WO2018112907A1 - 云台结构及无人机 - Google Patents

云台结构及无人机 Download PDF

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Publication number
WO2018112907A1
WO2018112907A1 PCT/CN2016/111776 CN2016111776W WO2018112907A1 WO 2018112907 A1 WO2018112907 A1 WO 2018112907A1 CN 2016111776 W CN2016111776 W CN 2016111776W WO 2018112907 A1 WO2018112907 A1 WO 2018112907A1
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WIPO (PCT)
Prior art keywords
mirror
drive assembly
pan
driving
assembly
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PCT/CN2016/111776
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English (en)
French (fr)
Inventor
孙旭斌
杨豪
霍达君
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201680003327.1A priority Critical patent/CN107077049A/zh
Priority to PCT/CN2016/111776 priority patent/WO2018112907A1/zh
Publication of WO2018112907A1 publication Critical patent/WO2018112907A1/zh

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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
    • 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
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/17—Bodies with reflectors arranged in beam forming the photographic image, e.g. for reducing dimensions of camera
    • 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

Definitions

  • the invention relates to the field of drones, in particular to a gimbal structure and a drone.
  • the drone can be used in aerial photography, surveying, plant protection, detection, disaster relief and other industries.
  • the structure usually consists of a central frame, a power system, a landing gear, etc., and is equipped with flight control, image transmission and other microcomputer equipment. Do the homework.
  • UAV aerial photography because the drone flight amplitude is large, if the camera is directly hung on the drone, it will cause problems such as sharp video jitter, blurred photos, and poor quality.
  • a pan/tilt is usually added between the camera and the drone to stabilize the shot.
  • each axis of the UAV's pan/tilt mounts the camera through the arm.
  • the weight of the three axes is: one axis supports the camera plus the weight of the two arm motors, and one axis supports the camera plus one arm motor. Weight, one axis supports the weight of the camera.
  • the weight of the lever of the force arm is at the long arm end of the lever, which causes the motor of the gimbal to require greater power and greater torque, making the gimbal heavier and consumes more power. Big. Due to the presence of the force arm and the large motor, the size of the entire pan/tilt is also large, which will affect the portability and the time of the drone.
  • the invention provides a cloud platform structure and a drone.
  • a pan/tilt structure including a pan-tilt bracket and a mirror mounted on the pan-tilt bracket.
  • the pan-tilt bracket is for fixing the camera and causing the camera to face the mirror; the mirror is mounted on the pan-tilt bracket with at least two degrees of rotational freedom.
  • a drone including a fuselage, further includes a pan/tilt structure, the pan-tilt structure including a pan-tilt bracket, a mirror mounted on the pan-tilt bracket, and the cloud
  • the stage stand is for fixing the camera and causing the camera to face the mirror; the mirror is mounted on the platform support with at least two degrees of rotational freedom.
  • the technical solution provided by the embodiment of the present invention may include the following effects: the pan-tilt structure is provided with a mirror, the camera is photographed by a virtual image in the mirror, and the mirror is implemented by the first driving component and the second driving component.
  • the degree of freedom of rotation Since the fixed setting of the camera does not need to be rotated, the installation space for driving the camera mechanism and its auxiliary lines are saved, the weight of the gimbal structure is reduced, and the volume of the gimbal structure is reduced.
  • the camera and the mirror of the pan-tilt structure have the same vibration direction and amplitude, eliminating the problem of shooting jitter.
  • FIG. 1 is a schematic view of a drone shown in a first embodiment of the present invention.
  • FIG. 2 is a schematic view of a drone according to a second embodiment of the present invention.
  • Fig. 3 is a schematic view of a drone according to a third embodiment of the present invention.
  • FIG. 4 is a schematic view of a drone according to a fourth embodiment of the present invention.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as second information without departing from the scope of the present disclosure.
  • second information may also be referred to as first information.
  • word "if” as used herein may be interpreted as "when” or “when” or “in response to a determination.”
  • the present application provides a drone 200 including a fuselage 1 and a pan-tilt structure 100 .
  • the pan-tilt structure 100 includes a pan-tilt bracket and a mirror 5 mounted on the pan-tilt bracket.
  • the pan-tilt bracket 1 is used to fix the camera 6 and causes the camera 6 to face the mirror 5.
  • the mirror is mounted on the platform support 1 with at least two degrees of rotational freedom.
  • the pan/tilt bracket is fixedly connected to the body 1 or integrally provided with the body 1 .
  • the pan-tilt structure 100 can be consistent with the vibration direction and amplitude of the fuselage 1 at any time, and the mirror 5 disposed on the pan-tilt bracket 1 and the camera 6 also vibrate at any time. The direction and magnitude are the same. Therefore, the virtual image reflected inside the mirror 5 can be photographed by the photographer 6 as a high quality photograph.
  • the driving mechanism force arm motor
  • the weight of the arm motor is reduced at least compared with the existing pan-tilt structure.
  • energy consumption and installed installation volume The weight of the gimbal structure 100 and the power consumption of the gimbal structure 100 are reduced, and the pan-tilt structure 100 is reduced.
  • the volume which in turn reduces the weight of the drone, increases the drone time of the drone.
  • the body 1 is directly connected to the platform structure 100, and the body 1 is integrally provided with the platform bracket.
  • the camera 6 is fixed to the body 1, and the mirror 5 is mounted on the body 1.
  • the drone 200 further includes a mounting bracket 7 through which the fuselage 1 and the pan/tilt structure 100 are coupled.
  • the camera 6 is fixed on the mounting bracket 7, and the mirror 5 is mounted on the mounting bracket 7, the mounting bracket 7 is directly connected to the body 1, and the mounting bracket 7 transmits the The body 1 and the vibration direction and amplitude of the body 1 transmit the vibration direction and amplitude to the mirror 5 and the illustrated camera 6.
  • pan/tilt bracket includes a first drive assembly 3 and a second drive assembly 4; the mirror 5 is coupled to the first drive assembly 3 or the second drive assembly 4.
  • the mounting bracket 7 when the fuselage 1 is directly connected to the pan-tilt structure 100, it is not necessary to provide the mounting bracket 7.
  • the mirror 5 is coupled to the first drive assembly 3, the second drive assembly 4 is coupled to the body 1, and the second drive assembly 4 is configured to drive the first drive assembly 3 to rotate.
  • the first driving member 3 and the second driving member 4 can drive different rotational degrees of freedom to ensure that the mirror 6 driven by the two has a plurality of degrees of freedom to take a virtual image.
  • the first driving component 3 includes a first motor for driving the mirror 5 to rotate left and right
  • the second driving component 4 includes a driving unit 3 for driving the first driving component 3 .
  • a second motor that rotates in the up and down direction.
  • the first driving member 3 is a heading shaft assembly, and is directly connected to the mirror 5, and includes a first motor that drives the mirror 5 to rotate in the left-right direction.
  • the second drive assembly 4 is a pitch axis assembly coupled to the heading shaft assembly, and includes a second motor that drives the heading shaft assembly to rotate up and down. It can be seen that the second motor drives the first motor to rotate in the up and down direction, and the mirror 5 connected to the first motor also rotates in the up and down direction; the first motor drives the mirror 5 to rotate in the left and right direction, and then realizes The mirror 5 rotates in four directions of up, down, left, and right.
  • the camera 6 directly captures the virtual image in the mirror 5, and multi-angle shooting can be realized without driving the camera 6 to rotate.
  • the second driving component 4 includes a third motor for driving the mirror 5 to rotate up and down, and the first driving component 3 includes driving the second driving component 4 to rotate left and right.
  • the fourth motor is a third motor for driving the mirror 5 to rotate up and down, and the first driving component 3 includes driving the second driving component 4 to rotate left and right.
  • the second driving assembly 4 is a pitch axis assembly directly connected to the mirror 5, and includes a third motor that drives the mirror 5 to rotate in the up and down direction.
  • the first drive assembly 3 is a heading shaft assembly coupled to the pitch axis assembly, and the fourth motor included in the heading shaft assembly drives the pitch axis assembly to rotate in a left-right direction.
  • the fourth motor drives the third motor to rotate in the left-right direction, and the mirror 5 connected to the third motor also rotates in the left-right direction; the third motor drives the mirror 5 to rotate in the up-and-down direction, and then realizes
  • the mirror 5 rotates in four directions of up, down, left, and right.
  • the camera 6 directly captures the virtual image in the mirror 5, and multi-angle shooting can be realized without driving the camera 6 to rotate.
  • the mounting bracket 7 may employ a rigid bracket.
  • the mirror 5 is connected to the mounting bracket 7 via the first driving assembly 3
  • the second driving assembly 4 is connected to the body 1, and the second driving assembly 4 is used to drive the mounting bracket 7 turns.
  • the first driving component 3 includes a fifth motor for driving the mirror 5 to rotate left and right
  • the second driving component 4 includes a driving unit 7 for driving the mounting bracket 7 to rotate up and down.
  • the sixth motor is a fifth motor for driving the mirror 5 to rotate left and right
  • the second driving component 4 includes a driving unit 7 for driving the mounting bracket 7 to rotate up and down.
  • the first driving member 3 is a heading shaft assembly which is respectively connected to the mounting bracket 7 and the mirror 5, and can transmit the vibration direction and amplitude of the mounting bracket 7 to the mirror 5.
  • the second drive assembly 4 is a pitch axis assembly that is coupled to the body 1 for transmitting the direction and magnitude of vibration of the body 1 to the mounting bracket 7 and driving the mounting bracket 7 to move in the up and down direction.
  • the sixth motor drives the mounting bracket 7 to rotate in a vertical direction, the fifth electric The machine and the mirror 5 rotate in the up and down direction following the mounting bracket 7; the fifth motor in turn drives the mirror to rotate in the left and right direction.
  • the rotation of the mirror 5 in the up, down, left, and right directions is then achieved.
  • the camera 6 directly captures the virtual image in the mirror 5, and multi-angle shooting can be realized without driving the camera 6 to rotate.
  • the second driving component 4 includes a seventh motor for driving the mirror 5 to rotate up and down
  • the first driving component 3 includes a first driving unit 7 for driving the mounting bracket 7 to rotate left and right. Eight motors.
  • the second driving member 4 is fixed to the mounting bracket 7 by a pitch axis assembly, which is directly connected to the mirror 5, and includes a seventh motor that drives the mirror 5 to rotate in the up and down direction.
  • the first drive assembly 3 is a heading shaft assembly that is directly coupled to the mounting bracket 7 and the fuselage 1 and includes an eighth motor for driving the mounting bracket 7 to move in the left and right direction.
  • the rotation of the mirror 5 in the up, down, left, and right directions is also achieved.
  • the camera 6 directly captures the virtual image in the mirror 5, and multi-angle shooting can be realized without driving the camera 6 to rotate.
  • the battery and the image transmission antenna of the drone are usually on the body of the drone, usually the power line of the camera and the pan/tilt, as well as the data line and the pan/tilt data line of the drone, need to be taken from the camera and the pan/tilt motor.
  • the various arms of the gimbal are wound around the fuselage of the drone, which makes assembly and maintenance difficult, and the data line will be longer, which increases the cost and introduces large noise into the image signal.
  • the drone provided by the invention saves the force arm of the camera and the arm motor thereof, so that the image data line of the camera does not need to be wound along the gimbal arm, the data line is relatively short, the cost is reduced, and the noise is Smaller, easy to assemble and repair.
  • the mirror 5 is detachably connected to the first driving component 3 or the second driving component 4 to facilitate replacement of different types of mirrors 5.
  • the mirror 5 is one of a plane mirror, a convex mirror, or a concave mirror. Using a flat mirror, the original lens view angle (FOV: Forward Observer Vehicle) will be maintained, and the convex mirror can be used to expand the lens angle of view (FOV). Use a concave mirror to reduce the lens angle of view (FOV).
  • the mirror uses a convex mirror.
  • the convex mirror includes:
  • the pan/tilt bracket 1 includes a heading axle assembly and a pitch axle assembly
  • the first drive assembly 3 is a heading axle assembly
  • the second drive assembly 4 is a pitch axle assembly.
  • the first drive assembly 3 is a pitch axis assembly
  • the second drive assembly 4 is a heading axis assembly.
  • the pan/tilt bracket further includes a fixing member 2 for connecting with the camera, and the fixing member 2 is located on one side of the mirror direction of the mirror 5, and the camera 6 is fixed at the When the fixing member 2 is attached, the mirror 5 is directionally photographed.
  • part of the driving motor of the pan-tilt structure does not directly act on the larger-sized camera 6, but acts on the mirror 5 of lower mass, and the torque and power of the motor with less torque and power are smaller.
  • the weight and volume of the motor are small, which reduces the weight of the gimbal structure.
  • the arm of the gimbal structure is omitted, the weight of the gimbal structure is reduced, and the volume of the gimbal structure can be made smaller.
  • the lack of the arm also makes the image data line of the camera 6 no longer need to be wound along the gimbal arm, the line is relatively short, the cost is reduced, the noise is small, and the convenience of assembly and maintenance is improved.
  • the camera 5 is connected to the mounting bracket to eliminate the shaking of the shooting direction; the heading axis assembly and the pitch axis assembly of the pan-tilt structure are connected to the mirror 5 and the mounting bracket to eliminate the jitter in the heading and pitch directions, and provide control The direction of shooting in the yaw and pitch directions.
  • the mirror rotates at a certain angle. If it is ieri, the angle between the incident light and the reflected light changes to 2 ieri, so the heading axis component and the pitch axis component eliminate jitter.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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Abstract

一种云台结构，云台结构包括云台支架(1)、安装在云台支架(1)上的反光镜(5)；所述云台支架(1)用于固定拍摄器(6)，且使得所述拍摄器(6)朝向所述反光镜(5)。所述反光镜(5)安装在云台支架(1)上具有至少两个转动自由度。所述云台结构带有反光镜(5)，拍摄器(6)通过反光镜(5)中的虚像实现拍摄，并由第一驱动组件(3)和第二驱动组件(4)实现反光镜(5)的转动自由度。还公开了一种包含该云台结构的无人机。由于拍摄器(6)固定设置无需转动，节约了驱动拍摄器机构的安装空间及其附属线路，降低云台结构的重量，同时减小了云台结构的体积。所述云台结构的拍摄器和反光镜具有相同的震动方向和幅度，消除了拍摄抖动问题。

Description

云台结构及无人机 技术领域
本发明涉及无人机领域，尤其是一种云台结构及无人机。
背景技术
现有技术中，无人机可用于航拍、测绘、植保、侦测、救灾等行业，其结构上通常有中心架、动力系统、起落架等组成，通过搭载飞控、图传和其他微电脑设备进行作业。
无人机航拍，由于无人机飞行抖动幅度较大，拍摄器如果直接挂在无人机上拍摄，会导致视频抖动厉害、照片模糊、质量较差等问题。通常在拍摄器和无人机之间增加一个云台来稳定拍摄。
通常无人机的云台各个轴通过力臂来挂载拍摄器，三个轴的负重为：一个轴支撑拍摄器加两个力臂电机的重量，一个轴支撑拍摄器加一个力臂电机的重量，一个轴支撑拍摄器的重量。
由于拍摄器的重量较大，再加上力臂的杠杆作用负重处于杠杆的长臂端，导致云台的电机需要较大的功率和有较大的力矩，使得云台较重，消耗功率较大。又由于力臂和大电机的存在，整个云台的体积也较大，这将影响无人机的便携性和滞空时间。
发明内容
本发明提供一云台结构及无人机。
根据本发明实施例的第一方面，提供一种云台结构，包括云台支架、安装在云台支架上的反光镜。所述云台支架用于固定拍摄器，且使得所述拍摄器朝向所述反光镜；所述反光镜安装在云台支架上具有至少两个转动自由度。
根据本发明实施例的第二方面，提供一种无人机，包括机身，还包括云台结构，所述云台结构包括云台支架、安装在云台支架上的反光镜；所述云台支架用于固定拍摄器，且使得所述拍摄器朝向所述反光镜；所述反光镜安装在云台支架上具有至少两个转动自由度。
本发明的实施例提供的技术方案可以包括以下有益效果：所述云台结构带有反光镜，拍摄器通过反光镜中的虚像实现拍摄，并由第一驱动组件和第二驱动组件实现反光镜的转动自由度。由于拍摄器固定设置无需转动，节约了驱动拍摄器机构的安装空间及其附属线路，降低云台结构的重量，同时减小了云台结构的体积。所述云台结构的拍摄器和反光镜具有相同的震动方向和幅度，消除了拍摄抖动问题。
附图说明
图1是本发明第一实施例示出的一种无人机的示意图。
图2是本发明第二实施例示出的一种无人机的示意图。
图3是本发明第三实施例示出的一种无人机的示意图。
图4是本发明第四实施例示出的一种无人机的示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本发明相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
应当理解，尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本公开范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1至图4，本申请提供一种无人机200，包括机身1，还包括云台结构100。所述云台结构100包括云台支架、安装在云台支架上的反光镜5。所述云台支架1用于固定拍摄器6，且使得所述拍摄器6朝向所述反光镜5。所述反光镜安装在云台支架1上具有至少两个转动自由度。
所述云台支架与所述机身1固定连接或与所述机身1一体设置。这样所述云台结构100可以与所述机身1在任何时刻的震动方向和幅度保持一致，而设置于所述云台支架1上的反光镜5与拍摄器6也同样在任何时刻的震动方向和幅度是一致的。因此所述反光镜5内反射的虚像能够被所述拍摄器6拍摄出高质量照片。由于所述拍摄器6直接固定在所述云台支架1上，减少了驱动所述拍摄器6的驱动机构(力臂电机)，与现有云台结构相比至少减少了力臂电机的重量、能耗和占用的安装体积。继而降低了云台结构100的重量以及云台结构100的功耗，减小了云台结构100的 体积，进而降低了无人机的重量，提高了无人机的滞空时间。
在一实施方式中，所述机身1与所述云台结构100直接连接，所示机身1与所述云台支架一体设置。所述拍摄器6固定在所述机身1上，所述反光镜5安装在所述机身1上。在其他实施方式中，所述无人机200还包括安装支架7，所述机身1与所述云台结构100通过所述安装支架7连接。所述拍摄器6固定在所述安装支架7上，所述反光镜5安装在所述安装支架7上，所述安装支架7与所述机身1直接连接，所述安装支架7传递所述机身1与所述机身1的震动方向和幅度一致传递所述震动方向和幅度至所述反光镜5和所示拍摄器6。
进一步地，所述云台支架包括第一驱动组件3和第二驱动组件4；所述反光镜5与所述第一驱动组件3或所述第二驱动组件4连接。
在一实施方式中，当所述机身1与所述云台结构100直接连接时，无需设置所述安装支架7。所述反光镜5与所述第一驱动组件3连接，所述第二驱动组件4与机身1连接，所述第二驱动组件4用于驱动所述第一驱动组件3转动。所述第一驱动件3和第二驱动件4可以驱动不同的转动自由度，以保证两者驱动的反光镜6具有多个自由度拍摄虚像。
进一步地，如图1所示，所述第一驱动组件3包括用于驱动所述反光镜5左右转动的第一电机，所述第二驱动组件4包括用于驱动所述第一驱动组件3上下方向转动的第二电机。
例如，所述第一驱动件3为航向轴组件、与所述反光镜5直接连接，其包括的第一电机驱动所述反光镜5左右方向转动。所述第二驱动组件4为俯仰轴组件、与所述航向轴组件连接，其包括的第二电机驱动所述航向轴组件上下转动。可知，第二电机驱动第一电机上下方向转动，与所述第一电机连接的反光镜5也跟随上下方向转动；所述第一电机又驱动所述反光镜5左右方向转动，继而实现了所述反光镜5上下左右四个方向的转动。 所述拍摄器6直接拍摄所述反光镜5内的虚像，而无需驱动所述拍摄器6转动，即可实现多角度拍摄。
或者如图2所示，所述第二驱动组件4包括用于驱动所述反光镜5上下转动的第三电机，所述第一驱动组件3包括用于驱动所述第二驱动组件4左右转动的第四电机。
例如，所述第二驱动组件4为俯仰轴组件、与所述反光镜5直接连接，其包括的第三电机驱动所述反光镜5上下方向转动。所述第一驱动组件3为航向轴组件、与所述俯仰轴组件连接，所述航向轴组件包括的第四电机驱动所述俯仰轴组件左右方向转动。可知，第四电机驱动第三电机左右方向转动，与所述第三电机连接的反光镜5也跟随左右方向转动；所述第三电机又驱动所述反光镜5上下方向转动，继而实现了所述反光镜5上下左右四个方向的转动。所述拍摄器6直接拍摄所述反光镜5内的虚像，而无需驱动所述拍摄器6转动，即可实现多角度拍摄。
在又一实施例中，当所述机身1与所述云台结构100通过安装支架7连接时，所述安装支架7可采用硬质支架。所述反光镜5通过所述第一驱动组件3与所述安装支架7连接，所述第二驱动组件4与所述机身1连接，所述第二驱动组件4用于驱动所述安装支架7转动。
进一步地，如图3所示，所述第一驱动组件3包括用于驱动所述反光镜5左右转动的第五电机，所述第二驱动组件4包括用于驱动所述安装支架7上下转动的第六电机。
例如，所述第一驱动件3为航向轴组件，其分别与所述安装支架7和所述反光镜5连接，可传递所述安装支架7的震动方向和幅度至所述反光镜5。所述第二驱动组件4为俯仰轴组件，其与机身1连接用于传递机身1的震动方向和幅度至所述安装支架7，并驱动所述安装支架7在上下方向运动。所述第六电机驱动所述安装支架7上下方向转动，所述第五电 机和所述反光镜5跟随所述安装支架7上下方向转动；所述第五电机又驱动所述反光镜左右方向转动。继而实现了所述反光镜5上下左右四个方向的转动。所述拍摄器6直接拍摄所述反光镜5内的虚像，而无需驱动所述拍摄器6转动，即可实现多角度拍摄。
或者如图4所示，所述第二驱动组件4包括用于驱动所述反光镜5上下转动的第七电机，所述第一驱动组件3包括用于驱动所述安装支架7左右转动的第八电机。
例如，所述第二驱动件4为俯仰轴组件固定在所述安装支架7上，其与所述反光镜5直接连接，其包括的第七电机驱动所述反光镜5上下方向转动。第一驱动组件3为航向轴组件，其与所述安装支架7和所述机身1直接连接，其包括的第八电机用于驱动所述安装支架7左右方向移动。同样实现了所述反光镜5上下左右四个方向的转动。所述拍摄器6直接拍摄所述反光镜5内的虚像，而无需驱动所述拍摄器6转动，即可实现多角度拍摄。
由于无人机的电池和图传天线通常在无人机的机身上，通常拍摄器和云台的电源线，以及图传数据线和云台数据线需从拍摄器和云台电机，顺着云台各力臂绕到无人机的机身，这样组装和维修都比较困难，而且数据线会比较长，既增加成本，也会向图像信号中引入较大噪声。
采用上述实施方式本发明提供的无人机节约了拍摄器的力臂及其力臂电机，使拍摄器的图像数据线不需要再沿云台力臂缠绕，数据线比较短、成本降低、噪声较小，方便组装和维修。
更进一步地，所述反光镜5与所述第一驱动组件3或所述第二驱动组件4为可拆卸连接，方便更换不同种类的反光镜5。所述反光镜5为平面镜、凸面镜或凹面镜中的一种。使用平面镜，将保持原有的镜头视角(FOV：Forward Observer Vehicle)，使用凸面镜可扩展镜头视角(FOV)， 使用凹面镜可减小镜头视角(FOV)。
例如所述反光镜使用凸面镜。所述凸面镜包括：
水平方向为凸面、竖直方向为平面的凸面镜，可扩展水平方向的镜头视角(FOV)；或竖直方向为凸面、水平方向为平面的凸面镜，可扩展竖直方向的镜头视角(FOV)；或水平方向和竖直方向为凸面的凸面镜，可扩展水平和竖直方向的镜头视角(FOV)。由于反光镜可以更换，并可以使用各种平面镜、凸面镜或凹面镜，可以灵活的改变镜头视角(FOV)，增加了拍摄器的适用场景。
在其他实施例中，所述云台支架1包括航向轴组件和俯仰轴组件，所述第一驱动组件3是航向轴组件，第二驱动组件4是俯仰轴组件。或者第一驱动组件3是俯仰轴组件，第二驱动组件4是航向轴组件。优选的，所述云台支架还包括用于与所述拍摄器连接的固定件2，且所述固定件2位于所述反光镜5的镜面方向一侧，所述拍摄器6固定在所述固定件2上时，定向拍摄所述反光镜5。
由上可知，云台结构的部分驱动电机不直接作用于质量较大的拍摄器6，而是作用于质量较小的反光镜5，只需使用力矩和功率较小的电机力矩和功率较小，电机的重量和体积就较小即可，减轻了云台结构的重量。同时省掉了云台结构的力臂，减轻了云台结构的重量，使云台结构的体积可以做得较小。没有力臂也使拍摄器6的图像数据线不需要再沿云台力臂缠绕，线比较短，成本降低、噪声较小，并提高了组装和维修的方便性。
更进一步地，拍摄器5连接安装支架，消除拍摄横滚方向的抖动；云台结构的航向轴组件和俯仰轴组件连接反光镜5和安装支架，消除拍摄航向和俯仰方向的抖动，同时提供控制在偏航和俯仰方向的拍摄方向。根据光线反射原理可知，反光镜旋转一定角度，假设为а，则入射光线和反射光线的夹角变化为2а，所以航向轴组件和俯仰轴组件在消除抖动时， 需要控制控制反光镜5旋转角度为实际抖动反方向的1/2；通过云台控制拍摄方向时，反光镜5的旋转角度也为实际拍摄方向变化角度的1/2。可知，在控制方面减小了力臂电机的转动角度，进而降低了云台结构的能耗，可延长无人机的滞空时间。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。
本专利文件披露的内容包含受版权保护的材料。该版权为版权所有人所有。版权所有人不反对任何人复制专利与商标局的官方记录和档案中所存在的该专利文件或者该专利披露。

Claims (22)

  1. 一种云台结构，其特征在于，包括云台支架、安装在云台支架上的反光镜；所述云台支架用于固定拍摄器，且使得所述拍摄器朝向所述反光镜；所述反光镜安装在云台支架上具有至少两个转动自由度。
  2. 根据权利要求1所述的云台结构，其特征在于，所述云台支架包括第一驱动组件和第二驱动组件；所述反光镜与所述第一驱动组件或所述第二驱动组件连接。
  3. 根据权利要求2所述的云台结构，其特征在于，所述反光镜与所述第一驱动组件连接，所述第二驱动组件用于驱动所述第一驱动组件转动。
  4. 根据权利要求3所述的云台结构，其特征在于，所述第一驱动组件包括用于驱动所述反光镜左右转动的第一电机，所述第二驱动组件包括用于驱动所述第二驱动组件上下转动的第二电机。
  5. 根据权利要求3所述的云台结构，其特征在于，所述第二驱动组件包括用于驱动所述反光镜上下转动的第三电机，所述第一驱动组件包括用于驱动所述第二驱动组件左右转动的第四电机。
  6. 根据权利要求2所述的云台结构，其特征在于，所述反光镜与所述第一驱动组件或所述第二驱动组件为可拆卸连接，所述反光镜为平面镜、凸面镜或凹面镜中的一种。
  7. 根据权利要求6所述的云台结构，其特征在于，所述凸面镜包括：
    水平方向为凸面、竖直方向为平面的凸面镜；或竖直方向为凸面、水平方向为平面的凸面镜；或水平方向和竖直方向为凸面的凸面镜。
  8. 根据权利要求1所述的云台结构，其特征在于，所述云台支架包括航向轴组件和俯仰轴组件，所述第一驱动组件是航向轴组件，第二驱动组件是俯仰轴组件；或者第一驱动组件是俯仰轴组件，第二驱动组件是航向轴组件。
  9. 根据权利要求8所述的云台结构，其特征在于，所述云台支架还包括用于与所述拍摄器连接的固定件，且所述固定件位于所述反光镜的镜面方向 一侧；所述拍摄器固定在所述固定件上时，定向拍摄所述反光镜。
  10. 一种无人机，包括机身，其特征在于，还包括云台结构，所述云台结构包括云台支架、安装在云台支架上的反光镜；所述云台支架用于固定拍摄器，且使得所述拍摄器朝向所述反光镜；所述反光镜安装在云台支架上具有至少两个转动自由度。
  11. 根据权利要求10所述的无人机，其特征在于，所述机身与所述云台结构直接连接；
    或所述无人机还包括安装支架，所述机身与所述云台结构通过所述安装支架连接。
  12. 根据权利要求11所述的无人机，其特征在于，所述云台支架包括第一驱动组件和第二驱动组件；所述反光镜与所述第一驱动组件或所述第二驱动组件连接。
  13. 根据权利要求12所述的无人机，其特征在于，所述反光镜与所述第一驱动组件连接，所述第二驱动组件与机身连接，所述第二驱动组件用于驱动所述第一驱动组件转动。
  14. 根据权利要求13所述的无人机，其特征在于，所述第一驱动组件包括用于驱动所述反光镜左右转动的第一电机，所述第二驱动组件包括用于驱动所述第一驱动组件上下转动的第二电机。
  15. 根据权利要求13所述的无人机，其特征在于，所述第二驱动组件包括用于驱动所述反光镜上下转动的第三电机，所述第一驱动组件包括用于驱动所述第二驱动组件左右转动的第四电机。
  16. 根据权利要求12所述的无人机，其特征在于，所述反光镜通过所述第一驱动组件与所述安装支架连接，所述第二驱动组件与所述机身连接，所述第二驱动组件用于驱动所述安装支架转动。
  17. 根据权利要求16所述的无人机，其特征在于，所述第一驱动组件包括用于驱动所述反光镜左右转动的第五电机，所述第二驱动组件包括用于驱动所述安装支架上下转动的第六电机。
  18. 根据权利要求16所述的无人机，其特征在于，所述第二驱动组件包括用于驱动所述反光镜上下转动的第七电机，所述第一驱动组件包括用于驱动所述安装支架左右转动的第八电机。
  19. 根据权利要求12所述的无人机，其特征在于，所述反光镜与所述第一驱动组件或所述第二驱动组件为可拆卸连接；所述反光镜为平面镜、凸面镜或凹面镜中的一种。
  20. 根据权利要求19所述的无人机，其特征在于，所述凸面镜包括：
    水平方向为凸面、竖直方向为平面的凸面镜；或竖直方向为凸面、水平方向为平面的凸面镜；或水平方向和竖直方向为凸面的凸面镜。
  21. 根据权利要求10所述的无人机，其特征在于，所述云台支架包括航向轴组件和俯仰轴组件，所述第一驱动组件是航向轴组件，第二驱动组件是俯仰轴组件；或者第一驱动组件是俯仰轴组件，第二驱动组件是航向轴组件。
  22. 根据权利要求21所述的无人机，其特征在于，所述云台支架还包括用于与所述拍摄器连接的固定件，且所述固定件位于所述反光镜的镜面方向一侧，所述拍摄器固定在所述固定件上时，定向拍摄所述反光镜。
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CN109436351B (zh) * 2018-11-19 2024-04-26 浙江云来集科技有限公司 一种长距离等高地表用无人机自主巡检装置
CN109927924A (zh) * 2019-03-14 2019-06-25 广州市红鹏直升机遥感科技有限公司 航空倾斜摄影云台

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