WO2018082058A1 - Véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote Download PDF

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Publication number
WO2018082058A1
WO2018082058A1 PCT/CN2016/104767 CN2016104767W WO2018082058A1 WO 2018082058 A1 WO2018082058 A1 WO 2018082058A1 CN 2016104767 W CN2016104767 W CN 2016104767W WO 2018082058 A1 WO2018082058 A1 WO 2018082058A1
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WO
WIPO (PCT)
Prior art keywords
damper
plate
pan
heading
tilt
Prior art date
Application number
PCT/CN2016/104767
Other languages
English (en)
Chinese (zh)
Inventor
张正力
潘相熙
常松涛
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to CN201680028702.8A priority Critical patent/CN108290641B/zh
Priority to PCT/CN2016/104767 priority patent/WO2018082058A1/fr
Publication of WO2018082058A1 publication Critical patent/WO2018082058A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/30—Constructional aspects of UAVs for safety, e.g. with frangible components

Definitions

  • the invention relates to the technical field of drone design, in particular to a drone.
  • the PTZ is widely used in the field of UAV photography.
  • the common UAV aerial photography system adopts the under-mounted PTZ.
  • the PTZ is located below the UAV.
  • the PTZ adjusts the shooting angle of the UAV to achieve the best. Shooting effect.
  • the combination mode is relatively simple, and can only be hung under the drone.
  • the center of gravity of the drone is turned down, and on the other hand, the setting of the camera device is limited.
  • the shooting angle, the number of camera devices, etc. especially when shooting AR (Augmented Reality)/VR (Virtual Reality) video, the shooting angle is very high, and the existing drone has already Can not meet the needs of the current shooting.
  • the embodiments of the present invention provide a cloud platform and a drone, which solve the problem that the connection structure of the UAV and the PTZ existing in the prior art is unreasonable.
  • the embodiment of the invention provides a drone, comprising: a machine body and a cloud platform, wherein the machine body forms a machine cavity, and the cloud platform is located in the machine cavity and is connected to the machine body.
  • the present invention has the beneficial effects that the present invention can solve the problem that the connection structure of the UAV and the PTZ connection in the prior art is unreasonable by placing the PTZ in the machine cavity. Make the pan/tilt structure more compact and adapt to different application scenarios and shooting needs.
  • FIG. 1 is a drone according to a first embodiment of the present invention
  • FIG. 2 is a disassembled diagram of a drone according to a first embodiment of the present invention
  • FIG. 3 is a disassembled diagram of a two-axis unmanned aerial vehicle according to Embodiment 1 of the present invention.
  • Figure 5 is a drone according to a second embodiment of the present invention.
  • FIG. 6 is a disassembled diagram of a drone according to a second embodiment of the present invention.
  • Figure 8 is a drone according to a third embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a UAV pan/tilt provided by Embodiment 3 of the present invention.
  • FIG. 10 is a disassembled diagram of a drone according to a third embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a drone with an imaging device according to a third embodiment of the present invention.
  • Second damping device 603 First shock plate 1103 Camera 321 Damping plate 6031 Connection hole 12 Damping device 322 Damping plate 6032 Damping plate 1201 Damping plate 323 Damping plate 6033 Damping plate 1202 Damping plate 324 Damping plate 6034 Damping plate 1203 Damping plate 325 Second shock plate 6035 Damping plate 1204 Damping plate 4 Mount 7 Yuntai 1205 Damping plate 43 Camera 701 First support arm 1206 Fixed axis 44 Mounting holes 702 Second support arm 1207 Fixed axis 5 Body 703 Heading axis 1208 Fixed axis 501 Upper cover 704 Heading motor 1209 Fixed axis 5011 Fixed axis 705 Pitch motor 1210 Fixed axis 502 lower lid 8 Mount 1211 Fixed axis
  • the "fixed connection” described in the following embodiments may be fixed by welding or screwing or the like.
  • active connection means that the two components are relatively rotatable.
  • a and/or B refers to one of the following three cases: A, B, A, and B.
  • the embodiment 1 of the present invention provides a drone, as shown in FIG. 1-3, the drone includes a body 2, a pan/tilt 1, and a cavity 203 is formed inside the body 2, and the pan/tilt 1 is located at the machine Inside the cavity 203, it is connected to the body 2.
  • the embodiment of the invention creatively places the gimbal 1 inside the machine cavity of the drone, and subtly adjusts the relationship between the UAV and the pan/tilt in the traditional mode, and on the other hand changes the center of gravity of the drone, which can be better. Adapt to the attitude control of the drone. On the other hand, by placing the gimbal inside the body, the combination of the drone and the pan/tilt is made more compact, reducing the overall volume. At the same time, it also provides more space for the subsequent camera settings.
  • connection between the pan/tilt 1 and the body 2 is various.
  • the pan/tilt head 1 is connected to the damper device 3, and the damper device 3 is connected to the outer side of the body 2. That is, the damper device 3 is located outside the machine cavity 203.
  • the pan/tilt head 1 When the pan/tilt 1 is a three-axis pan/tilt head, as shown in FIG. 2, the pan/tilt head 1 includes a first support arm 101, a second support arm 102, a heading axis 103, a heading motor 104, a pitch motor 105, and a rollover motor. 106 and the roll shaft connecting arm 107.
  • the stator of the pitch motor 105 is fixedly coupled to the second support arm 102, and the rotor of the pitch motor 105 is fixedly coupled to the roll shaft connecting arm 107.
  • the rotor of the roll motor 106 is fixedly coupled to the heading shaft 103, and the stator of the roll motor 106 is fixedly coupled to the roll shaft connecting arm 107.
  • the rotor of the heading motor 104 is fixedly coupled to the heading shaft 103, and the stator of the heading motor 104 is fixedly coupled to other equipment such as a drone or a damper.
  • the damper device 3 includes a first damper device 31, and the first damper device 31 includes a damper plate 315 and a damper fixing plate 311-314.
  • the damper plate 315 and the stator of the heading motor 104 are fixedly connected.
  • the first damper device 31 is fixedly coupled to the body 2 via the damper fixing pieces 311-314.
  • the damper plate 315 and the heading shaft 103 are fixedly connected, and the damper plate 315 is additionally One end is fixedly connected to the body 2 through the damper fixing pieces 311-314.
  • the first damper device 31 is located outside the body 2, and encloses the platform 1 in the machine cavity 203. By connecting the pan/tilt 1 and the drone 2 together by the first damper device 31, the shock absorbing effect can be better, and the vibration brought by the gimbal during the flight of the drone can be reduced, so that the gimbal can Better shooting.
  • the damper device 3 further includes a second damper device 32, and the second damper device 32 includes a second damper plate 325 and a damper fixing plate 321-324.
  • the second damper plate 325 and the heading shaft 103 of the pan/tilt head 1 are movably connected, and the second damper plate 325 is fixedly connected to the body 2 through the damper fixing pieces 321-324.
  • One side When the pan/tilt is a two-axis pan/tilt, the second damper plate 325 is fixedly coupled to the other end of the heading shaft 103.
  • the second damper device 32 is located on the other side of the first damper device 31 opposite to the corresponding body, and is fixed by the two damper devices on the upper part and the lower part of the pan/tilt.
  • the shock absorbing fixing pieces 311-314, the shock absorbing fixing pieces 321-324 may be a shock absorbing ball, and the shock absorbing ball is a spherical damper device made of silica gel.
  • the embodiment of the present invention connects the pan/tilt 1 and the drone 2 together by the damper device 3, and the upper and lower damper devices cooperate with each other to better achieve the shock absorbing effect and reduce the The vibration caused by the drone's flight makes the PTZ better able to shoot.
  • the combination of the pan/tilt 1 and the drone 2 may not pass through the damper device.
  • the pan/tilt head 1 is a three-axis pan/tilt head
  • the pan/tilt head 1 may directly connect the stator of the heading motor 104 and the body 2 to each other.
  • the pan/tilt head 1 can fix the pan/tilt head to the body 2 directly through the heading axis 103. This connection is simpler and reduces the weight of the gimbal and drone.
  • the solution of the gimbal in the machine cavity proposed by the embodiment of the present invention has no great relationship with the specific gimbal structure, and the structure of the gimbal can be adapted according to the needs of the use environment. Improvements, such as the support arm of the camera connected to the camera, can be either a single arm or both arms.
  • the drone of the first embodiment of the present invention further includes a mounting bracket 4 for mounting an image pickup device, as shown in FIG.
  • One end of the first support arm 101 is fixedly connected to the pitch motor 105, and the other end is fixedly connected to the mounting bracket 4.
  • the embodiment of the invention realizes multi-lens installation of the drone by providing the mounting bracket 4, which can help the drone realize VR multi-lens shooting.
  • the mounting bracket 4 is a cage structure, and the two ends of the first supporting arm 101 are fixedly connected to the upper and lower sides of the mounting bracket 4, respectively. This allows the drone to be placed inside the mounting frame 4, facilitating the mounting of the camera unit on the mounting frame.
  • the mounting bracket 4 is provided with a mounting hole 44 in which the imaging device 43 is placed.
  • the number of the mounting holes 44 is at least one, and the at least one mounting hole 44 is dispersedly mounted on the mounting bracket 4.
  • the design of the cage structure of the cage can also protect the drone from the other side.
  • the motor and propeller of the drone can be protected from damage.
  • the imaging device is mounted above, below, forward, rear, left, and right of the mounting frame 4, and mounting holes may be provided at all intersections, and the imaging device may be installed according to the needs of the user.
  • the mounting bracket 4 has an imaging device fixing shaft, and the imaging device fixing shaft fixes the imaging device in the mounting hole.
  • the first support arm 101 and the second support arm 102 are connected to the fixed axis of the camera device, and the pan/tilt 1 and the mounting frame 4 are fixed together to achieve the purpose of shooting at a full angle. Since a plurality of mounting holes 44 are reserved in the mounting bracket 4, the number of the mounting holes 44 is N, where N is an integer greater than or equal to 1, and the N mounting holes 44 are dispersedly mounted on the mounting bracket 4. Of course, the user can also remove the camera when it is not necessary to shoot.
  • the mounting bracket 4 can be fixedly mounted only by the first supporting arm 101, or can be fixedly mounted by the first supporting arm 101 and the second supporting arm 102 at the same time, and the second supporting arm 102 is connected by The shaft is fixedly coupled to the pitch motor 105 and the other end is fixedly coupled to the mounting bracket 4.
  • the first support arm 101 and the second support arm 102 are distributed on both sides of the gimbal, and the two are fixed together by the connecting shaft, so as to better serve the purpose of fixing the mounting bracket.
  • the mounting bracket is arranged in a cage shape, and on the one hand, the purpose of installing a plurality of camera devices is achieved, so that a plurality of camera devices can be distributed anywhere in the body of the drone machine.
  • the camera device can be arranged up and down, left and right, front and rear, etc., and can be installed at any position of the mounting frame as needed.
  • the mounting bracket is set to a cage shape, which can protect the drone.
  • the mounting bracket 4 may have other shapes, such as two mounting brackets, respectively located on opposite sides of the drone, respectively connected to the two ends of the first supporting arm 101 and/or the second supporting arm 102, each At least one camera device can be installed on the mounting frame, which will be specifically described in the following embodiments, and details are not described herein again.
  • Embodiment 2 of the present invention proposes another UAV, as shown in FIG. 5-7, the UAV includes a body 5 and a PTZ 7, and the UAV provided in Embodiment 1 has a difference in that the PTZ 7, and the connection between the gimbal and the drone are located inside the machine cavity.
  • the body 5 includes an upper cover 501 and a lower cover 502, and the damper device 6 includes a first damper plate 603.
  • the first damper plate 603 is fixedly coupled to the heading motor 704, and the rotor of the heading motor 704 is fixedly coupled to the heading 703.
  • the first damper plate 603 is fixedly coupled to one end of the heading shaft 703.
  • the damper device 6 further includes a damper fixing piece 6032-6035 and a connecting hole 6031.
  • the connecting hole 6031 and the stator of the heading motor 704 are fixedly connected.
  • the pan/tilt head 7 is a two-axis pan/tilt head, that is, when there is no heading motor 704, the connecting hole 6031 and the heading axis 703 are fixedly connected.
  • the first damper plate 603 is coupled to the body 5.
  • the first damper plate 603 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.
  • the drone further includes a second shock absorbing plate 601.
  • the pan/tilt head is a three-axis pan/tilt head
  • the pan/tilt head includes a heading motor 704
  • the first dampening plate 603 is fixedly coupled to the stator of the heading motor 704
  • the second dampening plate 601 is rotatably movable through the connecting hole 6011 and the heading axis 703.
  • the pan/tilt head is a two-axis pan/tilt head
  • the pan/tilt head does not include a heading motor
  • the first dampening plate 603 is fixedly connected with the heading axis 703
  • the second dampening plate 601 is also fixedly connected with the heading axis 703.
  • the second damper plate 601 is coupled to the body 5.
  • the second damper plate 601 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.
  • the UAV 5 further includes a vibration isolation plate 602.
  • the vibration isolation plate 602 is located between the first vibration absorption plate 603 and the second vibration absorption plate 601 to serve as a vibration isolation function. They are respectively fixed on the vibration isolation plate 602.
  • one of the damping plates can be directly fixed to the body, and the other damping plate is directly fixed to the vibration isolating plate 602.
  • the vibration isolation plate 602 includes a fixed shaft 6021-6024, and the vibration isolation plate 602 is connected to the body 5 through the fixed shaft 6021-6024.
  • the vibration isolation plate 602 may be directly fixed to the upper cover 501, or may be directly fixed to the lower cover 502, or may be fixed to the upper cover 501 and the lower cover 502 at the same time.
  • the combination of the pan/tilt 7 and the body 5 may not pass through the damper device.
  • the stator of the heading motor 704 in the pan/tilt head 7 is fixedly connected to the body 5.
  • the pan/tilt head 7 can fix the pan/tilt head to the body 5 directly through the heading axis 703. The latter connection is simpler, reducing the weight of the gimbal and drone. It is also possible to place the connecting device inside the machine cavity, which will not be described here.
  • the pan/tilt is fixed inside the fuselage by a flat pan/tilt fixing method, and at the same time, the fixing component is also hidden inside the fuselage, and the volume of the fuselage is fully utilized, so that The drone is more compact and its center of gravity is more balanced.
  • the damping device by increasing the damping device, the vibration of the gimbal relative to the drone is reduced, and the effect of the drone shooting can be better improved.
  • the drone includes a mounting bracket 8.
  • the gimbal is fixedly connected to the mounting bracket 8 by a support arm.
  • the support arm comprises at least one of the following: a first support arm 101 and a second support arm 102.
  • the mounting bracket 8 in the embodiment of the present invention is significantly different from the mounting bracket 4 in the first embodiment.
  • there are two mounting brackets which are respectively installed on both sides of the body.
  • the two mounting brackets 8 are respectively mounted on both sides of the body through the support arms.
  • Each mounting bracket includes one or more mounting holes 81-82, each of which can mount one or more camera devices. In this way, multi-lens shooting is achieved, which satisfies the shooting requirements of VR content.
  • the installation manner of the pan/tilt 7 and the mounting bracket 8 can be various.
  • the mounting bracket 8 can be fixed on the first supporting arm 101 and the second supporting arm 102 of the pan/tilt head 7, or can be fixed only in the first A support arm 101 or a second support arm 102.
  • the mounting bracket may be provided only on one side (for example, the upper side or the lower side of the body) as needed, and the number of the mounting brackets is one. In addition, the number of camera units in the mount can also be adjusted.
  • the connecting parts of the gimbal and the drone (such as the damping device) are placed inside the body to make full use of the volume of the fuselage, making the drone more compact and the flying center of gravity more balanced.
  • the camera units can be installed in front, back, left and right, up and down, respectively, to achieve full-angle panoramic shooting, which solves the problem of VR shooting.
  • Embodiment 3 of the present invention proposes another drone, as shown in Figures 8-11.
  • the drone includes a body 9 and a platform 10, and the platform 10 is fixedly coupled to the body 9 by a damper device 12.
  • the pan/tilt head 10 is a two-axis pan/tilt head, and includes a third support arm 1001, a first motor 1003, a second motor 1005, a fourth support arm 1002, a fifth support arm 1004, a first fixing plate 1006 and a second fixing plate. 1007.
  • the third support arm 1001 and the fourth support arm 1002 are fixedly connected, and the fourth support arm 1002 is fixedly connected to the rotor of the first motor 1003.
  • the stator of the first motor 1003 and the fifth support arm 1004 are fixedly coupled.
  • the rotor of the second motor 1005 and the fifth support arm 1004 are fixedly connected.
  • the stator of the second motor 1005 and the first fixing plate 1006 are fixedly connected, and the first fixing plate 1006 and the damper device 12 are fixedly connected.
  • One end of the fifth support arm 1004 opposite to the second motor 1005 is movably connected to the second fixing plate 1007, and the second fixing plate 1007 is fixedly connected to the damper device 12.
  • the damper device 12 includes a damper plate 1201-1203, a damper fixing piece 1204-1205, and a fixed shaft 1206-1211.
  • the damper device 12 and the second motor 1005 are fixedly coupled together by a first fixing plate 1006.
  • the second fixing plate 1007, the second fixing plate 1007 and the fifth may be added.
  • the support arm 1004 is movably connected and fixedly coupled to the damper device 12.
  • the damping plates are at least two.
  • the shock absorbing fixing piece may be a shock absorbing ball, and the shock absorbing ball is a spherical damper device made of silica gel.
  • the damper plates are held together by a shock absorbing tab.
  • the body 9 includes an upper cover 901 and a lower cover 902, and the damper plate 12 is fixed to the upper cover 901 or the lower cover 902. Of course, for the sake of security, it can also be fixed to the upper cover 901 and the lower cover 902 at the same time.
  • the fixed shafts 1206-1211 are respectively disposed on the side of the damper plate and the lower booklet, and the damper device 12 is fixed inside the body 9 through the fixed shafts 1206-1211.
  • the damper device 12 can also adopt the damper device mentioned in Embodiment 2, such as adding a vibration isolating plate, changing the damper device into a circular shape, etc., and the same applies in this embodiment. I will not repeat them here.
  • pan/tilt head 10 and the drone 9 may not pass through the damper device.
  • the stator of the second motor 1005 in the pan/tilt 10 can be directly fixed to the body 9. This connection is simpler and reduces the weight of the pan/tilt and drone.
  • the drone further includes a mounting bracket 11.
  • the mounting bracket 11 includes an image pickup device 1103 and mounting holes 1101-1102 for mounting the image pickup device 1103.
  • the mounting bracket 11 includes one or more mounting holes 1101-1102 that are dispersedly mounted on the mounting bracket.
  • the number of mounting brackets 11 is two, and the two mounting brackets are fixedly coupled to the support arms 1001, respectively.
  • the two mounting brackets are respectively located at two sides of the body 9.
  • the mounting bracket 11 of the embodiment of the present invention may also adopt the mounting brackets mentioned in Embodiment 1 and Embodiment 2.
  • the PTZ and The drones are located inside the mounting bracket.
  • the embodiment of the invention adopts a two-axis pan/tilt head, and uses a support arm to be fixedly connected with the mounting frame.
  • the implementation is relatively simple. Setting up multiple mounting brackets can also achieve multi-lens shooting, which better meets the needs of VR video shooting.
  • the gimbal is fixed inside the drone through the shock absorbing device, fully utilizing the volume of the fuselage, making the drone more compact, and the flying center of gravity is more balanced.
  • the problem that the connection mode between the airframe and the pan/tilt existing in the prior art is unreasonable can be well solved.
  • the technical solution proposed by the embodiment of the invention makes the structure of the pan/tilt more compact, and can adapt to the unused application scenarios and shooting requirements.
  • the UAV provided by the embodiment of the invention realizes simultaneous multi-lens shooting, can better perform VR video shooting, and solves the problem that the VR video shooting in the prior art is difficult.

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  • Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote comprenant un corps de véhicule (2, 5, 9), un panoramique horizontal-vertical (1, 7, 10), une cavité de véhicule (203, 503, 903) étant formée à l'intérieur du corps de véhicule (2, 5, 9) et le panoramique horizontal-vertical (1, 7, 10) étant situé à l'intérieur de ladite cavité (203, 503, 903) et relié audit corps (2, 5, 9). En plaçant l'inclinaison panoramique (1, 7, 10) à l'intérieur de la cavité du véhicule (203, 503 903), le problème de connexion non raisonnable entre le véhicule aérien sans pilote et l'inclinaison panoramique (1, 7, 10) peut être résolu, et la structure de l'inclinaison panoramique (1, 7, 10) est plus compacte et peut être adaptée à divers scénarios d'application et exigences de tournage.
PCT/CN2016/104767 2016-11-04 2016-11-04 Véhicule aérien sans pilote WO2018082058A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680028702.8A CN108290641B (zh) 2016-11-04 2016-11-04 一种无人机
PCT/CN2016/104767 WO2018082058A1 (fr) 2016-11-04 2016-11-04 Véhicule aérien sans pilote

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Application Number Priority Date Filing Date Title
PCT/CN2016/104767 WO2018082058A1 (fr) 2016-11-04 2016-11-04 Véhicule aérien sans pilote

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WO2018082058A1 true WO2018082058A1 (fr) 2018-05-11

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CN109159905A (zh) * 2018-10-31 2019-01-08 上海歌尔泰克机器人有限公司 一种云台及具有该云台的无人机

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CN108290641B (zh) 2021-12-17

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