WO2018064918A1 - 一种拍摄装置及包括其的无人机 - Google Patents

一种拍摄装置及包括其的无人机 Download PDF

Info

Publication number
WO2018064918A1
WO2018064918A1 PCT/CN2017/096238 CN2017096238W WO2018064918A1 WO 2018064918 A1 WO2018064918 A1 WO 2018064918A1 CN 2017096238 W CN2017096238 W CN 2017096238W WO 2018064918 A1 WO2018064918 A1 WO 2018064918A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
driving
photographing
driving unit
fixing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/096238
Other languages
English (en)
French (fr)
Inventor
张正力
潘相熙
常松涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2018064918A1 publication Critical patent/WO2018064918A1/zh
Priority to US16/136,785 priority Critical patent/US20190031369A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • This application belongs to the field of image capture, and is specifically a photographing device.
  • 360 panoramic video is a video-based real-time rendering technology, which uses real video clips to get a three-dimensional display effect, which can play the role of display and record like ordinary video.
  • the general video capture has a limited range of viewing angles, while the 360 panoramic video has a viewing angle of 360 degrees x 360 degrees.
  • the viewer can click and select his own viewing angle, just like entering the shooting environment in person. .
  • 360 panoramic video shooting and production investment is small, simple to create, after a panoramic video shooting, from production to release in just a few minutes, and can produce stand-alone and online version. Since the network version has a small amount of data and low requirements on the system, it is suitable for viewing on various network terminal devices.
  • the video of the real interactive 360 panorama can not only provide important image data for scientific research, but also become an important tool for businesses to effectively expand their business scope.
  • the industry of its application has become more and more extensive, covering industry sectors including: tourism, real estate, manufacturing, hotels, restaurants, shopping malls, government planning, transportation, investment, exhibitions, education. , museums, business websites, online stores, etc.
  • existing shooting equipment such as aerial drones
  • one or more stabilization heads that can only shoot one angle at a time, and can rely on the rotation of the gimbal itself or multiple angles of the gimbal.
  • the defect is that the panorama cannot be acquired at the same time, and the 3D stereoscopic experience in VR cannot be satisfied, and multiple
  • the solution for the finder's framing scheme is that there is a time difference in photography, the experience in VR is poor, and the production cost is high.
  • VR stereoscopic imaging device in the prior art that fixes a plurality of imaging units on a horizontal support and performs stereoscopic imaging through a plurality of imaging units.
  • a device such as a drone for panoramic shooting
  • the horizontal bracket cannot move in the camera, and thus the camera may be randomly worn. Move together so you can't stay in the best shooting position.
  • the technical problem to be solved by the present application is to overcome the defect that the VR stereoscopic imaging device cannot be maintained at the optimal shooting position in the prior art, thereby providing a photographing device.
  • a photographing device comprising:
  • a fixing unit configured to fix the plurality of shooting units
  • a connecting shaft is further included, and one end of the connecting shaft is connected to the fixing unit.
  • the power system includes a first driving unit, and the moving end of the first driving unit is connected to the connecting shaft, wherein the moving end of the first driving unit refers to one end of the driving connecting shaft.
  • the moving end of the first driving unit is the stator or the rotor of the first driving unit.
  • the photographing device further includes a base, and the fixed end of the first driving unit is connected with the base or other external device; the fixed end of the first driving unit refers to one end that does not rotate relative to the base.
  • the power system includes a second driving unit, and the photographing device further includes a transmission shaft;
  • the fixed end of the second driving unit is connected to the driving shaft, and the moving end of the second driving unit is fixedly connected to the fixed unit, wherein the moving end of the second driving unit refers to one end of the driving fixing unit, and the fixed end is Refers to the end that is fixedly connected to the drive shaft.
  • the moving end of the second driving unit is a stator or a rotor of the second driving unit.
  • one end of the transmission shaft is rotatably connected to the fixing unit.
  • the photographing device further includes a fixing plate, and the fixing plate is fixedly connected to the fixing unit;
  • the drive shaft is rotatably coupled to the fixed plate.
  • the power system includes a third driving unit
  • the moving end of the third driving unit is connected to the driving shaft, and the fixed end of the third driving unit is connected with the connecting shaft, wherein the moving end of the third driving unit refers to one end of the driving transmission shaft, and the fixed end refers to fixing with the connecting shaft One end of the connection.
  • the moving end of the third driving unit is a stator or a rotor of the third driving unit.
  • rotation axis of the second driving unit and the rotation axis of the third driving unit are perpendicular to each other.
  • the photographing unit is inclined downward with respect to a plane formed by the rotation axis of the second driving unit and the rotation axis of the third driving unit.
  • the fixing unit is a regular hexagonal frame, the number of the shooting units is three, and the angle between the axes of any two shooting units is 120 degrees.
  • control board is fixed on the fixing unit, and the control board is provided with a control circuit for controlling the power system and the shooting unit.
  • a protective cover is further disposed on an outer side of the photographing unit.
  • a drone including a body, and the photographing device.
  • This application uses a driving unit to drive the fixed unit to move in multiple directions, so that when the drone body is tilted or rotated, the shooting unit is always in a stable state, and the shooting effect is better.
  • the connecting shaft of the present application is located above the center of the fixed unit, and the lower photographing unit is disposed to be inclined downward with respect to a plane formed by the rotation axis of the second driving unit and the rotation axis of the third driving unit, thereby reducing the fixing.
  • the unit blocks the camera unit.
  • FIG. 1 is a schematic perspective view of a photographing device of the present application
  • Figure 2 is a side view of a photographing device of the present application
  • Figure 3 is a cross-sectional view of the K-K of a photographing device of the present application.
  • connection In the description of the present application, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise specifically defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meanings of the above terms in the present application can be understood in the specific circumstances for those skilled in the art.
  • a photographing device comprising:
  • a fixing unit 7 for fixing the plurality of shooting units 9;
  • the shooting unit 9 can be a common phase Machine, fixed focus camera, zoom camera, fisheye camera, or VR camera.
  • a connecting shaft 3 is also included, one end of which is connected to the fixing unit 7.
  • the power system includes a first driving unit 2, and the moving end of the first driving unit 2 is connected to the connecting shaft 3, wherein the moving end of the first driving unit 2 refers to one end of the driving connecting shaft 3; the first driving The moving end of the unit 2 is the stator or rotor of the first driving unit 2; the moving end of the first driving unit 2 refers to the end that rotates together with the connecting shaft 3, and in one embodiment, the moving end of the driving unit 2 is a rotor.
  • the photographing device further includes a base 1 , and the fixed end of the first driving unit 2 is connected to the base 1 or other external device; the fixed end of the first driving unit 2 refers to an end that does not rotate relative to the base 1 , in one embodiment
  • the fixed end of the first drive unit 2 is the stator of the drive unit 2.
  • the power system includes a second driving unit 4, the camera device further includes a transmission shaft 5;
  • the fixed end of the second driving unit 4 is connected to the driving shaft 5, and the moving end of the second driving unit 4 is fixedly connected with the fixing unit 7, wherein the moving end of the second driving unit 4 refers to the end of the driving fixing unit 7
  • the moving end of the second drive unit 4 is the stator or rotor of the second drive unit.
  • One end of the transmission shaft 5 is rotatably coupled to the fixing unit 7.
  • the photographing device further includes a fixing plate 10, and the fixing plate 10 is fixedly connected with the fixing unit 7; the transmission shaft 5 is rotatably connected with the fixing plate 10.
  • the power system includes a third driving unit 6; the moving end of the third driving unit 6 is connected to the transmission shaft 5, and the fixed end of the third driving unit 6 is connected to the connecting shaft 3, wherein the moving end of the third driving unit 6 is Refers to the end of the drive shaft 5, the third drive unit 6 is the third end The stator or rotor of the drive unit 6.
  • the stator of the second driving unit 4 is fixed on the fixed unit, and the rotor is connected to the transmission shaft 5. Therefore, when the stator of the second driving unit 4 rotates, the transmission shaft 5 cannot be restricted by the connecting shaft 3. Rotating, therefore, driving the stator of the second driving unit 4 in the opposite direction to rotate, thereby driving the fixing unit to rotate together, thereby driving the shooting unit to make an angle adjustment; and when the rotor of the third driving unit 6 rotates, the driving shaft 5 is driven to do In the tumbling motion, since the transmission shaft 5 is connected to the fixed unit, the fixing unit can be driven to perform the tumbling adjustment together.
  • the first driving unit, the second driving unit and the third driving unit are electric motors, the moving end is a rotor of the electric motor, and the fixed end is a stator of the electric motor.
  • the axis of rotation of the second drive unit 4 is perpendicular to the axis of rotation of the third drive unit 6.
  • the imaging unit 9 is inclined downward with respect to a plane formed by the rotational axis of the second drive unit 4 and the rotational axis of the third drive unit 6. In this way, the blocking unit of the fixed unit can be minimized to ensure the best shooting effect.
  • the fixing unit 7 is a frame of a regular hexagon, the number of the photographing units 9 is three, and the angle between the axes of any two of the photographing units 9 is 120 degrees. In addition to this, the photographing unit may be two, four, five or more.
  • a control board 8 is fixed to the fixing unit 7, and a control circuit for controlling the power system and the photographing unit 9 is provided on the control board 8.
  • the control panel 8 can also be placed in other locations, such as a base.
  • a protective cover is further provided on the outer side of the photographing unit 9.
  • the protective cover protects the camera unit from damage.
  • the control board sends a control signal to control the rotation of the first, second, and third driving units, thereby driving the fixed unit to rotate around the connecting shaft and/or the driving shaft and/or the third driving unit, thereby fixing
  • the unit can be rotated in three mutually perpendicular directions.
  • the fixed unit is always in a horizontal state by adjusting the second and third driving units. Thereby obtaining a stable shooting picture.
  • the fixed unit is always in a stationary state by adjusting the first driving unit, thereby obtaining a stable photographing picture.
  • a drone comprising a body and a photographing device of the first embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

公开了一种拍摄装置及包括其的无人机，该拍摄装置包括：多个拍摄单元(9)；固定单元(7)，用于固定所述多个拍摄单元(9)；动力系统，用于驱动所述固定单元(7)转动。该拍摄装置采用动力系统驱动固定单元运动，从而可根据需要调整拍摄单元的角度，使得拍摄效果更好。

Description

[根据细则37.2由ISA制定的发明名称]　一种拍摄装置及包括其的无人机 技术领域
本申请属于影像拍摄领域，具体为一种拍摄装置
背景技术
360全景视频是一种基于视频的实景再现技术，它用真实的视频片段得到三维立体的展示效果，其与一般的视频一样可以起到展示和记录的作用。但是一般的视频拍摄的视角范围有限，而360全景视频具有360度x360度的观赏视角，通过360全景视频播放软件，观者可以随意点击选择自己的观看视角，如同亲身步入拍摄环境的实景中。
360全景视频的拍摄和制作投入少，制作简单，一个全景视频拍摄后，从制作完成到发布只需要短短的几分钟时间，并可以生成单机版和网络版。由于网络版的数据量很小，对系统的要求低，因此适合在各种网络终端设备上观看。真实互动的360全景拍摄成的视频不仅可以为科学研究提供重要的影像资料，还可以成为商家有效拓展业务范围的重要工具。近年来，随着360全景技术的发展，其应用的行业领域越来越宽泛，涉及的行业领域包括：旅游、地产、制造业、酒店、餐饮、商场、政府规划、交通、招商、展会、教育、博物馆、商家网站、网店等。
然而，现有的拍摄设备，如航拍无人机，搭载一个或多个在同一时间仅能拍摄一个角度的增稳云台，可以依靠云台自身的转动，或多个云台不同角度的拍摄，获取360°全景；依靠自身转动获取360°拍摄云台，缺陷是不能在同一时间内获取全景，不能满足VR中的3D立体体验感，而多个 云台的取景的方案缺陷是，摄影存在时间差，VR中体验感差，且生产成本高。
对此，现有技术中出现一种VR立体拍摄装置，其将多个拍摄单元固定在水平支架上，通过多个拍摄单元进行立体拍摄。将该种拍摄装置应用于无人机等设备进行全景拍摄时，由于无人机在飞行时存在机身倾斜等情况，而该种拍摄装置中水平支架无法移动，因此，会导致拍摄装置随机身一起运动，从而无法保持在最佳的拍摄位置。
发明内容
因此，本申请要解决的技术问题在于克服现有技术中VR立体拍摄装置无法保持在最佳拍摄位置的缺陷，从而提供一种拍摄装置。
一种拍摄装置，包括：
多个拍摄单元；
固定单元，用于固定所述多个拍摄单元；
动力系统，用于驱动所述固定单元转动。
进一步的，还包括连接轴，所述连接轴的一端与所述固定单元连接。
进一步的，所述动力系统包括第一驱动单元，第一驱动单元的运动端与连接轴连接，其中，第一驱动单元的运动端是指驱动连接轴转动的一端。
进一步的，第一驱动单元的运动端是第一驱动单元的定子或者转子。
进一步的，所述拍摄装置还包括底座，第一驱动单元的固定端与底座或其他外部设备连接；第一驱动单元的固定端是指相对于底座不转动的一端。
进一步的，所述动力系统包括第二驱动单元，所述拍摄装置还包括传动轴；
所述第二驱动单元的固定端与传动轴连接，第二驱动单元的运动端与所述固定单元固定连接，其中，第二驱动单元的运动端是指驱动固定单元转动的一端，固定端是指与传动轴固定连接的一端。
进一步的，所述第二驱动单元的运动端是第二驱动单元的定子或者转子。
进一步的，所述传动轴的一端与固定单元可转动地连接。
进一步的，所述拍摄装置还包括固定板，固定板与固定单元固定连接；
传动轴与所述固定板可转动地连接。
进一步的，所述动力系统包括第三驱动单元；
第三驱动单元的运动端与传动轴连接，第三驱动单元的固定端与连接轴连接，其中，第三驱动单元的运动端是指驱动传动轴转动的一端，固定端是指与连接轴固定连接的一端。
进一步的，所述第三驱动单元的运动端是第三驱动单元的定子或转子。
进一步的，所述第二驱动单元的转动轴线与第三驱动单元的转动轴线相互垂直。
进一步的，拍摄单元相对于由所述第二驱动单元的转动轴线与第三驱动单元的转动轴线构成的平面向下倾斜。
进一步的，所述固定单元为正六边形的框架，拍摄单元的数目为3个，任意两个拍摄单元的轴线之间的角度为120度。
进一步的，所述固定单元上固定有控制板，所述控制板上设有用于控制动力系统及拍摄单元的控制电路。
进一步的，所述拍摄单元的外侧还设有保护罩。
一种无人机，包括机身，以及所述的拍摄装置。
本申请相对于现有技术有如下优点：
1.本申请采用驱动单元驱动固定单元在多个方向运动，从而在无人机机身倾斜或旋转时，使拍摄单元始终处在平稳状态，拍摄效果更好。
2.本申请连接轴位于固定单元的正中心上方，同时，将下方拍摄单元设置为相对于由第二驱动单元的转动轴线与第三驱动单元的转动轴线构成的平面向下倾斜，减少了固定单元对拍摄单元的遮挡。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请的一种拍摄装置的立体结构示意图；
图2为本申请的一种拍摄装置的侧视图；
图3为本申请的一种拍摄装置的K-K剖面图；
附图标记说明：
1.底座  2.第一驱动单元  3.连接轴  4.第二驱动单元  5.传动轴  6.第三驱动单元  7.固定单元  8.控制板  9.拍摄单元  10.固定板
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然， 所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
实施例1
一种拍摄装置，包括：
多个拍摄单元9；
固定单元7，用于固定所述多个拍摄单元9；
动力系统，用于驱动所述固定单元7转动。拍摄单元9可以是普通相 机、定焦相机、可变焦相机、鱼眼相机，或者是VR相机。
还包括连接轴3，所述连接轴3的一端与所述固定单元7连接。
所述动力系统包括第一驱动单元2，第一驱动单元2的运动端与连接轴3连接，其中，第一驱动单元2的运动端是指驱动连接轴3转动的一端；所述第一驱动单元2的运动端是第一驱动单元2的定子或者转子；第一驱动单元2的运动端指与连接轴3一起转动的一端，在一个具体实施方式中，驱动单元2的运动端为转子。
所述拍摄装置还包括底座1，第一驱动单元2的固定端与底座1或其他外部设备连接；第一驱动单元2的固定端是指相对于底座1不转动的一端，在一个实施方式中，第一驱动单元2的固定端为驱动单元2的定子。
所述动力系统包括第二驱动单元4，所述拍摄装置还包括传动轴5；
第二驱动单元4的固定端与传动轴5连接，第二驱动单元4的运动端与所述固定单元7固定连接，其中，第二驱动单元4的运动端是指驱动固定单元7转动的一端，第二驱动单元4的运动端是第二驱动单元的定子或者转子。
所述传动轴5的一端与固定单元7可转动地连接。
本实施方式中，所述拍摄装置还包括固定板10，固定板10与固定单元7固定连接；传动轴5与所述固定板10可转动地连接。
所述动力系统包括第三驱动单元6；第三驱动单元6的运动端与传动轴5连接，第三驱动单元6的固定端与连接轴3连接，其中，第三驱动单元6的运动端是指驱动传动轴5转动的一端，第三驱动单元6的运动端是第三 驱动单元6的定子或转子。
本实施方式中，第二驱动单元4的定子固定在固定单元上，转子连接在传动轴5上，因此，当第二驱动单元4的定子转动时，由于传动轴5受到连接轴3的限制无法转动，因此，反方向带动第二驱动单元4的定子转动，从而带动固定单元一起转动，进而驱动所述拍摄单元做出角度调整；而第三驱动单元6的转子转动时会驱动传动轴5做出翻滚运动，由于传动轴5与固定单元连接，因此，可驱动所述固定单元一起做翻滚调节。本实施例中，第一驱动单元、第二驱动单元及第三驱动单元为电动马达，运动端为电动马达的转子，固定端为电动马达的定子。
所述第二驱动单元4的转动轴线与第三驱动单元6的转动轴线相互垂直。
所述拍摄单元9相对于由所述第二驱动单元4的转动轴线与第三驱动单元6的转动轴线构成的平面向下倾斜。这样，可尽量减少固定单元对拍摄单元的遮挡，保证拍摄效果为最佳。
所述固定单元7为正六边形的框架，拍摄单元9的数目为3个，任意两个拍摄单元9的轴线之间的角度为120度。除此之外，拍摄单元还可以为两个、四个、五个或更多个。
所述固定单元7上固定有控制板8，所述控制板8上设有用于控制动力系统及拍摄单元9的控制电路。除此之外，控制板8也可以设置在其他位置，如底座上。
所述拍摄单元9的外侧还设有保护罩。保护罩可对拍摄单元进行保护，避免损坏。
本申请的工作工程如下：
当需要调整角度时，控制板发出控制信号，控制第一、第二、第三驱动单元转动，从而带动固定单元绕连接轴和/或传动轴和/或第三驱动单元转轴转动，因此，固定单元可在三个互相垂直的方向上进行转动，将本申请应用于无人机进行全景拍摄时，当飞机机身倾斜时，通过调整第二、第三驱动单元使固定单元始终处于水平状态，从而获得稳定的拍摄画面。当飞机机身旋转时，通过调整第一驱动单元使固定单元始终处于静止状态，从而获得稳定的拍摄画面。
实施例2：
一种无人机，包括机身及实施例1的拍摄装置。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本申请创造的保护范围之中。

Claims (17)

  1. 一种拍摄装置，其特征在于，包括：
    多个拍摄单元(9)；
    固定单元(7)，用于固定所述多个拍摄单元(9)；
    动力系统，用于驱动所述固定单元(7)转动。
  2. 根据权利要求1所述的拍摄装置，其特征在于，还包括连接轴(3)，所述连接轴(3)的一端与所述固定单元(7)连接。
  3. 根据权利要求2所述的拍摄装置，其特征在于，所述动力系统包括第一驱动单元(2)，第一驱动单元(2)的运动端与连接轴(3)连接，其中，第一驱动单元(2)的运动端是指驱动连接轴(3)转动的一端。
  4. 根据权利要求3所述的拍摄装置，其特征在于，第一驱动单元(2)的运动端是第一驱动单元(2)的定子或者转子。
  5. 根据权利要求3或4所述的拍摄装置，其特征在于，所述拍摄装置还包括底座(1)，第一驱动单元(2)的固定端与底座(1)或其他外部设备连接。
  6. 根据权利要求1-5中任一所述的拍摄装置，其特征在于，所述动力 系统包括第二驱动单元(4)，所述拍摄装置还包括传动轴(5)；
    第二驱动单元(4)的固定端与传动轴(5)连接，第二驱动单元(4)的运动端与所述固定单元(7)固定连接，其中，第二驱动单元(4)的运动端是指驱动固定单元(7)转动的一端。
  7. 根据权利要求6所述的拍摄装置，其特征在于，第二驱动单元(4)的运动端是第二驱动单元的定子或者转子。
  8. 根据权利要求6或7所述的拍摄装置，其特征在于，传动轴(5)的一端与固定单元(7)可转动地连接。
  9. 根据权利要求8所述的拍摄装置，其特征在于，所述拍摄装置还包括固定板(10)，固定板(10)与固定单元(7)固定连接；
    传动轴(5)与所述固定板(10)可转动地连接。
  10. 根据权利要求1-9中任一所述的拍摄装置，其特征在于，所述动力系统包括第三驱动单元(6)；
    第三驱动单元(6)的运动端与传动轴(5)连接，第三驱动单元(6)的固定端与连接轴(3)连接，其中，第三驱动单元(6)的运动端是指驱动传动轴(5)转动的一端。
  11. 根据权利要求10所述的拍摄装置，其特征在于，第三驱动单元(6) 的运动端是第三驱动单元(6)的定子或转子。
  12. 根据权利要求10或11所述的拍摄装置，其特征在于，所述第二驱动单元(4)的转动轴线与第三驱动单元(6)的转动轴线相互垂直。
  13. 根据权利要求10-12中任一所述的拍摄装置，其特征在于，拍摄单元(9)相对于由所述第二驱动单元(4)的转动轴线与第三驱动单元(6)的转动轴线构成的平面向下倾斜。
  14. 根据权利要求1-13中任一所述的拍摄装置，其特征在于，所述固定单元(7)为正六边形的框架，拍摄单元(9)的数目为3个，任意两个拍摄单元(9)的轴线之间的角度为120度。
  15. 根据权利要求1-14中任一所述的拍摄装置，其特征在于：所述固定单元(7)上固定有控制板(8)，所述控制板(8)上设有用于控制动力系统及拍摄单元(9)的控制电路。
  16. 根据权利要求1-15中任一项所述的拍摄装置，其特征在于，所述拍摄单元(9)的外侧还设有保护罩。
  17. 一种无人机，其特征在于，包括机身，以及如权利要求1至16任一项所述的拍摄装置。
PCT/CN2017/096238 2016-10-09 2017-08-07 一种拍摄装置及包括其的无人机 Ceased WO2018064918A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/136,785 US20190031369A1 (en) 2016-10-09 2018-09-20 Photographing device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610885478.6 2016-10-09
CN201610885478.6A CN106257126B (zh) 2016-10-09 2016-10-09 一种拍摄装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/136,785 Continuation-In-Part US20190031369A1 (en) 2016-10-09 2018-09-20 Photographing device

Publications (1)

Publication Number Publication Date
WO2018064918A1 true WO2018064918A1 (zh) 2018-04-12

Family

ID=57714255

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/096238 Ceased WO2018064918A1 (zh) 2016-10-09 2017-08-07 一种拍摄装置及包括其的无人机

Country Status (3)

Country Link
US (1) US20190031369A1 (zh)
CN (1) CN106257126B (zh)
WO (1) WO2018064918A1 (zh)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106257126B (zh) * 2016-10-09 2018-07-06 深圳市道通智能航空技术有限公司 一种拍摄装置
CN106594466B (zh) * 2017-01-23 2019-02-26 杭州在现科技有限公司 一种全景云台
CN106678517B (zh) * 2017-01-23 2019-02-26 杭州在现科技有限公司 一种用于虚拟现实影视制作的稳拍系统
CN107340672A (zh) * 2017-04-25 2017-11-10 广州市红鹏直升机遥感科技有限公司 一种用于航空器的单镜头倾斜摄影装置
CN108869974B (zh) * 2017-05-09 2024-07-09 浙江凡后科技有限公司 一种基于多摄像头图像分析处理的智能云台
CN108995820B (zh) * 2017-06-07 2020-09-11 深圳市道通智能航空技术有限公司 云台、具有该云台的拍摄装置及无人机
CN111684530B (zh) * 2017-09-21 2022-05-24 沙尔沃夏威夷有限责任公司 稳定摄像机系统
CN108082514A (zh) * 2017-12-23 2018-05-29 中山市得高行知识产权中心（有限合伙） 一种基于多摄像头的无人机航拍云台
CN108761992B (zh) * 2018-08-10 2024-06-28 杭州在现科技有限公司 一种内置稳定器的3d全景相机
CN109367806A (zh) * 2018-11-30 2019-02-22 海南赛博地理信息技术有限公司 无人机倾斜摄影用三相机(或镜头)朝向布局
CN110855860B (zh) * 2019-10-17 2021-11-19 希尔芙网络科技有限公司 一种企业办公用的智能摄像头
WO2021168821A1 (zh) * 2020-02-28 2021-09-02 深圳市大疆创新科技有限公司 可移动平台的控制方法和设备
CN113566063A (zh) * 2021-07-23 2021-10-29 杭州海康威视数字技术股份有限公司 云台摄像机
CN113946082B (zh) * 2021-12-16 2022-03-15 惠博新型材料有限公司 一种具有补光功能的多角度摄影测量装置
CN115598074B (zh) * 2022-11-02 2023-08-25 吉林省信息技术研究所 监测设备遥控多角度扫描装置

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8140200B2 (en) * 2006-11-09 2012-03-20 Insitu, Inc. Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods
CN103754379A (zh) * 2014-01-22 2014-04-30 徐鹏 一种多镜头航空的自动摄影稳定平台
CN103754380A (zh) * 2014-01-23 2014-04-30 徐鹏 一种多镜头航空摄影稳定平台
CN104168460A (zh) * 2014-08-24 2014-11-26 武汉华中天经光电系统有限公司 一种轻型机载三轴稳定影像装置
CN105438490A (zh) * 2015-12-04 2016-03-30 厦门睿航精密科技有限公司 无人机的长焦距相机大角度头部追踪增稳云台结构
CN205345353U (zh) * 2016-01-26 2016-06-29 上海伯镭智能科技有限公司 一种并联搭载微型红外热像仪与运动相机的云台
CN105882994A (zh) * 2016-05-26 2016-08-24 南京奇蛙智能科技有限公司 一种全景相机三轴云台
CN106257126A (zh) * 2016-10-09 2016-12-28 深圳市道通智能航空技术有限公司 一种拍摄装置
CN206439578U (zh) * 2016-10-09 2017-08-25 深圳市道通智能航空技术有限公司 一种拍摄装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7510155B2 (en) * 2007-07-02 2009-03-31 Shian-Nung Huang Single spring supporting device
CN203593169U (zh) * 2013-09-29 2014-05-14 国网山西省电力公司太原供电公司 航拍无人机
CN106029501B (zh) * 2014-12-23 2019-05-14 深圳市大疆灵眸科技有限公司 Uav全景成像
CN104880177A (zh) * 2015-06-23 2015-09-02 赵国梁 一种多角度无人航测系统

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8140200B2 (en) * 2006-11-09 2012-03-20 Insitu, Inc. Turret assemblies for small aerial platforms, including unmanned aircraft, and associated methods
CN103754379A (zh) * 2014-01-22 2014-04-30 徐鹏 一种多镜头航空的自动摄影稳定平台
CN103754380A (zh) * 2014-01-23 2014-04-30 徐鹏 一种多镜头航空摄影稳定平台
CN104168460A (zh) * 2014-08-24 2014-11-26 武汉华中天经光电系统有限公司 一种轻型机载三轴稳定影像装置
CN105438490A (zh) * 2015-12-04 2016-03-30 厦门睿航精密科技有限公司 无人机的长焦距相机大角度头部追踪增稳云台结构
CN205345353U (zh) * 2016-01-26 2016-06-29 上海伯镭智能科技有限公司 一种并联搭载微型红外热像仪与运动相机的云台
CN105882994A (zh) * 2016-05-26 2016-08-24 南京奇蛙智能科技有限公司 一种全景相机三轴云台
CN106257126A (zh) * 2016-10-09 2016-12-28 深圳市道通智能航空技术有限公司 一种拍摄装置
CN206439578U (zh) * 2016-10-09 2017-08-25 深圳市道通智能航空技术有限公司 一种拍摄装置

Also Published As

Publication number Publication date
CN106257126B (zh) 2018-07-06
CN106257126A (zh) 2016-12-28
US20190031369A1 (en) 2019-01-31

Similar Documents

Publication Publication Date Title
WO2018064918A1 (zh) 一种拍摄装置及包括其的无人机
US9413930B2 (en) Camera system
CN108235702A (zh) 一种云台、无人机及其控制方法
CN105684415A (zh) 球面全景视频拍摄系统
WO2019153821A1 (zh) 一种云台及无人飞行器
CN205726061U (zh) 航拍系统
CN204929093U (zh) 一种360度全景车载高清监控摄像机
CN107108043A (zh) 无人飞行器及无人飞行器航拍方法
US11254444B2 (en) Gimbal, photographing apparatus having same, and unmanned aerial vehicle
CN206202711U (zh) 一种云台及无人机
WO2018149182A1 (zh) 一种云台及无人飞行器
CN105599914A (zh) 一种云台
CN105915772A (zh) 一种室内全景数据采集小车
CN103123440A (zh) 360全景拍摄设备
CN106477028A (zh) 飞行器及其脚架结构
CN205792907U (zh) 一种室内全景数据采集小车
CN202166824U (zh) 360全景拍摄设备
WO2018112907A1 (zh) 云台结构及无人机
CN108121146B (zh) 全景扫描装置
CN107124534B (zh) 一种三轴云台、拍摄设备、拍摄系统及无人拍摄系统
CN210725068U (zh) 智能摄影系统
WO2018219006A1 (zh) 一种云台组件及具有此云台组件的无人机
CN202025184U (zh) 一种360度全景拍摄设备
WO2017206424A1 (zh) 云台及包括该云台的拍摄装置
CN206439578U (zh) 一种拍摄装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17857799

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17857799

Country of ref document: EP

Kind code of ref document: A1