WO2018018635A1

WO2018018635A1 - Gimbal, photographing device, and unmanned aerial vehicle

Info

Publication number: WO2018018635A1
Application number: PCT/CN2016/092428
Authority: WO
Inventors: 刘浩; 郭善光
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2016-07-29
Filing date: 2016-07-29
Publication date: 2018-02-01
Also published as: CN107690606A; CN111977007B; CN111977007A; CN107690606B

Abstract

A gimbal (100), and a photographing device and an unmanned aerial vehicle using the gimbal (100). The gimbal (100) comprises a plurality of control elements (70) and a plurality of supports rotationally connected in sequence. Each of the supports is provided with an electrical element. The plurality of supports comprises a mounting element (12) and a support assembly. The plurality of control elements (70) is electrically connected by a flexible circuit board to form a rigid-flex board. The whole rigid-flex board is disposed between the mounting element (12) and the support assembly. The plurality of control elements (70) is capable of controlling the electrical elements respectively. The mounting element (12) and the electrical elements on the support assembly are connected to the corresponding control elements (70) respectively by means of independent transmission elements (90).

Description

PTZ, shooting equipment and unmanned aerial vehicles

Technical field

The invention relates to a pan/tilt head, a photographing device and an unmanned aerial vehicle.

Background technique

In the process of photographing an electronic device such as a camera or a camera using an electric pan, it is often necessary to electrically connect the control element of the pan/tilt to the electrical components provided on the pan/tilt to transmit data or/and transmit power. The pan/tilt head is usually a two-axis pan/tilt or a three-axis pan/tilt, and the electrical components are usually the driving elements of the respective axes of the pan/tilt. The control elements of existing pan/tilt heads are typically electrically coupled to the electrical components by a transmission member. In order to reserve a sufficient rotation angle for the rotation of each axis of the gimbal, when the control element is electrically connected to each of the electrical components, it is necessary to use a long and relatively complicated transmission member for connection. However, since the length of the transmission member is long and the structure is relatively complicated, in order to avoid the winding of the transmission member, the cloud platform needs to reserve enough space for the transmission member to move, so that the volume of the cloud platform is large, which is disadvantageous for The miniaturization design of the cloud platform.

Summary of the invention

In view of the above situation, it is necessary to provide a relatively small-sized pan/tilt head, and it is also necessary to provide a photographing apparatus and an unmanned aerial vehicle using the pan/tilt head.

A pan/tilt head comprising a plurality of control elements and a plurality of brackets connected in turn, each of which is provided with an electrical component, the plurality of brackets comprising a mounting member and a bracket assembly, between the plurality of control elements The flexible circuit board is electrically connected to form a soft and hard composite board, and the soft and hard composite board is integrally disposed between the mounting member and the bracket assembly. A plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.

Further, the electrical component includes a first driving member disposed on the mounting member, the mounting member and the first driving member constitute a first bracket of the pan/tilt, the bracket assembly includes the The mounting member is rotatably coupled to the second bracket, and the plurality of control elements are disposed on the second bracket.

Further, the second bracket is coupled to the first driving member, and the first driving member is configured to drive the second bracket to rotate relative to the mounting member about an axis of rotation.

Further, the rotation axis of the first driving member is a pitch axis of the pan/tilt head.

Further, an axis of rotation of the second bracket relative to the first bracket is a pitch axis of the pan/tilt head.

Further, the pan/tilt further includes a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is a heading axis of the platform.

Further, the third bracket includes a connecting member rotatably coupled to the second bracket and a carrier rotatably coupled to the connecting member, the carrier is configured to mount an electronic device; The axis of rotation of the connector is the roll axis of the pan.

Further, a plurality of the control elements are disposed on the second bracket and located between the second bracket and the mounting member.

Further, the transmission member includes a first transmission member, one end of the first transmission member is connected to the first driving member, and the other end is connected to the first driving member after a predetermined number of turns control element.

Further, after the first transmission member is wound around the outer circumference of the first driving member, it extends to the second bracket and is electrically connected to the control element.

Further, the second bracket includes a support connected to the first driving member, the control element is disposed on the support member; and the first transmission member is disposed around the outer periphery of the first driving member Thereafter, extending along the support member and electrically contacting the control element.

Further, the mounting member forms a receiving space, and the second bracket is received in the receiving space.

Further, the mounting member is a "Π"-shaped structure, and the "Π"-shaped structure encloses the receiving space.

Further, a plurality of the control elements are received in the receiving space and located between the mounting member and the second bracket.

Further, the mounting member includes an outer connecting portion and a first supporting arm and a second supporting arm respectively disposed at two ends of the outer connecting portion, and the first supporting arm and the second supporting arm respectively and the external connecting portion The first support arm, the second support arm and the outer joint jointly form the receiving space.

Further, two ends of the support member are rotatably connected to the first support arm and the second support arm, respectively.

Further, the first driving member is disposed on the first supporting arm, one end of the supporting member is connected to the first driving member, and the other end is pivotally connected to the second supporting arm.

Further, one end of the second bracket is connected to the first driving member, and the other end is pivotally connected to the second supporting arm; the transmitting member includes a second transmitting member, and the second transmitting member One end is connected to the control element, and the other end is connected to the external controller after being wound a predetermined number of turns outside the pivot.

Further, the control component includes a pan/tilt controller for controlling the pan-tilt movement, and the second transmission component is connected between the pan-tilt controller and the external controller.

Further, the electrical component further includes a second driving component disposed on the second bracket, the plurality of brackets further including a third bracket, the third bracket is coupled to the second driving component, The second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.

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

Further, the rotation axis of the second driving member is a heading axis of the pan/tilt head.

Further, a plurality of the control elements are disposed on the second bracket and disposed adjacent to the second driving member.

Further, the second bracket includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion Set at a predetermined angle.

Further, the second driving member is disposed on the support portion, and the plurality of the control elements comprise a first control element, the first control element is disposed on the support portion, and is coupled to the second driving Electrical connection.

Further, the first driving member is disposed on the first connecting arm, and the plurality of the control elements further includes a second control component connected to the first control component, the second control component being disposed at the The first connecting arm is electrically connected to the first driving member.

Further, the plurality of control elements further includes an auxiliary controller coupled to the first control element, the auxiliary controller being disposed on the second connecting arm.

Further, the transmission member further includes a third transmission member connected between the second driving member and the control element.

Further, the transmission member further includes a fourth transmission member, one end of the fourth transmission member is connected to the control element, and the other end is from the side of the second driving member along the end surface of the second driving member Extending and connecting to electrical components on the second bracket.

Further, a portion of the fourth transmitting member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.

Further, the second driving member is a motor, and a portion of the fourth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.

Further, the third bracket further includes a connecting member, the connecting member is connected to the second driving member, and the fourth transmitting member extends along the end surface of the second driving member, and then along the connecting member The outer surface extends and is connected to electrical components on the third bracket.

Further, the third bracket further includes a carrier rotatably coupled to the connector, the carrier for mounting an electronic device.

Further, the electrical component further includes a third driving member disposed on the connecting member, the carrier member is coupled to the third driving member, and the third driving member is capable of driving the carrier member to rotate around The axis rotates relative to the connector, and the fourth transmission member is coupled to the third driver.

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

Further, the rotation axis of the third driving member is a rolling axis of the pan/tilt head.

Further, the pan/tilt head is a three-axis pan/tilt head, and the rotation axis of the first driving member, the rotation axis of the second driving member, and the rotation axis of the third driving member respectively correspond to the three-axis pan/tilt head Pitch axis, heading axis, and roll axis.

Further, the transmission member further includes a fifth transmission member, the fifth transmission member is connected to the control element at one end, and the other end is extended to the bearing after extending along the same extension path as the fourth transmission member. Electronic device on the piece.

Further, the transmission member further includes a fifth transmission member, one end of which is connected to the control element, and the other end extends from a side of the second driving member along an end surface of the second driving member And connected to the electronic device on the carrier.

Further, the fifth transmission member extends along the end surface of the second driving member, and then extends along the outer surface of the connecting member and is connected to the electronic device on the carrier.

Further, a portion of the fifth transmission member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.

Further, the second driving member is a motor, and a portion of the fifth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.

Further, a portion of the fifth transmission member extending along the connecting member passes through a center of rotation of the carrier when the connecting member rotates.

Further, the second bracket includes a support member rotatably coupled to the mounting member, the support member forms an installation space, and the third bracket is received in the installation space.

Further, the support member is a "Π"-shaped structure, and the "Π"-shaped structure encloses the installation space.

Further, the support member includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion The first connecting arm, the second connecting arm and the external connecting portion together form the installation space.

Further, the second driving member is disposed to be connected to the supporting portion, so that the third bracket is received in the installation space.

Further, the plurality of control elements include a first control element, a second control element, and an auxiliary controller, the first control element is disposed on the support portion, and the second control element is disposed at the first On the connecting arm, the auxiliary controller is disposed on the second connecting arm.

Further, the mounting member forms a receiving space, and the supporting member is rotatably connected to the mounting member to receive the second bracket in the receiving space.

Further, the control element is a control circuit board.

Further, the electrical component is a rotating electrical machine, and the control circuit board is provided with an electronic governor corresponding to the rotating electrical machine, and each of the transmitting components is connected to the rotating electrical machine and corresponding to the rotating electrical machine Between the electronic governors.

Further, a plurality of said control elements are disposed on said bracket assembly, and a structure of a plurality of said control elements is adapted to the structure of said bracket assembly.

Further, the transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.

A photographing apparatus includes an electronic device for taking an image. The photographing apparatus further includes a pan/tilt for carrying the electronic device, the pan/tilt head includes a plurality of control elements and a plurality of brackets connected in turn, each of the brackets is provided with an electrical component, and the plurality of The bracket includes a mounting member and a bracket assembly, and the plurality of the control members are electrically connected by a flexible circuit board to form a soft and hard composite panel, and the soft and hard composite panel is integrally disposed between the mounting member and the bracket assembly. A plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.

Further, the control element is a control circuit board.

Further, the electronic device is any one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.

An unmanned aerial vehicle includes a body and a pan/tilt connected to the body, and an electronic device connected to the pan/tilt, the electronic device is configured to capture an image, and the pan/tilt can adjust the electronic device a shooting attitude of the device, the pan/tilt includes a plurality of control elements and a plurality of brackets rotatably connected to each other, each of the brackets is provided with an electrical component, the plurality of brackets including a mounting member and a bracket assembly, and the plurality of The control elements are electrically connected by a flexible circuit board to form a soft and hard composite board, and the soft and hard composite board is integrally disposed between the mounting member and the bracket assembly. A plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.

Further, the control element is a control circuit board.

Further, the UAV further includes a flight controller and an inertial measurement unit electrically connected to the flight controller, the inertial measurement unit is configured to detect a posture of the UAV to allow the flight controller to The attitude controls the UAV flight.

In the above-mentioned pan/tilt, a plurality of the electrical components are used to drive the brackets to generate relative motion, and the electrical components are respectively connected to the control components through independent transmission members, which facilitates the control components and the plurality of The connection structure between the electrical components and the optimization of the connection path enable any one of the transmission members to be connected to the corresponding drive member through the shortest path without interfering with or entanglement with other transmission members. Thereby, the miniaturization of the pan/tilt is facilitated.

DRAWINGS

FIG. 1 is a schematic perspective view of a cloud platform according to an embodiment of the present invention.

2 is a perspective view of another perspective view of the pan/tilt head shown in FIG. 1.

3 is a perspective view showing another perspective of the pan/tilt head shown in FIG. 1.

4 is a perspective view showing another perspective of the pan/tilt head shown in FIG. 1.

Main component symbol description

云台 Yuntai	100100
第一支架 First bracket	1010
安装件 Mount	1212
外接部 External part	121121
第一支撑臂 First support arm	123123
安装部 Installation department	12311231
第二支撑臂 Second support arm	125125
第一驱动件First drive	1414
第二支架 Second bracket	3030
支撑件supporting item	3232
支撑部 Support	321321
第一连接臂 First connecting arm	323323
第二连接臂 Second connecting arm	325325
转轴 Rotating shaft	32513251
第二驱动件Second drive	3434
第三支架 Third bracket	5050
连接件 Connector	5252
第三驱动件 Third drive	5454
承载件 Carrier	5656
控制元件 control element	7070
主控制器 main controller	7272
第一控制元件 First control element	721721
第二控制元件 Second control element	723723
辅助控制器 Auxiliary controller	7474
传输件 Transmission	9090
第一传输件 First transmission	9292
第二传输件 Second transmission	9494
第三传输件 Third transmission	9696
第四传输件 Fourth transmission	9898
第五传输件 Fifth transmission	9999

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

detailed description

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.

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. When a component is considered to be "set to" another component, it can be placed directly on another component or possibly with a centered component. The terms "vertical," "horizontal," "left," "right," and the like, as used herein, are for illustrative purposes only.

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 "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Embodiments of the present invention provide a cloud platform including a plurality of control elements and a plurality of brackets that are rotatably connected in sequence. Each of the brackets is provided with an electrical component, and the plurality of brackets include a mounting member and a bracket assembly, and the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.

Embodiments of the present invention also provide a photographing apparatus including an electronic device for taking an image. The photographing apparatus further includes a pan/tilt for carrying the electronic device, and the pan/tilt head includes a plurality of control elements and a plurality of brackets that are rotatably connected in sequence. Each of the brackets is provided with an electrical component, and the plurality of brackets include a mounting member and a bracket assembly, and the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.

An embodiment of the present invention further provides an unmanned aerial vehicle including a body, a cloud platform connected to the body, and an electronic device connected to the cloud platform, wherein the electronic device is used for capturing an image, the cloud The stage can adjust a shooting attitude of the electronic device, and the platform includes a plurality of control elements and a plurality of brackets that are rotatably connected in sequence. Each of the brackets is provided with an electrical component, and the plurality of brackets include a mounting member and a bracket assembly, and the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.

Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

Referring to FIG. 1 and FIG. 2, a pan/tilt head 100 according to an embodiment of the present invention is configured to carry an image capturing device (not shown) to perform photographing, video recording, and the like. The pan/tilt 100 and the image acquisition device constitute a photographing device, and the photographing device can be applied to an application platform such as an unmanned aerial vehicle to perform aerial photography work. The photographing device can also be applied to a handle as a handheld photographing device to allow a user to manually operate the photographing device to perform photographing, video recording, and the like.

In the embodiment, the pan/tilt head 100 is a three-axis pan/tilt head, and includes a first bracket 10, a second bracket 30, and a third bracket 50. The second bracket 30 is rotatably mounted on the first bracket 10 , and the third bracket 50 is rotatably mounted on the second bracket 30 .

The first bracket 10 includes a mounting member 12 and a first driving member 14 . In the embodiment, the first driving member 14 is disposed on the mounting member 12 and is configured to drive the second bracket 30 to rotate about a first axis.

The mounting member 12 is configured to integrally mount the platform 100 on an application platform, and the application platform may be an unmanned aerial vehicle or a handle. In the present embodiment, the mounting member 12 has a substantially "Π"-shaped structure. Specifically, the mounting member 12 includes an outer portion 121, a first support arm 123, and a second support arm 125.

The external portion 121 is substantially in the shape of a rod for connecting to the application platform. The first support arm 123 and the second support arm 125 are respectively disposed at two ends of the external portion 121, and the first support arm 123 and the second support arm 125 are respectively connected to the external portion 121. The mounting member 12 is disposed at a predetermined angle so that the mounting member 12 has a substantially "Π" shape as a whole. The Π-shaped structure encloses the mounting member 12 into a receiving space (not shown), and the receiving space is configured to receive the bracket assembly formed by the second bracket 30 and the third bracket 50 And a sufficient space is reserved for the rotational movement of the second bracket 30 and the third bracket 50, so that the structure of the platform 100 is more compact and flexible.

Specifically, in the illustrated embodiment, the first support arm 123 and the second support arm 125 are respectively disposed substantially perpendicular to the external portion 121 , and form the receiving space together with the external portion 121 . In the present embodiment, the outer connecting portion 121, the first supporting arm 123, and the second supporting arm 125 are integrally formed. It can be understood that in other embodiments, the external portion 121, the first support arm 123, and the second support arm 125 can be assembled together.

Further, the first support arm 123 is provided with a mounting portion 1231 for mounting the first driving member 14 . Specifically, the mounting portion 1231 is located at an end of the first support arm 123 away from the external portion 121.

The first driving member 14 is disposed on the mounting portion 1231 for connecting the second bracket 30 and for driving the second bracket 30 to rotate relative to the mounting member 12 about the first axis. The first driving member 14 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor. In the embodiment, the first driving member 14 is a brushless motor, and serves as a pitch driving member of the pan/tilt head 100 for driving the second bracket 30 to rotate about the first axis. One axis is the pitch axis of the pan/tilt head 100. It can be understood that in some other embodiments, the first driving member 14 can serve as a roll driving or heading driving member of the pan/tilt head 100 for driving the second bracket 30 around the first axis. Rotating, correspondingly, the first axis may be a roll axis or a heading axis of the platform 100.

The second bracket 30 is connected to the first driving member 14 and is substantially received in the receiving space of the first bracket 10 . The second bracket 30 includes a support member 32 and a second drive member 34. In this embodiment, the support member 32 is coupled to the first driving member 14 , and the second driving member 34 is disposed on the support member 32 and is configured to drive the third bracket 50 to a second The axis rotates.

In the present embodiment, the support member 32 has a substantially "Π"-shaped structure. Specifically, the support member 32 includes a support portion 321 , a first connecting arm 323 , and a second connecting arm 325 .

The support portion 321 is substantially in the shape of a rod for mounting the third bracket 50. The first connecting arm 323 and the second connecting arm 325 are respectively disposed at two ends of the supporting portion 321 , and the first connecting arm 323 and the second connecting arm 325 are respectively connected to the supporting portion 321 . The support member 32 is disposed at a predetermined angle so that the support member 32 has a substantially "Π" shape as a whole. The "Π"-shaped structure encloses the support member 32 into an installation space (not shown) for accommodating the third bracket 50 and rotating the third bracket 50 The movement reserves enough space to make the structure of the pan/tilt head 100 more compact and flexible.

Specifically, in the illustrated embodiment, the first connecting arm 323 and the second connecting arm 325 are respectively bent and formed at two ends of the supporting portion 321 , and the first connecting arm 323 and the second The connecting arm 325 and the support portion 321 together form the installation space, and the installation space is located on a side of the second bracket 30 facing away from the external portion 121. The first connecting arm 323 is connected to the first driving member 14 , and the second connecting arm 325 is pivotally connected to the second supporting arm 125 via a rotating shaft 3251 . In the present embodiment, the support portion 321 , the first connecting arm 323 , and the second connecting arm 325 are integrally formed. It can be understood that in other embodiments, the support portion 321 , the first connecting arm 323 and the second connecting arm 325 can be assembled together.

The second driving member 34 is disposed on the support portion 321 , specifically on a side of the support portion 321 facing the installation space. The second driving member 34 is configured to connect the third bracket 50 and is configured to drive the third bracket 50 to rotate relative to the support member 32 about the second axis, the second axis being substantially perpendicular to the The first axis. The second driving member 34 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor. In the embodiment, the second driving member 34 is a brushless motor, and serves as a heading driving member of the platform 100 for driving the third bracket 50 to rotate about the second axis. The two axes are the heading axes of the pan/tilt head 100. It can be understood that in other embodiments, the second driving member 34 can serve as a pitch driving member or a rolling driving member of the pan/tilt head 100 for driving the third bracket 50 around the second axis. Rotating, correspondingly, the second axis may be a pitch axis or a roll axis of the platform 100.

Referring to FIG. 3 and FIG. 4 , the third bracket 50 is connected to the second driving component 34 and is substantially received in the installation space of the second bracket 30 . The third bracket 50 includes a connecting member 52, a third driving member 54, and a carrier 56. In the embodiment, the connecting member 52 is connected to the second driving member 34, the third driving member 54 is disposed on the connecting member 52, and the carrying member 56 is coupled to the third driving member. 54. The carrier 56 is configured to carry the image capturing device, and the third driving member 54 is configured to drive the carrier 56 to rotate about a third axis to adjust a shooting angle of the image capturing device.

Specifically, in the illustrated embodiment, one end of the connecting member 52 is connected to the second driving member 34, and the other end extends in a direction away from the supporting portion 321 .

The third driving member 54 is disposed at an end of the connecting member 52 away from the second driving member 34 for driving the carrier 56 to rotate relative to the connecting member 52 about the third axis. The third axis is substantially perpendicular to the second axis and is substantially perpendicular to the first axis. The third driving member 54 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor. In the embodiment, the third driving member 54 is a brushless motor, and is used as a rolling driving member of the pan/tilt head 100 for driving the third bracket 50 to rotate about the third axis. The third axis is the roll axis of the pan/tilt head 100. It can be understood that in some other embodiments, the third driving member 54 can serve as a pitch driving member or a heading driving member of the pan/tilt head 100 for driving the third bracket 50 to rotate around the third axis. Correspondingly, the third axis may be a pitch axis or a heading axis of the pan/tilt head 100.

The image capturing device is detachably disposed on the carrier 56 for performing photographing, video recording, and the like. It can be understood that the image acquisition device described above is an electronic device, which may be a camera, a camera, a camera, an infrared camera, a portable communication device, or the like.

Referring again to FIG. 1, in order to control the image capturing apparatus to perform a photographing operation, the pan/tilt head 100 further includes a control element 70 and a transporting member 90 for controlling the pan/tilt head 100 to be adjusted to a desired state. The working posture is also used to control the operation of the image acquisition device. Specifically, the transmission member 90 is configured to connect the control element 70 to the first driving member 14, the second driving member 34, and the third driving member 54, and the control member 70 passes through a control station The first driving member 14, the second driving member 34 and the third driving member 54 are operated to control the rotational movement of the second bracket 30, the third bracket 50 and the image capturing device, thereby Adjusting the working posture of the pan/tilt head 100 to achieve the purpose of adjusting the shooting angle of the image capturing device. The control element 70 can be a control chip or a control circuit board.

Specifically, in the illustrated embodiment, the control component 70 is disposed on the support member 32, and includes a main controller 72 and an auxiliary controller 74, and the main controller 72 is configured to control the pan/tilt head 100 to adjust To the desired working posture and used to control the operation of the image acquisition device. The auxiliary controller 74 is configured to connect to the application platform and accept control commands from the application platform or/and a user to assist the main controller 72 to operate, and at the same time, the auxiliary controller 74 further And used to transmit the image acquired by the image obtaining device to the application platform or/and the user. Specifically, the auxiliary controller 74 may be integrated with all control commands for controlling the PTZ 100, and can acquire all signals and control information of the PTZ 100 during operation, and can pass the transmission. The device 90 is electrically connected to the core board of the application platform and/or the controller or/and the image processor. When the application platform is an unmanned aerial vehicle, the controller may be a flight controller. The auxiliary controller 74 is electrically connected to the main controller 72. Preferably, the auxiliary controller 74 is electrically connected to the main controller 72 through a flexible circuit board. It can be appreciated that in other embodiments, the main controller 72 can be integrated with the auxiliary controller 74.

Please refer to FIG. 2 to FIG. 4 at the same time. Specifically, in the illustrated embodiment, the plurality of transmission members 90 are plural, and the plurality of transmission members 90 are independent of each other. The first driving member 14, the second driving member 34 and the third driving member 54 are respectively connected to the main controller 72 through independent transmission members 90, so that the main controller 72 can control a plurality of The drive member. It should be understood that the "independent" state of the above-mentioned transmission member 90 should be understood as the connection point where the transmission members 90 do not physically meet each other, and the plurality of the transmission members 90 can be separated from each other without interfering with each other. They are not involved in each other. The arrangement of the plurality of transmission members 90 independently of each other facilitates the connection structure between the main controller 72 and the plurality of the driving members and the optimization of the connection path, so that any one of the transmission members 90 It is possible to connect to the corresponding driving member through the shortest path without interfering with or entanglement with other transmission members 90, thereby facilitating miniaturization and lightweight design of the pan/tilt head 100. In the present embodiment, the transmission member 90 is a flexible circuit board for transmitting data or/and transmitting power. It can be understood that in other embodiments, the transmission member 90 can also be a data line.

Specifically, the main controller 72 includes a first control element 721 and a second control element 723. The first control element 721 is disposed on the support portion 321 of the support member 32, and the second control The element 723 is disposed on the first connecting arm 323 of the support member 32, and the first control element 721 is electrically connected to the second control element 723. Preferably, the first control element 721 is electrically connected to the second control element 723 through a flexible circuit board. The plurality of transport members 90 include a first transport member 92, a second transport member 94, a third transport member 96, a fourth transport member 98, and a fifth transport member 99. It can be understood that in other embodiments, the first control element 721 and the second control element 723 can be integrated together.

An electronic component for controlling the second driving component 34 is disposed on the first control component 721, and the electronic component may be a controller or an electronic governor, etc., the electronic component is used to adjust the second driving The rotational speed of the member 34 and the direction of rotation. The first control element 721 is coupled to the second drive member 34 via the third transmission member 96. Specifically, one end of the third transmission member 96 is connected to the first control element 721 , and the other end extends toward the second driving member 34 and is connected to the second driving member 34 .

The first control element 721 is further provided with an electronic component for controlling the third driving component 54. The electronic component may be a controller or an electronic governor or the like, and the electronic component is used to adjust the third component. The rotational speed of the drive member 54 and the direction of rotation. The first control element 721 is coupled to the third drive member 54 via the fourth transmission member 98. Specifically, one end of the fourth transmission member 98 is connected to the first control element 721, and the other end is extended toward the second driving member 34, and extends from the side of the second driving member 34. The end surface of the second driving member 34 is bent and continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52 and is connected to the third driving member 54.

In the present embodiment, a portion of the fourth transmission member 98 extending along the end surface of the second driving member 34 passes through the second driving member 34 to drive a center of rotation when the connecting member 52 rotates. Thereby, the portion of the fourth transmission member 98 connected to the third driving member 54 rotates relative to the portion connected to the first control member 721 as the third bracket 50 rotates. The bending/mining is small and the resistance to rotation/bending is also small, and the fourth transmission member 98 is relatively durable. Meanwhile, since the fourth transmission member 98 passes the center of rotation of the third bracket 50 at the end surface of the second driving member 34, the third bracket 50 is rotated from an initial state in a clockwise or counterclockwise direction to During the maximum limit angle, the flexibility and freedom of rotation of the third bracket 50 are not limited by the length of the fourth transmission member 98, and the fourth transmission member 98 is not due to the third bracket 50. The rotation of the rotation is tight and broken, and does not accumulate into a mass or entanglement; in addition, the fourth transmission member 98 passes through the center of rotation of the third bracket 50 at the end surface of the second driving member 34, so that the rotation When the third bracket 50 rotates relative to the second bracket 30, the resilience of the fourth transmission member 98 after bending is relatively small, which facilitates the control element to control the third bracket 50 and The rotation of the third bracket 50 is relatively smoother. In this embodiment, the second driving member 34 drives the third bracket 50 to move relative to the support member 32 by a maximum amount of rotation of less than one week. When the second driving member 34 is a motor, a portion of the fourth transmitting member 98 extending along an end surface of the second driving member 34 passes through a rotation axis of the second driving member 34.

The first control element 721 is further provided with an electronic component for controlling the image acquiring device, and the electronic component may be a control chip or a control circuit board, etc., the first control component 721 passes through the fifth transmission component 99 is connected to the image acquisition device. A portion of the extension path of the fifth transmission member 99 connected from the first control element 721 to the image acquisition device is substantially the same as the extension path of the fourth transmission member 98. Specifically, one end of the fifth transmission member 99 is connected to the first control element 721, and the other end is extended toward the second driving member 34, and extends from the side of the second driving member 34. The end surface of the second driving member 34 is bent and continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52, and further along the side of the third driving member 54. The portion extends and is ultimately connected to the image acquisition device disposed on the carrier 56. It can be understood that the carrier 56 may be provided with other electronic components, such as a circuit board or a processor, a controller, etc., for connecting to the image acquisition device through an interface, the fifth transmission One end of the member 99 remote from the first control element 721 can be coupled to an electronic component within the carrier 56.

Similar to the fourth transmission member 98, in the present embodiment, the portion of the fifth transmission member 99 extending along the end surface of the second driving member 34 is driven by the second driving member 34. When the connecting member 52 rotates, the center of rotation of the connecting member 52 causes the fifth transmitting member 99 to rotate/bend less when the third bracket 50 rotates, and the resistance of the turning/bending is also small. The fifth transmission member 99 is relatively durable; at the same time, the flexibility and freedom of rotation of the third bracket 50 are not limited by the length of the fifth transmission member 99, and the fifth transmission member 99 is not The third bracket 50 is rotated and tightened or broken, and does not pile up or wrap. When the second driving member 34 is a motor, a portion of the fifth transmitting member 99 extending along an end surface of the second driving member 34 passes through a rotation axis of the second driving member 34.

Further, a portion of the fifth transmission member 99 extending along the outer surface of the connecting member 52 drives the center of rotation of the carrier member 56 through the third driving member 54 (see FIG. 3). When the carrier 56 is rotated relative to the connecting member 52, the resilience of the fifth transmitting member 99 after bending is relatively small, and the control member 70 controls the carrier member 56 and The rotation of the carrier 56 is relatively smoother.

An electronic component for controlling the first driving component 14 is disposed on the second control component 723, and the electronic component may be a controller or an electronic governor or the like, the electronic component is used to adjust the first driving The rotational speed of the piece 14 and the direction of rotation. The first control element 721 is coupled to the first drive member 14 via the first transmission member 92. Specifically, one end of the first transmission member 92 is connected to the second control element 723, and the other end extends along the first connection arm 323 to the first driving member 14, and at the first driving After the outer circumference of the piece 14 is wound by a predetermined number of turns, it is connected to the first driving member 14. In this embodiment, the first transmission member 92 is movably wound around the first driving member 14 and the number of windings thereof is two, so that the second bracket 30 is mounted relative to the second bracket 30. Flexibility of rotation of the second bracket 30 during the rotation of the member 12 from a first state to a maximum limit angle in a first direction or to a maximum limit angle in a direction opposite the first direction And the degree of freedom is not limited by the length of the first transport member 92, the first transport member 92 does not become tight or broken due to the rotation of the second bracket 30, and does not accumulate into a mass or entangle . In short, the first transmission member 92 is movably wound around the outer circumference of the first driving member 14 and then connected to the first driving member 14, so that the first transmitting member 92 has a certain a length allowance to accommodate a change in the relative position or/and a relative distance between the second bracket 30 and the first driving member 14 when the second bracket 30 is rotated, thereby causing the pan/tilt head The rotation of 100 is smoother. In this embodiment, the first driving member 14 drives the second bracket 30 to move relative to the mounting member 12 by a maximum amount of rotation of less than one week.

It is to be understood that, in other embodiments, the first transmission member 92 may be connected between the second control element 723 and the first driving member 14 in other manners, and is not limited to the implementation of the present invention. The example is described. For example, one end of the first transmission member 92 may be connected to the second control element 723, and the other end is connected to the first driving member 14 along the first connecting arm 323 without surrounding the The first driving member 14 is externally disposed, and the first transmitting member 92 is reserved with a sufficient length margin, so that the flexibility and freedom of rotation of the second bracket 30 are not restricted by the first transmitting member 92.

In the present embodiment, the auxiliary controller 74 is a pan/tilt controller, and the auxiliary controller 74 is connected to the application platform through the second transmission member 94. The auxiliary controller 74 can be used to transmit the image or the image captured by the image acquisition device 200 to the application platform or/and the user through an image transmission device, and also to receive The application platform or/and a control command issued by the user, and controlling the cloud platform 100 or/and the image acquisition device to operate according to the control command. Specifically, the auxiliary controller 74 is integrated with a control instruction for controlling the PTZ 100, and is used to acquire signals and control information generated by the PTZ 100 during operation, and can pass the second The transmission component 94 is electrically connected to the core board of the application platform, or/and the controller, or/and the image processor, to allow the application platform to control the platform 100 according to the signal and control information, or And allowing the pan/tilt 100 to transmit back the image captured by the image acquisition device 200 to the application platform.

Specifically, one end of the second transmission member 94 is connected to the auxiliary controller 74, and the other end is connected to the controller on the application platform after a predetermined number of turns outside the rotating shaft 3251. In this embodiment, the second transmission member 94 is movably disposed outside the rotating shaft 3251, and the number of windings thereof is two, so that the second bracket 30 is opposite to the mounting member 12 Flexibility and freedom of rotation of the second bracket 30 during an initial state of rotation in a first direction to a maximum limit angle or in a direction opposite the first direction to a maximum limit angle Not limited by the length of the second transport member 94, the second transport member 94 does not become tight or broken due to the rotation of the second bracket 30, nor does it accumulate into a mass or entangle. In short, the second transmission member 94 is movably wound around the outer circumference of the rotating shaft 3251 and then connected to the application platform, so that the second transmission member 94 has a certain length margin to adapt. When the second bracket 30 rotates, the relative position or/and the relative distance between the second bracket 30 and the application platform are changed, so that the rotation of the platform 100 is smoother.

It is to be understood that in other embodiments, the second transmission member 94 may be connected between the auxiliary controller 74 and the application platform in other manners, and is not limited to the description of the embodiments of the present invention. For example, one end of the second transmission member 94 may be connected to the auxiliary controller 74, and the other end is connected to the application platform along the second connecting arm 325 without surrounding the rotating shaft 3251. The second transmission member 94 is reserved for a sufficient length margin so that the flexibility and freedom of rotation of the second bracket 30 are not limited by the second transmission member 94.

In this embodiment, the first control element 721, the second control element 723, and the auxiliary controller 74 are all circuit boards, and the three are electrically connected to each other through a flexible circuit board to form a soft and hard composite. board. Specifically, the second control element 723 and the auxiliary controller 74 are electrically connected to the first control element 721 through a flexible circuit board, respectively. It can be understood that in some embodiments, the second control element 723 and the auxiliary controller 74 can also be electrically connected through a flexible circuit board. It can be understood that, in other embodiments, the manner in which the first control element 721, the second control element 723, and the auxiliary controller 74 are disposed may not be limited to the manner described in the above embodiments.

For example, the first control element 721, the second control element 723, and the auxiliary controller 74 may be integrated on a control element, and the first control element 721, the The functions of the second control element 723 and the auxiliary controller 74 are described. Specifically, electronic components such as an electronic governor for controlling the first driving member 14, the second driving member 34, and the third driving member 54 may be simultaneously disposed on the control component, and may also be configured. There is a controller for the image acquisition device and can be used to transmit images or/and control commands. The control element may be disposed on an appropriate portion of the support member 32, for example, disposed on the support portion 321, on the first connecting arm 323, on the second connecting arm 325, and the like. Wait. In addition, the control element may be disposed on a suitable portion of the first bracket 10, and the control element is connected to the corresponding driving member through the independent transmission member, and is not limited to the implementation of the present invention. The example is described.

For another example, the first control element 721 and the second control element 723 can be integrated on a control element, and the first control element 721 and the second control element 723 are implemented by the control element. The function. The control element is electrically connected to the auxiliary controller 74.

In the above-described pan/tilt head 100, a plurality of the driving members: the first driving member 14, the second driving member 34, and the third driving member 54 are provided as respective brackets (first bracket 10, second) provided on the platform 100 Electrical components on the bracket 30 and the third bracket 50) for driving the brackets to generate relative motion, and the electrical components are respectively connected to the control component 70 through separate transmission members 90, which facilitates the control components The connection structure between the 70 and the plurality of drive members and the optimization of the connection path enable any one of the transmission members 90 to be connected to the corresponding drive member through the shortest path without any other transmission member 90 interference or entanglement occurs, thereby facilitating the miniaturization and lightweight design of the pan/tilt head 100. The arrangement of the data/power transmission is performed by the transmission members 90 independent of each other, and the support structure and the space of the pan/tilt head 100 are rationally utilized, and the transmission member is prevented from being entangled into a group, and the cloud is reduced. The overall volume of the stage 100 is reduced, and the overall length of the transmission member is reduced, so that the resistance of the transmission member 90 is reduced, thereby reducing the overall power consumption of the platform 100, and prolonging the pan/tilt 100 Life time.

In addition, the first control element 721, the second control element 723, and the auxiliary controller 74 are all circuit boards, and the three are electrically connected to each other through a flexible circuit board to form a soft and hard composite board type control element. 70, and the control element 70 is integrally disposed on the second bracket 30, and is located between the mounting member 12 and the bracket assembly formed by the second bracket 30 and the third bracket 50, and is adapted to The structural feature of the pan/tilt head 100 effectively utilizes the support structure of the pan/tilt head 100, further facilitating the optimization of the connection structure between the control element 70 and the plurality of the drive members and the connection path, so that the pan/tilt head The overall size of the 100 is more compact.

In this embodiment, the application platform of the pan/tilt head 100 or/and the photographing device is an unmanned aerial vehicle, and the pan/tilt head 100 is connected to the unmanned aerial vehicle through the mounting member 12, and is Unmanned aerial vehicles are carried to perform tasks.

The UAV may be a rotary wing unmanned aerial vehicle and includes a fuselage and a power mechanism disposed on the fuselage. The power mechanism can include a motor and a propeller that drives the propeller to rotate to provide propulsion for the UAV. The UAV also includes a controller, an Inertial Measurement Unit (IMU), an electronic governor, and an image transmission device. The controller may be a flight controller disposed on the airframe and configured to control the overall flight operation of the UAV, including flight speed, flight attitude, etc., and also used to control the pan/tilt movement. To adjust the shooting angle of the image acquisition device. The inertial measurement unit may be disposed on the fuselage for an attitude of the UAV to allow the flight controller to control the UAV flight according to the attitude.

It can be understood that the pan/tilt head 100 is not limited to being applied in the aircraft, and can also be applied to other mobile devices or remote control mobile devices such as an unmanned vehicle and an automatic obstacle avoidance system of an unmanned ship. The instructions are not described in detail.

The above embodiments are only used to illustrate 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 of the present invention. Neither should the spirit and scope of the technical solutions of the present invention be deviated. Those skilled in the art can also make other variations and the like in the spirit of the present invention for use in the design of the present invention as long as it does not deviate from the technical effects of the present invention. All changes made in accordance with the spirit of the invention are intended to be included within the scope of the invention.

Claims

A pan/tilt head comprising a plurality of control elements and a plurality of brackets connected in turn, wherein each of the brackets is provided with an electrical component, the plurality of brackets comprising a mounting member and a bracket assembly, and the plurality of The control elements are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board being integrally disposed between the mounting member and the bracket assembly; and the plurality of control elements respectively capable of controlling the electrical The components, the mounting member and the electrical components on the bracket assembly are each connected to a corresponding one of the control components by a separate transmission member.
A pan/tilt head according to claim 1, wherein said electrical component comprises a first driving member disposed on said mounting member, said mounting member and said first driving member constituting said A bracket, the bracket assembly including a second bracket rotatably coupled to the mounting member, a plurality of the control members being disposed on the second bracket.
The pan/tilt head according to claim 2, wherein said second bracket is coupled to said first driving member, said first driving member being capable of driving said second bracket to be mounted relative to said axis of rotation about an axis of rotation The piece rotates.
The pan/tilt head according to claim 3, wherein the axis of rotation of the first driving member is a pitch axis of the pan/tilt head.
The pan/tilt head according to claim 3, wherein an axis of rotation of the second bracket relative to the first bracket is a pitch axis of the pan/tilt head.
The pan/tilt head according to claim 4, wherein the pan/tilt head further comprises a third bracket rotatably coupled to the second bracket, and the axis of rotation of the third bracket relative to the second bracket is The heading axis of the gimbal.
A platform according to claim 6, wherein said third bracket comprises a connecting member rotatably coupled to said second bracket and a carrier rotatably coupled to said connecting member, said carrier for loading An electronic device is disposed; an axis of rotation of the carrier relative to the connecting member is a roll axis of the pan/tilt.
A pan/tilt head according to claim 6, wherein a plurality of said control elements are disposed on said second bracket and between said second bracket and said mounting member.
A pan/tilt head according to claim 3, wherein said transporting member comprises a first transmitting member, one end of said first transmitting member being coupled to said first driving member and the other end being at said first driving member The outer circumference is wound for a predetermined number of turns and then connected to the control element.
The pan/tilt head according to claim 9, wherein the first transmitting member extends to the second bracket after being wound around the outer circumference of the first driving member, and is electrically connected to the control component. Sexual connection.
A pan/tilt head according to claim 9, wherein said second bracket includes a support member coupled to said first drive member, said control member being disposed on said support member; said first transmission After being wound around the outer circumference of the first driving member, the piece extends along the support member and is electrically connected to the control element.
The pan/tilt head according to claim 11, wherein the mounting member forms a receiving space, and the second bracket is received in the receiving space.
The pan/tilt head according to claim 12, wherein the mounting member has a "Π"-shaped structure, and the "Π"-shaped structure encloses the receiving space.
The pan/tilt head according to claim 8, wherein a plurality of the control elements are housed in the receiving space and located between the mounting member and the second bracket.
The pan/tilt head according to claim 12, wherein the mounting member comprises an outer connecting portion and a first supporting arm and a second supporting arm respectively disposed at two ends of the outer connecting portion, the first supporting arm and the The second support arms are respectively disposed at a predetermined angle with the outer connecting portion, and the first support arm, the second support arm and the outer joint portion together form the receiving space.
The platform according to claim 15, wherein both ends of said support member are rotatably coupled to said first support arm and said second support arm, respectively.
The platform according to claim 10, wherein said first driving member is disposed on said first supporting arm, one end of said supporting member is coupled to said first driving member, and the other end is pivoted Connected to the second support arm.
The pan/tilt head according to claim 12, wherein one end of the second bracket is connected to the first driving member, and the other end is pivotally connected to the second supporting arm; And a second transmission member, one end of which is connected to the control element, and the other end is connected to the external controller after being wound by a predetermined number of turns outside the pivot.
A pan/tilt head according to claim 13, wherein said control element comprises a pan/tilt controller, said pan/tilt controller is for controlling said pan-tilt movement, and said second transmission member is coupled to said pan/tilt head Between the controller and the external controller.
A pan/tilt head according to claim 4, wherein said electrical component further comprises a second driving member disposed on said second bracket, said plurality of said brackets further comprising a third bracket, said third bracket Connected to the second driving member, the second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.
A pan/tilt head according to claim 20, wherein the axis of rotation of said second drive member is perpendicular to the axis of rotation of said first drive member.
A platform according to claim 15, wherein the axis of rotation of said second drive member is a heading axis of said platform.
A platform according to claim 22, wherein said plurality of said control elements are disposed on said second bracket and disposed adjacent said second drive member.
The pan/tilt head according to claim 20, wherein the second bracket comprises a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, the first connecting arm and the The second connecting arms are respectively disposed at a predetermined angle with the supporting portion.
A pan/tilt head according to claim 24, wherein said second driving member is disposed on said support portion, and said plurality of said control members include a first control member, said first control member being disposed in said The support portion is electrically connected to the second driving member.
A pan/tilt head according to claim 24, wherein said first driving member is disposed on said first connecting arm, and said plurality of said control elements further comprises a second control coupled to said first control member And a second control element disposed on the first connecting arm and electrically connected to the first driving component.
A platform according to claim 24, wherein said plurality of said control elements further comprises an auxiliary controller coupled to said first control element, said auxiliary controller being disposed on said second connecting arm.
A platform according to claim 20, wherein said transmission member further comprises a third transmission member, said third transmission member being coupled between said second drive member and said control member.
A platform according to claim 20, wherein said transmission member further comprises a fourth transmission member, one end of said fourth transmission member being coupled to said control member and the other end being coupled to said second driving member A side portion extends along an end surface of the second drive member and is coupled to an electrical component on the second bracket.
The platform according to claim 29, wherein a portion of the fourth conveying member extending along an end surface of the second driving member passes through the second driving member to drive the third bracket to rotate Slewing center.
A pan/tilt head according to claim 30, wherein said second driving member is a motor, and said portion of said fourth transmitting member extending along an end surface of said second driving member passes through said second driving member The axis of rotation.
A platform according to claim 29, wherein said third bracket further comprises a connecting member, said connecting member being coupled to said second driving member, said fourth transmitting member being along said second driving member After extending the end face, it extends along the outer surface of the connector and is connected to the electrical component on the third bracket.
A platform according to claim 32, wherein said third bracket further comprises a carrier rotatably coupled to said connector, said carrier for mounting an electronic device.
A pan/tilt head according to claim 33, wherein said electrical component further comprises a third driving member disposed on said connecting member, said carrier member being coupled to said third driving member, said third The driving member is capable of driving the carrier to rotate relative to the connecting member about an axis of rotation, and the fourth transmitting member is coupled to the third driving member.
A pan/tilt head according to claim 34, wherein the axis of rotation of said third drive member is perpendicular to the axis of rotation of said second drive member.
A pan/tilt head according to claim 34, wherein the axis of rotation of said third drive member is the roll axis of said pan/tilt head.
The pan/tilt head according to claim 34, wherein the pan/tilt head is a three-axis pan/tilt head, the rotation axis of the first driving member, the rotation axis of the second driving member, and the third driving member The axes of rotation correspond to the pitch axis, the heading axis, and the roll axis of the three-axis pan/tilt, respectively.
A platform according to claim 33, wherein said transmission member further comprises a fifth transmission member, said fifth transmission member being connected to said control member at one end and the other end being identical to said fourth transmission member After the extension path is extended, it is connected to the electronic device on the carrier.
A pan/tilt head according to claim 33, wherein said transporting member further comprises a fifth transporting member, said fifth transmitting member being coupled to said control member at one end and from the side of said second driving member at the other end A portion extends along an end surface of the second driving member and is coupled to the electronic device on the carrier.
A pan/tilt head according to claim 39, wherein said fifth transporting member extends along an end surface of said second driving member and then extends along said outer surface of said connecting member and is coupled to said carrier member. Electronic device.
A pan/tilt head according to claim 39, wherein a portion of the fifth transporting member extending along an end surface of the second driving member passes through the second driving member to drive the third bracket to rotate Slewing center.
A pan/tilt head according to claim 41, wherein said second driving member is a motor, and a portion of said fifth transmitting member extending along an end surface of said second driving member passes through said second driving member The axis of rotation.
A pan/tilt head according to claim 41, wherein a portion of said fifth transporting member extending along said connecting member passes through a center of rotation of said carrier member when said connecting member rotates.
A platform according to claim 20, wherein said second bracket comprises a support member rotatably coupled to said mounting member, said support member forming an installation space, said third bracket being received in said Within the installation space.
A platform according to claim 44, wherein said support member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said installation space.
The platform according to claim 45, wherein the support member comprises a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, the first connecting arm and the The second connecting arms are respectively disposed at a predetermined angle with the supporting portion, and the first connecting arm, the second connecting arm and the external connecting portion jointly form the installation space.
The pan/tilt head according to claim 46, wherein the second driving member is connected to the support portion to accommodate the third bracket in the installation space.
A pan/tilt head according to claim 46, wherein said plurality of said control elements comprise a first control element, a second control element and an auxiliary controller, said first control element being disposed on said support portion The second control element is disposed on the first connecting arm, and the auxiliary controller is disposed on the second connecting arm.
The pan/tilt head according to claim 44, wherein the mounting member forms a receiving space, and the supporting member is rotatably coupled to the mounting member to receive the second bracket in the receiving space.
The platform according to claim 49, wherein said mounting member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said receiving space.
A pan/tilt head according to claim 49, wherein a plurality of said control elements are received in said receiving space and located between said mounting member and said second bracket.
The pan/tilt head of claim 1 wherein said control element is a control circuit board.
A pan/tilt head according to claim 52, wherein said electric component is a rotary electric machine, and said control circuit board is provided with an electronic governor corresponding to said rotary electric machine, each of said transmission members being connected to Between the rotating electrical machine and the electronic governor corresponding to the rotating electrical machine.
A pan/tilt head according to claim 52, wherein a plurality of said control elements are disposed on said bracket assembly, and a structure of said plurality of said control elements is adapted to the structure of said bracket assembly.
The pan/tilt head according to claim 1, wherein said transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.
A photographing apparatus includes an electronic device for capturing an image, wherein the photographing apparatus further includes a pan/tilt for carrying the electronic device, the pan head includes a plurality of control elements and Rotating a plurality of brackets, each of which is provided with an electrical component, the plurality of brackets comprising a mounting member and a bracket assembly, wherein the plurality of control components are electrically connected by a flexible circuit board to form a soft and hard composite panel The soft and hard composite board is integrally disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively control the electrical component, and the electrical components on the mounting component and the bracket component respectively Connected to the corresponding control element by a separate transmission.
A photographing apparatus according to claim 56, wherein said electric component comprises a first driving member provided on said mounting member, said mounting member and said first driving member constituting said A bracket, the bracket assembly including a second bracket rotatably coupled to the mounting member, a plurality of the control members being disposed on the second bracket.
The photographing apparatus according to claim 57, wherein said second bracket is coupled to said first driving member, said first driving member being capable of driving said second bracket to be mounted relative to said axis of rotation about an axis of rotation The piece rotates.
A photographing apparatus according to claim 58, wherein a rotational axis of said first driving member is a pitch axis of said pan-tilt.
A photographing apparatus according to claim 58, wherein an axis of rotation of said second holder relative to said first holder is a pitch axis of said pan/tilt head.
The photographing apparatus according to claim 59, wherein the pan/tilt further comprises a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is The heading axis of the gimbal.
The photographing apparatus according to claim 61, wherein said third bracket comprises a connecting member rotatably coupled to said second bracket and a carrier rotatably coupled to said connecting member, said carrier for loading An electronic device is disposed; an axis of rotation of the carrier relative to the connecting member is a roll axis of the pan/tilt.
A photographing apparatus according to claim 61, wherein a plurality of said control elements are disposed on said second holder and located between said second bracket and said mounting member.
A photographing apparatus according to claim 58, wherein said transporting member comprises a first transporting member, one end of said first transporting member is coupled to said first driving member, and the other end is at said first driving member The outer circumference is wound for a predetermined number of turns and then connected to the control element.
The photographing apparatus according to claim 64, wherein said first transmitting member extends to said second holder after being wound around the outer circumference of said first driving member, and is electrically connected to said control element Sexual connection.
A photographing apparatus according to claim 64, wherein said second holder includes a support member coupled to said first driving member, said control member being disposed on said support member; said first transmission After being wound around the outer circumference of the first driving member, the piece extends along the support member and is electrically connected to the control element.
The photographing apparatus according to claim 66, wherein the mounting member forms a receiving space, and the second bracket is received in the receiving space.
The photographing apparatus according to claim 67, wherein said mounting member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said receiving space.
The photographing apparatus according to claim 63, wherein a plurality of said control elements are housed in said accommodating space and located between said mounting member and said second holder.
The photographing apparatus according to claim 67, wherein the mounting member comprises an outer portion and a first support arm and a second support arm respectively disposed at two ends of the outer portion, the first support arm and the The second support arms are respectively disposed at a predetermined angle with the outer connecting portion, and the first support arm, the second support arm and the outer joint portion together form the receiving space.
The photographing apparatus according to claim 70, wherein both ends of said support member are rotatably coupled to said first support arm and said second support arm, respectively.
A photographing apparatus according to claim 65, wherein said first driving member is disposed on said first supporting arm, one end of said supporting member is coupled to said first driving member, and the other end is pivoted Connected to the second support arm.
The photographing apparatus according to claim 67, wherein one end of said second bracket is coupled to said first driving member, and the other end is pivotally coupled to said second supporting arm; said transmitting member includes And a second transmission member, one end of which is connected to the control element, and the other end is connected to the external controller after being wound by a predetermined number of turns outside the pivot.
The photographing apparatus according to claim 68, wherein said control element comprises a pan/tilt controller, said pan-tilt controller is for controlling said pan-tilt movement, and said second transmission member is coupled to said pan-tilt head Between the controller and the external controller.
The photographing apparatus according to claim 59, wherein said electric component further comprises a second driving member disposed on said second bracket, said plurality of brackets further comprising a third bracket, said third bracket Connected to the second driving member, the second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.
A photographing apparatus according to claim 75, wherein an axis of rotation of said second driving member is perpendicular to an axis of rotation of said first driving member.
A photographing apparatus according to claim 70, wherein said rotation axis of said second driving member is a heading axis of said pan/tilt head.
A photographing apparatus according to claim 77, wherein said plurality of said control elements are disposed on said second holder and disposed adjacent said second driving member.
The photographing apparatus according to claim 75, wherein the second bracket comprises a supporting portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, the first connecting arm and the The second connecting arms are respectively disposed at a predetermined angle with the supporting portion.
The photographing apparatus according to claim 79, wherein said second driving member is disposed on said support portion, and said plurality of said control members include a first control member, said first control member being disposed at said The support portion is electrically connected to the second driving member.
A photographing apparatus according to claim 79, wherein said first driving member is disposed on said first connecting arm, and said plurality of said control elements further includes a second control coupled to said first control member And a second control element disposed on the first connecting arm and electrically connected to the first driving component.
A photographing apparatus according to claim 79, wherein said plurality of said control elements further comprises an auxiliary controller coupled to said first control element, said auxiliary controller being disposed on said second connecting arm.
A photographing apparatus according to claim 75, wherein said transporting member further comprises a third transporting member, said third transporting member being coupled between said second driving member and said control member.
A photographing apparatus according to claim 75, wherein said transporting member further comprises a fourth transmitting member, one end of said fourth transmitting member being coupled to said control member and the other end being coupled to said second driving member A side portion extends along an end surface of the second drive member and is coupled to an electrical component on the second bracket.
The photographing apparatus according to claim 84, wherein a portion of the fourth transporting member extending along an end surface of the second driving member passes through the second driving member to drive the third bracket to rotate Slewing center.
A photographing apparatus according to claim 85, wherein said second driving member is a motor, and a portion of said fourth transmitting member extending along an end surface of said second driving member passes through said second driving member The axis of rotation.
A photographing apparatus according to claim 84, wherein said third bracket further comprises a connecting member, said connecting member being coupled to said second driving member, said fourth transmitting member being along said second driving member After extending the end face, it extends along the outer surface of the connector and is connected to the electrical component on the third bracket.
A photographing apparatus according to claim 87, wherein said third holder further comprises a carrier rotatably coupled to said connector, said carrier being for mounting an electronic device.
A photographing apparatus according to claim 88, wherein said electric component further comprises a third driving member disposed on said connecting member, said carrier member being coupled to said third driving member, said third The driving member is capable of driving the carrier to rotate relative to the connecting member about an axis of rotation, and the fourth transmitting member is coupled to the third driving member.
A photographing apparatus according to claim 89, wherein an axis of rotation of said third driving member is perpendicular to an axis of rotation of said second driving member.
A photographing apparatus according to claim 89, wherein said rotation axis of said third driving member is a roll axis of said pan/tilt head.
The photographing apparatus according to claim 89, wherein the pan/tilt head is a three-axis pan/tilt head, an axis of rotation of the first driving member, an axis of rotation of the second driving member, and the third driving member The axes of rotation correspond to the pitch axis, the heading axis, and the roll axis of the three-axis pan/tilt, respectively.
A photographing apparatus according to claim 88, wherein said transporting member further comprises a fifth transporting member, said fifth transmitting member being connected to said control member at one end and the other end being identical to said fourth transmitting member After the extension path is extended, it is connected to the electronic device on the carrier.
A photographing apparatus according to claim 88, wherein said transporting member further comprises a fifth transporting member, said fifth transmitting member being connected to said control member at one end and from the side of said second driving member at the other end A portion extends along an end surface of the second driving member and is coupled to the electronic device on the carrier.
The photographing apparatus according to claim 94, wherein said fifth transport member extends along an end surface of said second driving member, and then extends along said outer surface of said connecting member and is coupled to said carrier member Electronic device.
The photographing apparatus according to claim 94, wherein a portion of the fifth transport member extending along an end surface of the second driving member is driven by the second driving member to drive the third bracket to rotate Slewing center.
A photographing apparatus according to claim 96, wherein said second driving member is a motor, and a portion of said fifth transmitting member extending along an end surface of said second driving member passes through said second driving member The axis of rotation.
A photographing apparatus according to claim 96, wherein a portion of said fifth transporting member extending along said connecting member passes through a center of rotation of said carrier member when said connecting member rotates.
The photographing apparatus according to claim 75, wherein said second bracket comprises a support member rotatably coupled to said mounting member, said support member forming an installation space, said third bracket being received in said Within the installation space.
The photographing apparatus according to claim 99, wherein said support member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said installation space.
The photographing apparatus according to claim 100, wherein the support member comprises a support portion and first and second connecting arms respectively disposed at two ends of the support portion, the first connecting arm and the The second connecting arms are respectively disposed at a predetermined angle with the supporting portion, and the first connecting arm, the second connecting arm and the external connecting portion jointly form the installation space.
The photographing apparatus according to claim 101, wherein said second driving member is provided to be connected to said supporting portion to accommodate said third bracket in said mounting space.
A photographing apparatus according to claim 101, wherein said plurality of said control elements comprise a first control element, a second control element and an auxiliary controller, said first control element being disposed on said support portion The second control element is disposed on the first connecting arm, and the auxiliary controller is disposed on the second connecting arm.
The photographing apparatus according to claim 99, wherein the mounting member forms a receiving space, and the supporting member is rotatably coupled to the mounting member to receive the second bracket in the receiving space.
The photographing apparatus according to claim 104, wherein said mounting member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said receiving space.
The photographing apparatus according to claim 104, wherein a plurality of said control elements are housed in said accommodating space and located between said mounting member and said second holder.
A photographing apparatus according to claim 56, wherein said control element is a control circuit board.
A photographing apparatus according to claim 107, wherein said electric component is a rotary electric machine, and said control circuit board is provided with an electronic governor corresponding to said rotary electric machine, each of said transfer members being connected to Between the rotating electrical machine and the electronic governor corresponding to the rotating electrical machine.
A photographing apparatus according to claim 107, wherein a plurality of said control elements are disposed on said holder assembly, and a structure of said plurality of said control elements is adapted to a structure of said holder assembly.
A photographing apparatus according to claim 56, wherein said transporting member is a data line or a flexible circuit board for transmitting power or transmitting data.
The photographing apparatus according to claim 56, wherein said electronic device is any one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.
An unmanned aerial vehicle includes a fuselage, wherein the unmanned aerial vehicle further includes a pan/tilt connected to the fuselage and an electronic device connected to the pan/tilt, the electronic device is used for photographing An image that is capable of adjusting a shooting posture of the electronic device, the pan/tilt includes a plurality of control elements and a plurality of brackets that are rotatably connected in sequence, each of the brackets is provided with an electrical component, and the plurality of the brackets Including a mounting member and a bracket assembly, a plurality of the control elements are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board being integrally disposed between the mounting member and the bracket assembly; The control elements are respectively capable of controlling the electrical components, and the electrical components on the mounting member and the bracket assembly are respectively connected to corresponding control elements by separate transmission members.
An unmanned aerial vehicle according to claim 112, wherein said electric component comprises a first driving member disposed on said mounting member, said mounting member and said first driving member constituting said pan/tilt head a first bracket, the bracket assembly including a second bracket rotatably coupled to the mounting member, a plurality of the control members being disposed on the second bracket.
An unmanned aerial vehicle according to claim 113, wherein said second bracket is coupled to said first drive member, said first drive member being capable of driving said second bracket relative to said axis of rotation about said axis of rotation The mounting member rotates.
The UAV according to claim 114, wherein the axis of rotation of said first drive member is a pitch axis of said platform.
The UAV according to claim 114, wherein an axis of rotation of said second bracket relative to said first bracket is a pitch axis of said platform.
The UAV according to claim 115, wherein the pan/tilt further comprises a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is The heading axis of the gimbal.
An unmanned aerial vehicle according to claim 117, wherein said third bracket comprises a connecting member rotatably coupled to said second bracket and a carrier rotatably coupled to said connecting member, said carrier member for An electronic device is mounted; an axis of rotation of the carrier relative to the connecting member is a roll axis of the pan/tilt.
An unmanned aerial vehicle according to claim 117, wherein a plurality of said control elements are disposed on said second bracket and between said second bracket and said mounting member.
An unmanned aerial vehicle according to claim 114, wherein said transmission member comprises a first transmission member, one end of said first transmission member being coupled to said first drive member and the other end being coupled to said first drive member The outer ring is wound around the control element after being wound by a predetermined number of turns.
An unmanned aerial vehicle according to claim 120, wherein said first transmission member extends to said second bracket after being wound around the outer circumference of said first driving member, and said control member Electrically connected.
An unmanned aerial vehicle according to claim 120, wherein said second bracket includes a support member coupled to said first drive member, said control member being disposed on said support member; said first After being disposed around the outer periphery of the first driving member, the transmitting member extends along the supporting member and is electrically connected to the control element.
The UAV according to claim 122, wherein the mounting member forms a receiving space, and the second bracket is received in the receiving space.
An unmanned aerial vehicle according to claim 123, wherein said mounting member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said receiving space.
The UAV according to claim 119, wherein a plurality of said control elements are housed in said receiving space and located between said mounting member and said second bracket.
The UAV according to claim 123, wherein the mounting member comprises an outer portion and a first support arm and a second support arm respectively disposed at two ends of the outer portion, the first support arm and the The second supporting arms are respectively disposed at a predetermined angle with the outer connecting portion, and the first supporting arm, the second supporting arm and the outer connecting portion together form the receiving space.
An unmanned aerial vehicle according to claim 126, wherein both ends of said support member are rotatably coupled to said first support arm and said second support arm, respectively.
An unmanned aerial vehicle according to claim 121, wherein said first driving member is disposed on said first supporting arm, one end of said supporting member is coupled to said first driving member, and the other end is pivoted A shaft is coupled to the second support arm.
An unmanned aerial vehicle according to claim 123, wherein one end of said second bracket is coupled to said first drive member and the other end is pivotally coupled to said second support arm; said transport member comprising a second transmission member, one end of the second transmission member is connected to the control element, and the other end is connected to the external controller after being wound around the pivot for a predetermined number of turns.
The UAV according to claim 124, wherein said control element comprises a pan/tilt controller, said pan/tilt controller is for controlling said pan-tilt movement, and said second transmission member is coupled to said cloud Between the controller and the external controller.
The UAV according to claim 115, wherein said electrical component further comprises a second driving member disposed on said second bracket, said plurality of brackets further comprising a third bracket, said third The bracket is coupled to the second driving member, and the second driving member is configured to drive the third bracket to rotate relative to the second bracket about an axis of rotation.
An unmanned aerial vehicle according to claim 131, wherein said second drive member has an axis of rotation that is perpendicular to an axis of rotation of said first drive member.
An unmanned aerial vehicle according to claim 126, wherein the axis of rotation of said second drive member is a heading axis of said platform.
An unmanned aerial vehicle according to claim 133, wherein said plurality of said control elements are disposed on said second bracket and disposed adjacent said second drive member.
The UAV according to claim 131, wherein the second bracket comprises a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, the first connecting arm and The second connecting arms are respectively disposed at a predetermined angle with the support portion.
An unmanned aerial vehicle according to claim 135, wherein said second driving member is disposed on said support portion, and said plurality of said control members include a first control member, said first control member being disposed at said On the support portion, and electrically connected to the second driving member.
An unmanned aerial vehicle according to claim 135, wherein said first driving member is disposed on said first connecting arm, and said plurality of said control members further includes a second connected to said first control member a control element, the second control element being disposed on the first connecting arm and electrically connected to the first driving member.
An unmanned aerial vehicle according to claim 135, wherein said plurality of said control elements further comprises an auxiliary controller coupled to said first control element, said auxiliary controller being disposed on said second connecting arm .
An unmanned aerial vehicle according to claim 131, wherein said transmission member further comprises a third transmission member, said third transmission member being coupled between said second drive member and said control member.
An unmanned aerial vehicle according to claim 131, wherein said transmission member further comprises a fourth transmission member, one end of said fourth transmission member being coupled to said control member and the other end being coupled to said second driving member The side portion extends along an end surface of the second drive member and is coupled to an electrical component on the second bracket.
An unmanned aerial vehicle according to claim 140, wherein a portion of said fourth transmission member extending along an end surface of said second driving member is driven to rotate said third carriage through said second driving member The center of rotation.
An unmanned aerial vehicle according to claim 141, wherein said second driving member is a motor, and said portion of said fourth transmitting member extending along an end surface of said second driving member passes through said second driving The axis of rotation of the piece.
An unmanned aerial vehicle according to claim 140, wherein said third bracket further comprises a connecting member, said connecting member being coupled to said second driving member, said fourth transmitting member being along said second driving After extending the end face of the piece, it extends along the outer surface of the connector and is connected to the electrical component on the third bracket.
An unmanned aerial vehicle according to claim 143, wherein said third bracket further comprises a carrier rotatably coupled to said connector, said carrier for mounting an electronic device.
An unmanned aerial vehicle according to claim 144, wherein said electric component further comprises a third driving member disposed on said connecting member, said carrier member being coupled to said third driving member, said The three driving members are capable of driving the carrier to rotate relative to the connecting member about an axis of rotation, and the fourth transmitting member is coupled to the third driving member.
An unmanned aerial vehicle according to claim 145, wherein the axis of rotation of said third drive member is perpendicular to the axis of rotation of said second drive member.
An unmanned aerial vehicle according to claim 145, characterized in that the axis of rotation of said third drive member is the roll axis of said platform.
An unmanned aerial vehicle according to claim 145, wherein said pan/tilt head is a three-axis pan/tilt head, an axis of rotation of said first driving member, an axis of rotation of said second driving member, and said third driving The axes of rotation of the pieces correspond to the pitch axis, the heading axis and the roll axis of the three-axis pan/tilt, respectively.
An unmanned aerial vehicle according to claim 144, wherein said transmission member further comprises a fifth transmission member, said fifth transmission member being connected to said control member at one end and the fourth transmission member at the other end After the same extension path is extended, the electronic device on the carrier is connected.
An unmanned aerial vehicle according to claim 144, wherein said transmission member further comprises a fifth transmission member, said fifth transmission member being connected to said control member at one end and said second transmission member from said second driving member A side portion extends along an end surface of the second driving member and is coupled to an electronic device on the carrier.
An unmanned aerial vehicle according to claim 150, wherein said fifth transmission member extends along an end surface of said second driving member, and then extends along said outer surface of said connecting member and is coupled to said carrier member On the electronic device.
An unmanned aerial vehicle according to claim 150, wherein a portion of said fifth transmission member extending along an end surface of said second driving member is driven to rotate said third carriage through said second driving member The center of rotation.
An unmanned aerial vehicle according to claim 152, wherein said second driving member is a motor, and said portion of said fifth transmitting member extending along an end surface of said second driving member passes through said second driving The axis of rotation of the piece.
An unmanned aerial vehicle according to claim 152, wherein a portion of said fifth transmission member extending along said connecting member passes through a center of rotation of said carrier member when said carrier member rotates relative to said connecting member.
An unmanned aerial vehicle according to claim 131, wherein said second bracket includes a support member rotatably coupled to said mounting member, said support member forming an installation space, and said third bracket is received in said Within the installation space.
An unmanned aerial vehicle according to claim 155, wherein said support member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said installation space.
The unmanned aerial vehicle according to claim 156, wherein the support member comprises a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, the first connecting arm and the The second connecting arms are respectively disposed at a predetermined angle with the supporting portion, and the first connecting arm, the second connecting arm and the external connecting portion jointly form the installation space.
The UAV according to claim 157, wherein said second driving member is disposed to be coupled to said support portion to accommodate said third bracket in said installation space.
An unmanned aerial vehicle according to claim 157, wherein said plurality of said control elements comprise a first control element, a second control element and an auxiliary controller, said first control element being disposed on said support portion The second control element is disposed on the first connecting arm, and the auxiliary controller is disposed on the second connecting arm.
The UAV according to claim 155, wherein the mounting member forms a receiving space, and the supporting member is rotatably coupled to the mounting member to receive the second bracket in the receiving space. .
An unmanned aerial vehicle according to claim 160, wherein said mounting member has a "Π"-shaped structure, and said "Π"-shaped structure encloses said receiving space.
An unmanned aerial vehicle according to claim 160, wherein a plurality of said control elements are housed in said receiving space and located between said mounting member and said second bracket.
The UAV according to claim 112, wherein said control element is a control circuit board.
An unmanned aerial vehicle according to claim 163, wherein said electric component is a rotary electric machine, and said control circuit board is provided with an electronic governor corresponding to said rotary electric machine, each of said transmission members being connected Between the rotating electrical machine and the electronic governor corresponding to the rotating electrical machine.
An unmanned aerial vehicle according to claim 163, wherein a plurality of said control elements are disposed on said bracket assembly, and a structure of said plurality of said control members is adapted to the structure of said bracket assembly.
The UAV according to claim 112, wherein said transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.
The UAV according to claim 112, wherein said electronic device is any one of the following: a camera, a camera, a camera, an infrared camera or a portable communication device.
The UAV according to claim 112, wherein said UAV further comprises a flight controller and an inertial measurement unit electrically coupled to said flight controller, said inertial measurement unit for detecting said The attitude of the UAV is to allow the flight controller to control the UAV to fly according to the attitude.