用，使得镜头组件30在对焦完成后，在受到外界振动的情况下，镜头组 件30相对与基座10保持位置固定，不会发生移动，从而使得对焦准确。
进一步地，在镜头组件30受到该收缩力的情况下，镜头组件30还受到电流的反馈控制，当镜头组件30有相对于基座10有相对移动趋势时(误差范围内可允许的位移，该位移对焦点固定以及成像不会产生影响)，可以通过控制电流的大小来施加一个反方向的力，以保证镜头组件30不移动，相对于基座10保持位置固定。同时由于形状记忆合金线20本身存在着很高的阻尼，如果镜头组件30有移动的趋势，形状记忆合金线20还会产生阻尼力，抵抗镜头组件30的移动。从而，在电流对应的反向力和阻尼力等的作用下，镜头组件30相对于基座10保持位置固定。
具体他，在本实施例中，形状记忆合金线呈弧线或弯折线状，且形状记忆合金线所在平面与镜片的光轴方向之间的夹角大于0度，且小于90度。形状记忆合金线20的弯折处或弧度处与镜头组件30连接。
通过上述对形状记忆合金线20的设置，形状记忆合金线20的收缩起到两方面作用，一方面作用是产生沿镜片的光轴方向的驱动力F1，另一方面作用是产生挤压该镜头组件30的压力F2。其中，驱动力F1可以带动镜头组件30沿镜片的光轴方向移动，压力F2可以对镜头组件30起到固定作用，防止镜头组件30因重心偏移而产生倾斜，即保证镜头组件30相对于基座不会产生倾斜。
进一步地，通过将形状记忆合金线呈弧线或弯折线状，且形状记忆合金线所在平面与镜片的光轴方向之间的夹角大于0度，且小于90度的设置，可以使得记忆合金线产生很小的伸缩L1，就可以使得镜头组件30沿镜头的光轴方向移动比较大的距离L2，即L2＞L1，从而保证了形状记忆合金线的伸缩，可以保证镜头组件的对焦要求。
下面采用具体的实施例，对摄像组件的结构进行详细说明。图3为本发明提供的摄像组件的爆炸示意图一。图4为本发明提供的摄像组件的爆炸示意图二。图3和图4给出了不同视角摄像组件的示意图。如图3和图4所示，本实施例基座10上设置有两个电性接触部12，形状记忆合金线20的两端分别与两个电性接触部12连接。如此，通过两个电性接触部12向形状记忆合金线20通电。本领域技术人员可以理解，本实施例的基座10内埋设由导电件，该导电件与电性接触部12以及电路板电连接。
可选地，基座的10侧面设置有避空槽13，形状记忆合金线20在避空槽13内移动。本实施例通过设置避空槽，为形状记忆合金线20的移动提供了移动空间，使得形状记忆合金线20的移动平面不会超出基座10的表面，从而保证了形状记忆合金线20不会受到外界干扰。
在上述实施例的基础上，驱动组件还包括：驱动部40，驱动部40设置在容纳腔11的外部，形状记忆合金线20通过驱动部40与镜头组件30连接，驱动部40用于在形状记忆合金线20的带动下，驱动镜头组件30沿镜片的光轴方向移动预设位移。
本实施例即通过驱动部40实现了形状记忆合金线20与镜头组件30的连接。具体地，驱动部40通过卡合、挂钩、套设等方式，实现驱动部40与镜头组件30的连接，驱动部40通过卡合、挂钩等方式，实现驱动部40与形状记忆合金线20的连接。
在一种可行的实现方式中，驱动部40包括驱动台41以及设置在驱动台41上的连接件42。连接件42与形状记忆合金线20连接。该连接件42可以为设置在驱动台41侧面的挂钩，也可以为通孔等，该挂钩可以挂住该形状记忆合金线20，形状记忆合金线20可以穿过该通孔。在本实施例中，对连接件42的具体实现方式不做特别限制，只要该连接件42可以连接该形状记忆合金线20即可。
可选地，如图3和如4所示，连接件42为设置在驱动台41侧面的凸起，至少部分形状记忆合金线钩设在凸起的下缘。在具体实现过程中，形状记忆合金线20通过钩设的方式挂在该凸起的下缘，形状记忆合金线20在收缩过程中，对该凸起产生驱动力，使得该凸起带动整个驱动部40沿光轴的方向移动，而驱动部40带动镜头组件30沿光轴的方向移动。以图3和图4的视角来看，即带动镜头组件30向上移动。
可选地，为了增加驱动部40与镜头组件30的连接稳定性，驱动部40还包括承载件43，承载件43设置在容纳腔11中，且承载件43与驱动台41连接，承载件43用于承载镜头组件30。
在具体实现过程中，承载件43具体可以为环形承载件，镜头组件30设置在该环形承载件中，且镜头组件30与环形承载件之间通过粘胶的方式固定，这样镜头组件30与承载件43之间位置固定，二者之间不会因为外力而 产生相对滑动。在承载件43移动过程中，承载件43带动镜头组件30移动。可以理解的是，镜头组件30与承载件43之间也可以通过螺纹连接。
在本实施例中，通过设置驱动部40将形状记忆合金线20与镜头组件30连接，不需要对镜头组件30的结构做改变，提高了驱动组件的适用性，使得任意的摄像组件中都可以应用该驱动组件。
在上述实施例的基础上，两个电性接触部12与驱动部40之间的距离相等。通过上述设置方式，保证了镜头组件30的受力均衡。
进一步地，承载件43、驱动台41与基座10的侧壁之间形成滑动腔50，滑动腔50中设置有用于降低驱动台41和基座10之间摩擦力的滑动件51。在本实施例中，该滑动件51具体可以为滑动柱或者滚动滚珠等。本实施例通过设置滑动件51，使得驱动台41相对于基座10滑动时，不需要很大的驱动力。
继续参照图3和图4，在上述实施例的基础上，基座10上还设置有限位部60，限位部60位于容纳腔11的外部，限位部60包括相对设置的第一限位板板61和第二限位板板62，且第一限位板61和第二限位板62垂直于镜片的光轴方向，驱动部40设置在第一限位板61与第二限位板62之间。可选地，该驱动部40所包括的驱动台41的高度，小于第一限位板61与第二限位板62之间的距离，该距离与该高度的差值，即为驱动部40的移动空间。
本实施例通过设置第一限位板61和第二限位板62，设置了驱动部60的移动空间，使得驱动部40仅在该第一限位板61和第二限位板62之间移动，且驱动部40不会脱离该基座10。
可选地，驱动组件还包括：弹性件70，如弹簧等，该弹性件70设置在驱动部40与第一限位板61之间，在形状记忆合金线20通电收缩时，弹性件70被压缩。
在本实施例中，在形状记忆合金线20还未通电时，形状记忆合金线20为拉伸状态，弹性件70处于自由态或少量压缩状态，在受到外界振动的情况下，弹性件70的弹力作用可以克服外界振动产生的附加力，使得镜头组件30相对于基座10保持位置不变。在对形状记忆合金线20通电时，形状记忆合金线20通电收缩，驱动台41和第一限位板61之间的距离减小，弹性件70处于收缩状态。在对形状记忆合金线20断电或电流减小时，形状记忆合 金线20伸长，驱动台41在弹性件70的弹力作用下，驱动台41恢复到原位置或者向原位置靠近，从而实现对焦功能。
图5为本发明提供的摄像组件的爆炸示意图三。如图5所示，本实施例在上述实施例的基础上，驱动组件还包括位移传感器71和电流控制电路板72。位移传感器71设置在基座10的侧壁上，位移传感器71与电流控制电路板72电连接。本实施例适用于电流控制电路板72在已经得知镜头组件30准确对焦时，镜头组件30距离图像传感器芯片之间的距离，对应下述的目标位置。该目标位置例如可以通过对比度对焦等对焦方式直接得到，然后发送给电流控制电路板72。对于电流控制电路板72无法获取目标位置的实施例，具体可参见上述“以电流A为基准”的实施例，此处不再赘述。
在本实施例中，位移传感器71用于检测镜头组件30的移动位移，并将移动位移发送至电流控制电路板72。电流控制电路板72，用于根据镜头组件30的初始位置以及移动位移，控制形状记忆合金线20的通电电流，以使镜头组件30移动至目标位置。
在具体实现过程中，本实施例的电流控制电路板72可以根据位移传感器71发送的移动位移，对通电电流进行闭环控制，以实现调焦过程。该目标位置为镜头组件30中的镜头准确对焦时，镜头组件30所处的位置，是以镜头组件30距离图像传感器芯片的距离来衡量。同理，下述在描述位置时，例如初始位置，当前位置，均是指在对应的时刻时，镜头组件30距离图像传感器芯片之间的距离。
本实施例中的位移传感器71可以为电位器式位移传感器、电感式位移传感器、电涡流式位移传感器、磁感应式位移传感器、红外式位移传感器等。本领域技术人员可以理解，当该位移传感器71为磁感应位移传感器时，例如，霍尔传感器，则在该承载件43的对应位置上还设置由磁铁(未示出)。
电流控制电路板72进行闭环控制的过程为：电流控制电路板72接收位移传感器71发送的镜头组件30的移动位移，根据该移动位移的大小和方向，以及该镜头组件30的初始位置D1，得到该镜头组件30的当前位置D2，例如，初始位置为D1＝0.5mm，移动位移为0.2mm，移动方向为正方向，则当前位置D2＝0.5+0.2＝0.7。然后，判断当前位置D2与目标位置D3的差距，例如D3＝0.8mm时，则确定当前为后焦，则控制通电电流使其增大到A1，在通 电电流增大到A1后，形状记忆合金线20的紧缩量增加，本领域技术人员可以理解，此时的初始位置即为D2，此过程的接收位移传感器71发送的移动位移为0.2mm，移动方向为正方向，则电流控制电路板72确定对应的当前位置D3＝0.7+0.2＝0.9。然后继续判断当前位置D3与目标位置D3的差距，则确定当前为前焦，根据该差距控制通电电流使其减小到A2，然后重复执行闭环控制过程，直到镜头组件30移动至目标位置。
本领域技术人员可以理解，上述的闭环控制过程还可以应用到保持焦点固定的方法中。即位移传感器71可以感测到镜头组件30产生的微小位移，该微小位移为焦点固定时误差范围内可运行的位移，则位移传感器71将该微小位移发送给电流控制电路板72，电流控制电路板72产生反馈电流。具体的实现过程，可参照上述实施例，本实施例此处不再赘述。
可选地，图6为本发明提供的摄像组件的爆炸示意图四。在上述实施例的基础上，驱动组件还包括基板82和设置在基板82上的图像传感器芯片81，图像传感器芯片81与电流控制电路板电连接(未示出)。进一步地，图7为本发明提供的摄像组件的结构示意图二，如图7所示，摄像组件还包括外壳90，该外壳90罩设在基座10上。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (46)

  1. 一种无人机，其包括：一机身以及安装于所述机身的摄像组件和动力组件，其特征在于，所述摄像组件包括镜头组件和驱动组件；其中，
    所述镜头组件包括至少一个镜片；
    所述驱动组件包括基座以及形状记忆合金线；
    所述基座上设置有容纳腔，所述容纳腔用于容纳所述镜头组件；
    所述形状记忆合金线设置在所述基座上，所述形状记忆合金线通过通电产生收缩以带动所述容纳腔内的所述镜头组件沿所述镜片的光轴方向移动预设位移，并能使所述镜头组件在移动所述预设位移后相对所述基座保持位置固定，从而防止所述镜头组件由于所述动力组件所产生的震动而导致的焦距抖动。
  2. 根据权利要求1所述的无人机，其特征在于，所述基座上设置有两个电性接触部，所述形状记忆合金线的两端分别与所述两个电性接触部连接。
  3. 根据权利要求1或2所述的无人机，其特征在于，所述驱动组件还包括：驱动部，所述驱动部设置在所述容纳腔的外部，所述驱动部用于在所述形状记忆合金线的带动下，驱动所述镜头组件沿所述镜片的光轴方向移动预设位移。
  4. 根据权利要求3所述的无人机，其特征在于，所述驱动部包括驱动台以及设置在所述驱动台上的连接件，所述连接件与所述形状记忆合金线连接。
  5. 根据权利要求4所述的无人机，其特征在于，所述连接件为设置在所述驱动台侧面的凸起，至少部分所述形状记忆合金线钩设在所述凸起的下缘。
  6. 根据权利要求4或5所述的无人机，其特征在于，所述驱动部还包括承载件，所述承载件设置在所述容纳腔中，且所述承载件与所述驱动台连接，所述承载件用于承载所述镜头组件。
  7. 根据权利要求6所述的无人机，其特征在于，所述承载件、所述驱动台与所述基座的侧壁之间形成滑动腔，所述滑动腔中设置有用于降低所述驱动台和所述基座之间摩擦力的滑动件。
  8. 根据权利要求2至7任一项所述的无人机，其特征在于，所述基座上还设置有限位部，所述限位部位于所述容纳腔的外部，所述限位部包括第一限位板和第二限位板，且所述第一限位板和所述第二限位板垂直于所述光轴 方向，所述驱动部设置在所述第一限位板与所述第二限位板之间。
  9. 根据权利要求8所述的无人机，其特征在于，所述驱动组件还包括：弹性件，所述弹性件设置在所述驱动部与所述第一限位板之间，在所述形状记忆合金线通电收缩时，所述弹性件被压缩。
  10. 根据权利要求9所述的无人机，其特征在于，所述弹性件为复位弹簧。
  11. 根据权利要求3至10任一项所述的无人机，其特征在于，所述形状记忆合金线的两端与所述驱动部之间的距离相等。
  12. 根据权利要求1至11任一项所述的无人机，其特征在于，所述基座的侧面设置有避空槽，所述形状记忆合金线在所述避空槽内移动。
  13. 根据权利要求1至12任一项所述的无人机，其特征在于，所述形状记忆合金线呈弧线或弯折线状，且所述形状记忆合金线所在平面与所述光轴方向之间的夹角大于0度，且小于90度。
  14. 根据权利要求1至13任一项所述的无人机，其特征在于，所述驱动组件还包括位移传感器和电流控制电路板，所述位移传感器设置在所述基座的侧壁上，所述位移传感器与所述电流控制电路板电连接，所述电流控制电路板与所述形状记忆合金线电连接；
    所述位移传感器，用于检测所述镜头组件的移动位移，并将所述移动位移发送至所述电流控制电路板；
    所述电流控制电路板，用于根据所述镜头组件的初始位置以及所述移动位移，控制所述形状记忆合金线的通电电流，以使所述镜头组件移动至目标位置。
  15. 根据权利要求14所述的无人机，其特征在于，所述驱动组件还包括基板和设置在所述基板上的图像传感器芯片，所述基板与所述电流控制电路板电连接。
  16. 根据权利要求1至15任一项所述的无人机，其特征在于，所述驱动组件还包括外壳，所述外壳罩设在所述基座上。
  17. 根据权利要求1至16任一项所述的无人机，其特征在于，所述动力组件包括螺旋桨和驱动所述螺旋桨转动的电机，以提供所述无人机的升力。
  18. 根据权利要求17所述的无人机，其特征在于，所述机身包括机体中 心部和沿所述机体中心部延伸的至少一个机臂，所述动力组件设置在所述机臂上。
  19. 根据权利要求18所述的无人机，其特征在于，所述摄像组件还包括：云台；
    所述云台设置在所述机体中心部的下方，所述云台上设置有安装部，所述驱动组件安装在所述安装部上。
  20. 根据权利要求19所述的无人机，其特征在于，所述无人机还包括：减震装置，所述减震装置设置在所述云台与所述机体中心部之间。
  21. 根据权利要求18至20任一项所述的无人机，其特征在于，所述机身包括上壳体和下壳体；其中，
    所述上壳体和所述下壳体对合设置，形成了所述机体中心部和沿所述机体中心部延伸的至少一个机臂。
  22. 根据权利要求21所述的无人机，其特征在于，所述无人机还包括：金属腔体和脚架；
    所述金属腔体设置在所述上壳体和所述下壳体之间，所述金属腔体用于放置电池，所述脚架设置在所述下壳体的下方。
  23. 根据权利要求1-22任一项所述的无人机，其特征在于，所述无人机为无人飞行器。
  24. 一种摄像组件，其安装于一无人机的机身上，所述机身上还安装有动力组件，其特征在于，所述摄像组件包括镜头组件和驱动组件；其中，
    所述镜头组件包括至少一个镜片；
    所述驱动组件包括基座以及形状记忆合金线；
    所述基座上设置有容纳腔，所述容纳腔用于容纳所述镜头组件；
    所述形状记忆合金线设置在所述基座上，所述形状记忆合金线通过通电产生收缩以带动所述容纳腔内的所述镜头组件沿所述镜片的光轴方向移动预设位移，并能使所述镜头组件在移动所述预设位移后相对所述基座保持位置固定，从而防止所述镜头组件由于所述动力组件所产生的震动而导致的焦距抖动。
  25. 根据权利要求24所述的摄像组件，其特征在于，所述基座上设置有两个电性接触部，所述形状记忆合金线的两端分别与所述两个电性接触部连 接。
  26. 根据权利要求24或25所述的摄像组件，其特征在于，所述驱动组件还包括：驱动部，所述驱动部设置在所述容纳腔的外部，所述驱动部用于在所述形状记忆合金线的带动下，驱动所述镜头组件沿所述镜片的光轴方向移动预设位移。
  27. 根据权利要求26所述的摄像组件，其特征在于，所述驱动部包括驱动台以及设置在所述驱动台上的连接件，所述连接件与所述形状记忆合金线连接。
  28. 根据权利要求27所述的摄像组件，其特征在于，所述连接件为设置在所述驱动台侧面的凸起，至少部分所述形状记忆合金线钩设在所述凸起的下缘。
  29. 根据权利要求27或28所述的摄像组件，其特征在于，所述驱动部还包括承载件，所述承载件设置在所述容纳腔中，且所述承载件与所述驱动台连接，所述承载件用于承载所述镜头组件。
  30. 根据权利要求29所述的摄像组件，其特征在于，所述承载件、所述驱动台与所述基座的侧壁之间形成滑动腔，所述滑动腔中设置有用于降低所述驱动台和所述基座之间摩擦力的滑动件。
  31. 根据权利要求25至30任一项所述的摄像组件，其特征在于，所述基座上还设置有限位部，所述限位部位于所述容纳腔的外部，所述限位部包括第一限位板和第二限位板，且所述第一限位板和所述第二限位板垂直于所述光轴方向，所述驱动部设置在所述第一限位板与所述第二限位板之间。
  32. 根据权利要求31所述的摄像组件，其特征在于，所述驱动组件还包括：弹性件，所述弹性件设置在所述驱动部与所述第一限位板之间，在所述形状记忆合金线通电收缩时，所述弹性件被压缩。
  33. 根据权利要求32所述的摄像组件，其特征在于，所述弹性件为复位弹簧。
  34. 根据权利要求26至33任一项所述的摄像组件，其特征在于，所述形状记忆合金线的两端与所述驱动部之间的距离相等。
  35. 根据权利要求24至34任一项所述的摄像组件，其特征在于，所述基座的侧面设置有避空槽，所述形状记忆合金线在所述避空槽内移动。
  36. 根据权利要求24至35任一项所述的摄像组件，其特征在于，所述形状记忆合金线呈弧线或弯折线状，且所述形状记忆合金线所在平面与所述光轴方向之间的夹角大于0度，且小于90度。
  37. 根据权利要求24至36任一项所述的摄像组件，其特征在于，所述驱动组件还包括位移传感器和电流控制电路板，所述位移传感器设置在所述基座的侧壁上，所述位移传感器与所述电流控制电路板电连接，所述电流控制电路板与所述形状记忆合金线电连接；
    所述位移传感器，用于检测所述镜头组件的移动位移，并将所述移动位移发送至所述电流控制电路板；
    所述电流控制电路板，用于根据所述镜头组件的初始位置以及所述移动位移，控制所述形状记忆合金线的通电电流，以使所述镜头组件移动至目标位置。
  38. 根据权利要求37所述的摄像组件，其特征在于，所述驱动组件还包括基板和设置在所述基板上的图像传感器芯片，所述基板与所述电流控制电路板电连接。
  39. 根据权利要求24至38任一项所述的摄像组件，其特征在于，所述驱动组件还包括外壳，所述外壳罩设在所述基座上。
  40. 根据权利要求24至39任一项所述的摄像组件，其特征在于，所述动力组件包括螺旋桨和驱动所述螺旋桨转动的电机，以提供所述无人机的升力。
  41. 根据权利要求40所述的摄像组件，其特征在于，所述机身包括机体中心部和沿所述机体中心部延伸的至少一个机臂，所述动力组件设置在所述机臂上。
  42. 根据权利要求41所述的摄像组件，其特征在于，所述摄像组件还包括：云台；
    所述云台设置在所述机体中心部的下方，所述云台上设置有安装部，所述驱动组件安装在所述安装部上。
  43. 根据权利要求42所述的摄像组件，其特征在于，所述无人机还包括：减震装置，所述减震装置设置在所述云台与所述机体中心部之间。
  44. 根据权利要求41至43任一项所述的摄像组件，其特征在于，所述 机身包括上壳体和下壳体；其中，
    所述上壳体和所述下壳体对合设置，形成了所述机体中心部和沿所述机体中心部延伸的至少一个机臂。
  45. 根据权利要求44所述的摄像组件，其特征在于，所述无人机还包括：金属腔体和脚架；
    所述金属腔体设置在所述上壳体和所述下壳体之间，所述金属腔体用于放置电池，所述脚架设置在所述下壳体的下方。
  46. 根据权利要求24-45任一项所述的摄像组件，其特征在于，所述无人机为无人飞行器。
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