WO2018149182A1

WO2018149182A1 - Pan-tilt and unmanned aerial vehicle

Info

Publication number: WO2018149182A1
Application number: PCT/CN2017/110767
Authority: WO
Inventors: 倪枫
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-02-14
Filing date: 2017-11-14
Publication date: 2018-08-23
Also published as: CN107097966B; CN107097966A

Abstract

A pan-tilt and an unmanned aerial vehicle. The pan-tilt comprises: a first circular member (60); a second circular member (66), the second circular member (66) being fitted outside the first circular member (60); a rotational member (70), the rotational member (70) being fitted outside the second circular member (66); a first motor (14), the first motor (14) being disposed on the first circular member (60) and used for driving the first circular member (60), the second circular member (66), and the rotational member (70) to rotate about a first axis; a second motor (16), two ends of the second motor (16) being connected to the second circular member (66) and the rotational member (70) respectively, and used for driving the rotational member (70) to rotate about a second axis, wherein the first axis and the second axis are perpendicular to each other. The unmanned aerial vehicle using the pan-tilt can avoid the blocking of a body (10) when capturing images, and counteracts the shaking of the body (10) to implement stable photographing.

Description

PTZ and unmanned aerial vehicle

The priority of the Chinese Patent Application No. 201710079413.7, entitled "A PTZ and Unmanned Aerial Vehicle", which is filed on February 14, 2017, is hereby incorporated by reference.

Technical field

The present application relates to the field of unmanned aerial vehicles, and in particular to a novel cloud platform and an unmanned aerial vehicle using the same.

Background technique

With the development of wireless Internet, wireless local area network and image processing technology, the image processing function of unmanned aerial vehicles is becoming more and more powerful, and more and more users choose unmanned aerial vehicles capable of panoramic shooting. In order to achieve panoramic image capture of an unmanned aerial vehicle, it is necessary to mount multiple cameras. In order to mount the camera lens, it is necessary to mount a head mounted camera on the unmanned aerial vehicle.

For conventional unmanned aerial vehicles, most of the pan/tilt is connected to the unmanned aerial vehicle through a damper ball, and a single or multiple cameras are mounted on the gimbal. The downside of this approach is that the camera is not capable of full-scale shooting. The field of view taken by the camera is always blocked by the gimbal or the fuselage mechanism. Therefore, the existing cloud platform and unmanned aerial vehicle technology have yet to be improved and developed.

Summary of the invention

In view of this, the present application provides a cloud platform and an unmanned aerial vehicle to overcome the technical problem of occlusion of the image capturing device by the body during shooting.

In a first aspect, the application provides a cloud platform, including:

First ring piece;

a second ring member, the second ring member is sleeved outside the first ring member;

a rotating member, the rotating member is sleeved outside the second annular member;

a first motor, the first motor is disposed on the first circular ring member for driving the first circular ring member, the second circular ring member and the rotating member to rotate about a first axis;

a second motor, the two ends of the second motor are respectively connected to the second ring member and the rotating member, and are used for driving the rotating member to rotate about the second axis;

Wherein the first axis and the second axis are perpendicular to each other.

In one embodiment, the first circular ring member and the second circular ring member constitute an ultrasonic motor to enable the second circular ring member and the rotating member to rotate simultaneously around the third axis;

Wherein, the first axis, the second axis and the third axis are perpendicular to each other.

In one embodiment, the first electric machine includes a stator and a rotor, the stator of the first electric machine is for connection with a carrier, and the rotor of the first electric machine is coupled to the first circular ring.

In one embodiment, the second electric machine includes a stator and a rotor, a stator of the second electric machine is coupled to the second circular ring member, and a rotor of the second electric machine is coupled to the rotating member.

In one embodiment, the pan/tilt further includes an image capture device mounted on the rotating member.

In one embodiment, the image acquisition device is two, and the two image acquisition devices are evenly distributed on the rotating member.

In one embodiment, the image acquisition devices are four, and the four image acquisition devices are evenly distributed on the rotating member.

In one embodiment, the image acquisition device includes at least one camera lens, and the sum of the angles of view of all the camera lenses is greater than or equal to 360 degrees.

In one embodiment, the first circular ring member includes a pair of conductive slip rings and a piezoelectric ceramic element; the second circular ring member includes a friction material, when a high frequency alternating voltage is applied to the piezoelectric ceramic element, The second circular ring member can drive the rotating member to rotate simultaneously with respect to the first circular ring member.

In one embodiment, the second circular ring member includes a conductive slip ring for establishing an electrical connection, the conductive slip ring being in contact with the mating conductive slip ring.

In one embodiment, the circuit connection of the image capture device is disposed within the rotating member and is routed inside the second motor and the second circular member and connected to the conductive slip ring.

In one embodiment, the image acquisition device includes a connection module for transmitting the captured image to a receiver or control terminal.

In one embodiment, a damping pad is disposed at a junction of the first ring member and the first motor, and a damping pad is disposed at a junction of the rotating member and the second motor.

In a second aspect, the present application provides an unmanned aerial vehicle including a fuselage and a processing unit, and further includes a pan/tilt disposed around the airframe, the fuselage passing through the pan/tilt, the pan/tilt head comprising:

First ring piece;

a first motor, the first motor is respectively connected to the first ring member and the body, and is configured to drive the first ring member, the second ring member and the rotating member Rotating around the first axis;

Wherein the first axis and the second axis are perpendicular to each other.

In one of the embodiments, the first electric machine includes a stator and a rotor, and a stator of the first electric machine is fixed to the fuselage, and a rotor of the first electric machine is coupled to the first circular ring member.

In one embodiment, the UAV further includes an image capture device mounted on the rotating member.

In one embodiment, there are two image acquisition devices, and the two image acquisition devices are evenly distributed on the rotating member.

In one embodiment, there are four image capturing devices, and four of the image capturing devices are evenly distributed on the rotating member.

In one embodiment, the image acquisition device comprises a connection module connected to the processing unit or the control terminal for transmitting the captured image to the processing unit or the control terminal.

The utility model has the beneficial effects that the pan/tilt head and the unmanned aerial vehicle provided in the embodiment provide a first ring member, a second ring member and a rotating member that can be rotated around the body, so that the pan/tilt is in the first In both the axial direction and the second axial direction, the position and angle can be changed around the body to realize the spatial angle change of the image capturing device mounted thereon, thereby overcoming the occlusion of the image capturing device by the body during shooting.

DRAWINGS

1 is a perspective view of an unmanned aerial vehicle of an embodiment of the present application;

2 is another perspective view of the unmanned aerial vehicle of the embodiment of the present application;

3 is an exploded perspective view of the mechanism of the pan/tilt in the embodiment of the present application;

4 is another perspective exploded view of the mechanism of the pan/tilt in the embodiment of the present application;

5 is a schematic view showing movement of a gimbal in a yaw axis (Y-axis) direction according to an embodiment of the present application;

6 is a schematic view showing movement of a pan/tilt head in a roll axis (X-axis) direction according to an embodiment of the present application;

7 is a schematic diagram of a stereoscopic motion of a pan/tilt head in a roll axis (X-axis) direction according to an embodiment of the present application;

FIG. 8 is a schematic diagram of the three-dimensional motion of the pan/tilt head in the pitch axis (Z-axis) direction according to the embodiment of the present application.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present application more clearly, the embodiments of the present application are further described in detail below with reference to the accompanying drawings. The illustrative embodiments of the present application and the description thereof are for explaining the present application, but are not intended to limit the application.

It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more central elements can be present. When an element is referred to as being "electrically connected" to another element, it can be directly connected to the other element, or one or more of the elements may be present. The orientations or positional relationships of the terms "front", "back", "high", "low", "left", "right", etc., as used in this specification, are based on the orientation or positional relationship shown in the drawings, only The present application and the simplifications of the present invention are not to be construed as limiting the scope of the present application. Moreover, the terms "first", "second", "third", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It should be noted that the “first axis”, “second axis” and “third axis” used herein are three axes perpendicular to each other in space, which can form a space rectangular coordinate system (X, Y, Z). ). When the pan/tilt is disposed around the left and right sides of the fuselage, the "first axis", the "second axis", and the "third axis" correspond to the yaw axis (Y axis), the pitch axis (Z axis), and the roll axis, respectively. (X-axis), and when the pan/tilt is placed around the front and rear sides of the fuselage, the "first axis", the "second axis", and the "third axis" correspond to the yaw axis (Y axis) and the roll axis, respectively. X axis) and pitch axis (Z axis).

It should be noted that the “rotating member” herein may be a ring or a ring-like (such as an ellipse) component, or may be a rectangle, a square or other irregularity that can rotate around the diameter of the “second ring member”. Shaped parts.

The present application relates to a cloud platform and a corresponding unmanned aerial vehicle, the cloud platform being used for connection with a carrier, and the carrier may be an unmanned aerial vehicle or a handheld device. The present application takes an unmanned aerial vehicle as a carrier of a gimbal, and the gimbal is installed around the fuselage of the unmanned aerial vehicle, so that the image capturing device mounted on the gimbal is along the first axis and the second perpendicular to each other. The three directions of the axis and the third axis can change the angle around the fuselage to realize spatial three-dimensional view transformation.

Referring to FIGS. 1 to 4, the UAV mainly includes a body 10, a processing unit, and a pan/tilt disposed around the body. The fuselage 10 passes through a gimbal. The pan/tilt includes: a first ring The member 60 is disposed on the second ring member 66 outside the first ring member 60 and the rotating member 70 disposed outside the second ring member 66. The first circular ring member 60 is rotatably mounted on the body 10 by a first motor 14, and the rotating member 70 is rotatably sleeved on the second circular ring member 66 by a second motor 16.

The first motor 14 is used to drive the first circular ring member 60, and the second circular ring member 66 and the rotating member 70 are rotated relative to the body 10 about the first axis. The first circular ring member 60 and the second circular ring member 66 constitute an ultrasonic motor, the second circular ring member 66 and the rotating member 70 are simultaneously rotated about a third axis, and the second motor 16 is used for a driving station. The rotating member 70 rotates about a second axis, and the first shaft, the second shaft, and the third shaft are perpendicular to each other.

The first ring member 60 and the second ring member 66 constitute an ultrasonic motor, the first ring member 60 serves as a stator of the ultrasonic motor, and the second ring member 66 serves as a rotor of the ultrasonic motor. When the second circular ring member 66 rotates, the rotating member 70 is driven to rotate synchronously.

The processing unit may be a microprocessor or a circuit board having an arithmetic function.

The pan/tilt further includes an image capturing device mounted on the rotating member 70. The embodiment of the present application does not limit the number of image acquisition devices. In one embodiment, the number of image capturing devices is two, and the two image capturing devices are evenly distributed on the rotating member 70, that is, the connecting lines of the two image capturing devices pass through the center of the rotating member 70. point. In practical applications, it can be understood that the two image acquisition devices are respectively mounted at the highest and lowest points or the rightmost and leftmost sides of the rotating member 70 when placed vertically with respect to the body 10. In another embodiment, the number of image acquisition devices is four, and the four image acquisition devices are evenly distributed on the rotating member 70, that is, the distance between two adjacent image acquisition devices is equal, or The line between the adjacent two image capturing devices passes through the center point of the rotating member 70. In practical applications, it can be understood that the four image acquisition devices are respectively mounted on the highest point, the lowest point, the rightmost side, and the leftmost side when the rotating body 70 is vertically placed on the body 10.

In this embodiment, the image acquisition device is a camera group. The image acquisition device includes at least one camera lens, and the sum of the angles of view of all the camera lenses is greater than or equal to 360 degrees. In order to facilitate the description of the technical solution, the image acquisition device in the following UAV solution is exemplified by two fisheye cameras with a field of view of 180 degrees. The image acquisition device can also be configured as three ordinary cameras with a field of view of 120 degrees. The following examples all use two fisheye phases with a field of view of 180 degrees. The machine is explained as an example.

Referring to FIG. 1 and FIG. 2, the

fisheye cameras

20 and 30 with two fields of view of 180 degrees can take a single shot or continuously record video at a certain frequency. The

fisheye cameras

20, 30 respectively acquire camera images at the same time point, and can be sent to the processing unit or the control terminal operated by the user for panoramic stitching and compensation. Wherein, the sum of the viewing angles of all the camera lenses in the image capturing device is greater than or equal to 360 degrees.

Specifically, the unmanned aerial vehicle of the embodiment includes a fuselage 10, a processing unit, a plurality of propellers, and a pan/tilt. The processing unit is disposed in the body and wirelessly connected to the control terminal controlled by the user, and the image processing of the image acquiring device may also be completed. The fuselage 10 extends four support arms 12 for mounting a rotor at the end of the support arm 12.

In this embodiment, the UAV adopts a quadrotor UAV. The UAV uses four propellers with flexible flight safety control. It can be understood that the UAV in the embodiment of the present application may be a single-rotor UAV, a quadrotor UAV, a six-rotor UAV, etc., and the four-rotor UAV is taken as an example for illustration. It does not constitute a limitation on the unmanned aerial vehicle in the embodiment of the present application.

The gimbal is designed to be hollow, and the fuselage 10 passes through the hollow gimbal. The pan/tilt is mounted on the fuselage 10 so that the gimbal is disposed around the fuselage 10, and can be disposed around the left and right sides of the fuselage 10, It can be placed around the front and rear sides of the body 10. The pan/tilt includes an image acquisition device. In this embodiment, the image capturing device is the

fisheye camera

20, 30.

The image capturing device can change the viewing angle around the body under the driving of the pan/tilt, so that the image capturing device performs panoramic shooting with a spatial perspective.

Referring to FIG. 2-4, in this embodiment, the pan/tilt is disposed around the left and right sides of the body 10, and the first axis, the second axis, and the third axis respectively correspond to the yaw axis (Y axis) of the pan/tilt, and the pitch Axis (Z axis) and roll axis (X axis).

The pan/tilt head includes a first ring member 60, a second ring member 66 sleeved outside the first ring member 60, and a rotating member 70 sleeved outside the second ring member 66. The first circular ring member 60 is rotatably mounted on the body 10 by a first motor 14, and the rotating member 70 is rotatably sleeved on the second circular ring member 66 by a second motor 16.

Wherein, the first motor 14 is used to drive the first ring member 60, and the second ring member 66 is used to The rotating member 70 rotates relative to the body 10 about the first axis, and can drive the image capturing device on the pan/tilt to change the viewing angle along the yaw axis. The first circular ring member 60 and the second circular ring member 66 constitute an ultrasonic motor, and the first circular ring member 60 drives the second circular ring member 66 and the rotating member 70 to rotate around the third axis, thereby The image acquisition device on the pan/tilt is driven to change the angle of view along the roll axis. The second motor 16 is configured to drive the rotating member 70 to rotate about the second axis, and drive the image capturing device on the pan/tilt to change the viewing angle along the pitch axis.

The rotating member 70 is used to mount the camera 20 and the camera 30. The rotating member 70 is sleeved on the second circular ring member 66. At the same time, the rotating member 70 and the second circular ring member 66 are rotatably sleeved on the first circular ring member 60. The first circular ring member 60 is rotatably mounted on the body 10. The rotating member 70, the second circular ring member 66 and the first circular ring member 60 are implemented in various manners as long as the rotating member 70, the second circular ring member 66 and the first circular ring member 60 are hollow and can be Each of the three dimensions can switch the shooting angle of the image capturing device.

In the embodiment of the present application, the first ring member 60 is a hollow ring. The inner diameter of the first circular ring member 60 is larger than the outer contour of the body 10, so that the first circular ring member 60 can be sleeved on the body for installation. The first motor 14 drives the first ring member 60 to deflect in the Y-axis direction, that is, in the yaw direction.

A piezoelectric ceramic ring 63 and a pair of conductive slip rings 64 are disposed on one side of the first circular ring member 60. The pair of conductive slip rings 64 and piezoelectric ceramic rings 63 are both connected to the processing unit of the UAV. The first circular ring member 60 is provided with a connecting block 62 in which the motor rotor of the first motor 14 is disposed. The stator of the first electric machine 14 is disposed within the fuselage 10.

Specifically, the rotor of the first motor 14 is coupled to the connecting block 62, and the stator of the first motor 14 is coupled to the body 10. Preferably, the rotor of the first motor 14 is fixedly coupled to the connecting block 62, and the stator of the first motor 14 is fixedly coupled to the body 10.

The connection manner of the first ring member 60 and the body 10 is the connection between the fixing device and the mounting portion. A fixing hole is defined in the lower side of the body 10, and at least one set of inclined mounting portions and a guiding groove are disposed in the fixing hole. The mounting portion is provided with a groove. The first ring member 60 is provided with a fixing device, and the fixing device is provided with a fixing post. The fixing device is fastened to the mounting portion along the guide groove until the fixing post falls into the recess of the mounting portion. Thereby fixing the pan/tilt to the body 10 while maintaining the first The positional relationship between the rotor and the stator of the motor 14 and the electrical connection of the circuit connections in the connection block 62.

As shown in FIGS. 4-5, the second circular ring member 66 is also a hollow structural ring, and the second circular ring member 66 and the first circular ring member 60 are mounted together around the body 10. The second ring member 66 is rotatably fastened and sleeved on the first ring member 60, and the second ring member 66 faces the first ring member 60 to provide a card slot 67. The piezoelectric ceramic ring 63 of a ring member 60 and the mating conductive slip ring 64 are enclosed in the card slot 67. The second circular ring member includes a friction material, and when a high frequency alternating voltage is applied to the piezoelectric ceramic component, that is, the piezoelectric ceramic ring 63, the second circular ring member 66 is opposite to the first circular ring The piece 60 rotates. The second ring member 66 and the first ring member 60 constitute an ultrasonic motor, and the ultrasonic wave is converted into a mechanical force to realize the rotation of the second ring member 66 around the roll axis (X axis) under the traveling wave drive. . As shown in Fig. 6, the second circular ring member 66 of Fig. 6 is deflected by the angle A with respect to the home position under the driving of the piezoelectric ceramic ring 63.

In one embodiment, the second ring member 66 also needs to be electrically connected to the first ring member 60. Specifically, the second ring member 66 includes a conductive slip ring (not shown) for establishing an electrical connection, and the conductive slip ring is in contact with the pair of conductive slip rings 64 of the first ring member 60, thereby The second motor and the

cameras

20, 30 are powered.

Referring to FIG. 7, the piezoelectric ceramic ring 63 of the first circular ring member 60 converts ultrasonic vibration energy into kinetic energy for pushing the rotation of the second circular ring member 66, so that the second circular ring member 66 can be wound around the rolling axis ( X-axis) rotation.

Please refer to FIG. 8 , which is a schematic diagram of the three-dimensional motion of the pan-tilt in the direction of the pitch axis (Z-axis). In the embodiment of the present application, the rotating member 70 that can be rotated in the direction of the pitch axis is exemplified by a hollow ring. The

cameras

20, 30 are distributed over the rotating member 70. In this embodiment, the

cameras

20, 30 are respectively fixed at opposite ends of the rotating member 70, and the second motor 16 drives the rotating member 70 to be deflected relative to the body along the pitch axis (Z-axis). Wherein, the inner diameter of the rotating member 70 is larger than the outer diameters of the first circular ring member 60 and the second circular ring member 66, so that the rotating member 70 can be in the first circular ring member 60 and the second annular ring The periphery of the member 66 is deflected.

Specifically, the stator of the second motor 16 is coupled to the second ring member 66, and the rotor of the second motor 16 is coupled to the rotating member 70. Preferably, the stator of the second motor 16 is fixedly coupled to the second ring member 66, and the rotor of the second motor 16 is fixedly coupled to the rotating member 70.

As an embodiment of the panoramic image splicing method of the image capturing device, the image capturing device Each of the cameras included includes a connection module connected to the processing unit or the control terminal for transmitting the captured image. The connection module can transmit the captured image through a wired connection (such as a Universal Serial Bus (USB)), or can also be connected through a wireless connection (for example, LTE (Long Term Evolution) connection, WiFi (Wireless Fidelity, Wireless LAN) Connect) to transfer the captured image.

In one of the embodiments, the processing unit of the UAV itself can complete the splicing of the panoramic image. The stitched panoramic image is then sent to the control terminal. The control terminal displays the received panoramic image using its display device.

In another embodiment, the image captured by each camera is sent to the control terminal, and the control terminal splices the images of different views transmitted by the respective cameras to form a panoramic image. In the above embodiment, the image acquisition device may transmit the captured image to the control terminal through the wireless communication module.

In the circuit implementation, each

camera

20, 30 of the image acquisition device can also be connected to the processing unit circuit by means of a wired connection. In the embodiment, the circuit connections of the camera set are invisibly mounted, the circuit wires are disposed within the rotating member 70, and are routed inside the second motor 16 and the second ring member 66. Connected to the conductive slip ring of the second ring member 66.

The unmanned aerial vehicle has vibration during the landing. In order to ensure a stable electrical connection between the devices and to prevent wear, the first motor 14 and the second motor 16 are provided with vibration damping pads. A damping pad is also disposed between a ring member 60, a second ring member 66 between the second motor 16 and between the rotating member 70 and the second motor 16.

Optionally, a damping pad is disposed at the junction of the first ring member 60 and the first motor 14, and a damping pad is disposed at the connection of the rotating member 70 and the second motor 16.

The main structure of the gimbal of the embodiment of the present application is three hollow rings disposed around the body 10. The three rings are an outer ring-rotating member, a middle ring-second ring member and an inner ring-first ring member. The fuselage 10 is placed in the middle of the ring. The first motor 14 is connected to the UAV body 10 in a vibration-damping manner. The inner ring-first ring member is fixed to the rotor of the first motor 14, and when the first motor 14 rotates, the inner ring-the first ring A ring member rotates in a yaw direction; the center ring-second ring member and the inner ring-first ring member form an ultrasonic motor structure. Central - the second ring can be The output is scrolled relative to the inner ring-first ring member and the vibration is reduced in the direction. The outer ring-rotating member is connected to the middle ring-second ring member through the second motor 16, and the second motor 16 rotates according to the instruction sent by the pan/tilt or the user to drive the outer ring-rotating member to output the pitching motion.

In use, the processing unit of the UAV receives a shooting instruction of the control terminal operated by the user. The processing unit notifies each

camera

20, 30 of the image acquisition device to take an image from a respective perspective, and transmits the captured image back to the processing unit or the control terminal to perform splicing of the panoramic image.

The

respective cameras

20, 30 of the image acquisition device are distributed around the UAV body, and the occlusion of the body 10 can be avoided, so that a more comprehensive and more realistic panoramic image can be taken.

The user can control the angle of view of the camera group distributed in the upper and lower positions of the fuselage from the roll axis (X axis), the yaw axis (Y axis), and the pitch axis (Z axis) through the interactive input at the control terminal. When receiving the adjustment information of the yaw axis (Y-axis) direction sent by the user in the control terminal, the processing unit controls the first motor 14 to rotate such that the first ring member 60 is deflected around the body 10 at an angle specified by the adjustment information. When receiving adjustment information of the roll axis (X-axis) direction sent by the user in the control terminal, the processing unit controls an applied voltage of the piezoelectric ceramic ring 63 on the first ring member such that the second ring The member 66 rotates around the first circular ring member 60 along the X axis according to the angle specified by the adjustment information; when receiving the adjustment information of the pitch axis (Z axis) direction sent by the user at the control terminal, the processing unit controls the second motor 16 The rotation causes the rotating member to be deflected around the body at an angle specified by the adjustment information, and the above-described processing realizes the change of the angle of view of the image capturing device.

The present application adds an annular hollow head in a space view panoramic view to the UAV body 10, and two circumferentially uniform fisheye cameras are disposed on the head. The annular hollow head is driven by an ultrasonic motor and a brushless motor to meet the vibration reduction requirements of the gimbal in the yaw, roll and pitch directions, and because of the middle ring - the second ring piece and the inner ring - the first A ring member forms an ultrasonic motor structure, and its unique ring structure allows the body 10 to be placed in the pan/tilt without having to open up additional space on the body 10 to mount the image capturing device and the pan/tilt. At the same time, in order to ensure a stable electrical connection between the devices and to prevent wear, the first motor 14 and the second motor 16 are provided with damping pads, and the body 10 and the first ring member 60 are A damping pad is also disposed between the second ring member 66 and the second motor 16 and between the rotating member 70 and the second motor 16. When the image capturing device of the technical solution of the present application works on the body, it can avoid the occlusion of the gimbal and the fuselage, and can ensure the mechanical stability of the gimbal.

The hollow cloud platform of the technical solution of the present application overcomes the occlusion of the fuselage itself during shooting, and expands the visual viewing angle of the image capturing device mounted thereon; the unmanned aerial vehicle using the pan/tilt can avoid the booting when shooting images The body's occlusion eliminates the shaking of the body and completes stable shooting. And another significant benefit of the hollow head of the present application is that there is no need to change the structure inside the aircraft fuselage.

In the hollow head of the technical solution of the present application, the camera group of the image capturing device is evenly distributed on the outer ring. Or in other embodiments, the two fisheye cameras of the camera set are respectively disposed at the highest point and the lowest point of the UAV body, fully expanding the viewing angle; and the pan/tilt based on the present application can simultaneously control the moving directions of all the cameras. Synchronization ensures the quality of the stitched panoramic image; at the same time, all cameras are also vibration-damped to ensure stable connection of the pan/tilt.

The above description is only the embodiment of the present application, and thus does not limit the scope of the patent application, and the equivalent structure or equivalent process transformation of the specification and the drawings of the present application, or directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of this application.

Claims

A gimbal, characterized in that it comprises:

First ring piece;

a second ring member, the second ring member is sleeved outside the first ring member;

a rotating member, the rotating member is sleeved outside the second annular member;

a first motor, the first motor is disposed on the first circular ring member for driving the first circular ring member, the second circular ring member and the rotating member to rotate about a first axis;

a second motor, the two ends of the second motor are respectively connected to the second ring member and the rotating member, and are used for driving the rotating member to rotate about the second axis;

Wherein the first axis and the second axis are perpendicular to each other.
The pan/tilt head according to claim 1, wherein the first ring member and the second ring member constitute an ultrasonic motor to realize that the second ring member and the rotating member can be simultaneously wound Third axis rotation;

Wherein, the first axis, the second axis and the third axis are perpendicular to each other.
The platform according to claim 1 or 2, wherein the first motor comprises a stator and a rotor, and a stator of the first motor is used for connection with a carrier, a rotor of the first motor and the rotor The first ring member is connected.
The platform according to claim 1 or 2, wherein the second motor comprises a stator and a rotor, and a stator of the second motor is coupled to the second ring member, a rotor of the second motor Connected to the rotating member.
A pan/tilt head according to any one of claims 1 to 4, further comprising image capturing means mounted on said rotating member.
The pan/tilt head according to claim 5, wherein the image capturing device is two, and the two image capturing devices are evenly distributed on the rotating member.
The pan/tilt head according to claim 5, wherein the image capturing devices are four, and the four image capturing devices are evenly distributed on the rotating member.
The pan/tilt head according to any one of claims 5 to 7, wherein the image capturing device comprises at least one camera lens, and a sum of viewing angles of all camera lenses is greater than or equal to 360 degrees.
The platform according to any one of claims 1-8, wherein the first circular ring member comprises a pair of conductive slip rings and a piezoelectric ceramic element; the second circular ring member comprises a friction material, in the pair When the piezoelectric ceramic component applies a high-frequency alternating voltage, the second circular ring member can simultaneously rotate the rotating member relative to the first circular ring member.
The pan/tilt head according to claim 9, wherein the second circular ring member includes a conductive slip ring for establishing an electrical connection, the conductive slip ring being in contact with the mating conductive slip ring.
The pan/tilt head according to claim 10, wherein a circuit connection of the image capturing device is disposed in the rotating member, and is routed inside the second motor and the second ring member. Connected to the conductive slip ring.
The pan/tilt head according to any one of claims 1 to 11, wherein the image capturing device comprises a connection module for transmitting the captured image to the receiving member or the control terminal.
The platform according to any one of claims 1 to 12, wherein a vibration damping spacer is disposed at a joint of the first circular ring member and the first motor, and the rotating member and the second A damping pad is provided at the connection of the motor.
An unmanned aerial vehicle includes a fuselage and a processing unit, and further includes a pan/tilt disposed around the fuselage, the fuselage passing through the pan/tilt head, the pan-tilt head comprising:

First ring piece;

a second ring member, the second ring member is sleeved outside the first ring member;

a rotating member, the rotating member is sleeved outside the second annular member;

a first motor, the first motor is respectively connected to the first ring member and the body, and is configured to drive the first ring member, the second ring member and the rotating member Rotating around the first axis;

a second motor, the two ends of the second motor are respectively connected to the second ring member and the rotating member, and are used for driving the rotating member to rotate about the second axis;

Wherein the first axis and the second axis are perpendicular to each other.
The UAV according to claim 14, wherein the first circular ring member and the second circular ring member constitute an ultrasonic motor to realize that the second circular ring member and the rotating member can simultaneously Rotating around the third axis;

Wherein, the first axis, the second axis and the third axis are perpendicular to each other.
The UAV according to claim 14 or 15, wherein the first motor comprises a stator and a rotor, and a stator of the first motor is fixed to the body, a rotor of the first motor and The first ring members are connected.
The UAV according to claim 14 or 15, wherein the second motor comprises a stator and a rotor, and a stator of the second motor is coupled to the second ring member, the second motor A rotor is coupled to the rotating member.
An unmanned aerial vehicle according to any one of claims 14 to 17, further comprising image capturing means mounted on said rotating member.
The UAV according to claim 18, wherein the image capturing means is two, and the two image capturing means are evenly distributed on the rotating member.
The UAV according to claim 118, wherein said image capturing means is four, and said four image capturing means are evenly distributed on said rotating member.
The UAV according to any one of claims 18 to 20, wherein said image capturing means comprises at least one camera lens, and a sum of viewing angles of all camera lenses is greater than or equal to 360 degrees.
The UAV according to any one of claims 14 to 21, wherein said first circular ring member comprises a pair of conductive slip rings and piezoelectric ceramic elements; said second circular ring member comprises a friction material, When a high frequency alternating voltage is applied to the piezoelectric ceramic component, the second circular ring member can simultaneously rotate the rotating member relative to the first circular ring member.
The UAV according to claim 22, wherein said second circular ring member includes a conductive slip ring for establishing an electrical connection, said conductive slip ring being in contact with said mating conductive slip ring.
The UAV according to any one of claims 14 to 23, wherein the image acquisition device comprises a connection module connected to the processing unit or the control terminal for transmitting the captured image to the processing unit Or control the terminal.
The UAV according to any one of claims 14 to 24, wherein a vibration damping spacer is disposed at a joint of the first circular ring member and the first motor, and the rotating member and the first A damping pad is provided at the joint of the two motors.