WO2018152909A1 - 云台装置及无人机 - Google Patents
云台装置及无人机 Download PDFInfo
- Publication number
- WO2018152909A1 WO2018152909A1 PCT/CN2017/077688 CN2017077688W WO2018152909A1 WO 2018152909 A1 WO2018152909 A1 WO 2018152909A1 CN 2017077688 W CN2017077688 W CN 2017077688W WO 2018152909 A1 WO2018152909 A1 WO 2018152909A1
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- WIPO (PCT)
- Prior art keywords
- pan
- tilt
- seal
- hole
- cable
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 238000007789 sealing Methods 0.000 claims abstract description 16
- 238000013016 damping Methods 0.000 claims abstract description 7
- 229920001296 polysiloxane Polymers 0.000 claims description 11
- 230000035939 shock Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
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- 230000001070 adhesive effect Effects 0.000 claims description 3
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 4
- 239000000969 carrier Substances 0.000 claims 1
- 239000000463 material Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- -1 but not limited to Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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Classifications
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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
Definitions
- the invention relates to a drone technology, in particular to a cloud platform device and a drone.
- Embodiments of the present invention provide a pan-tilt device and a drone.
- a pan/tilt device is used for a drone, the drone includes a fuselage, and the pan-tilt device is fixed on the body; the pan-tilt device includes a fixed bracket, PTZ mount and shock absorbing mechanism.
- the fixing bracket is used to carry a binocular camera, and the fixing bracket includes an upper shell and a lower shell.
- the upper case is disposed at a bottom of the body, and an edge of the upper case is formed with a groove or a protrusion.
- the edge of the lower case is formed with a protrusion or the groove matching the groove or the protrusion, and when the lower case is fixed to the upper case, the groove of the upper case or The protrusion cooperates with the protrusion or the groove of the lower case.
- the pan/tilt mount is used to carry a pan/tilt.
- the shock absorbing mechanism is connected between the pan mount and the fixed bracket for damping the cloud platform.
- the present invention provides a drone, the drone including a fuselage and a pan-tilt device, the pan-tilt device, for a drone, the drone including a fuselage, the cloud
- the table device is fixed on the body; the pan/tilt device comprises:
- a fixing bracket for carrying a binocular camera comprising:
- An upper case the upper case is disposed at a bottom of the body, and an edge of the upper case is formed with a groove or a protrusion;
- an edge of the lower case is formed with a protrusion or a groove matching the groove or the protrusion, and the groove of the upper case is fixed when the lower case is fixed to the upper case Or the protrusion cooperates with the protrusion or the groove of the lower case;
- a shock absorbing mechanism is connected between the pan mount and the fixed bracket for damping the pan/tilt;
- the pan-tilt device is disposed at the bottom of the fuselage.
- the UAV and the PTZ device of the embodiment of the present invention form a groove or a protrusion by forming an upper case of the fixing bracket, and forming a protrusion or a groove matching the groove or the protrusion of the upper case in the lower case, the upper case
- the groove or the protrusion cooperates with the protrusion or the groove of the lower shell to play a sealing function, thereby preventing the rainwater from entering the fixing bracket from the gap between the upper shell and the lower shell, thereby preventing the rain from entering the inside of the fixed bracket.
- the inside of the fuselage of the machine The inside of the fuselage of the machine.
- FIG. 1 is a schematic perspective view of a drone of an embodiment of the present invention
- FIG. 2 is a schematic perspective view of a pan-tilt device according to an embodiment of the present invention.
- FIG. 3 is a perspective exploded view of a pan/tilt head device according to an embodiment of the present invention.
- FIG. 4 is a schematic plan view of a pan-tilt device according to another embodiment of the present invention.
- Figure 5 is a partial enlarged view of the portion V of Figure 4.
- Figure 6 is a plan view showing a pan-tilt device according to still another embodiment of the present invention.
- FIG. 7 is a perspective structural view of a second cover body according to still another embodiment of the present invention.
- Figure 8 is a cross-sectional view showing a second cover according to still another embodiment of the present invention.
- Fig. 9 is a plan view showing a pan-tilt device according to still another embodiment of the present invention.
- the interface 2231, the mechanical interface 2232, the circuit board 224, the receiving cavity 225, the connecting arm 24, the damper mechanism 30, the damper 32, the circuit box 40, the first cover 42, the side wall 420, the accommodating cavity 422, and the through hole 424 a second cover 44, a first limiting member 441,
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” or “second” may include one or more of the described features either explicitly or implicitly.
- the meaning of "a plurality” is two or more unless specifically and specifically defined otherwise.
- connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
- Connected, or integrally connected may be mechanically connected, may be electrically connected or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship.
- the specific meanings of the above terms in the present invention can be understood on a case-by-case basis.
- the first feature "on” or “under” the second feature may include direct contact of the first and second features, and may also include first and second features, unless otherwise specifically defined and defined. It is not in direct contact but through additional features between them.
- the first feature "above”, “above” and “above” the second feature includes the first feature directly above and above the second feature, or merely indicating that the first feature level is higher than the second feature.
- the first feature “below”, “below” and “below” the second feature includes the first feature directly below and below the second feature, or merely the first feature level being less than the second feature.
- a drone 300 includes a body 200 and a pan-tilt device 100 fixed to the body 200.
- the pan-tilt device 100 is secured to the bottom of the fuselage 200.
- the pan/tilt device 100 of the embodiment of the present invention includes a fixed bracket 10, a pan/tilt mount 20, and a damper mechanism 30.
- the fixing bracket 10 is fixed to the bottom of the body 200, and the fixing bracket 10 includes an upper casing 12 and a lower casing 14.
- the upper case 12 can be fixed to the bottom of the body 200 by means of a bolt connection, and can also be fixed to the bottom of the body 200 by means of a snap, pin connection or the like.
- the edge of the upper case 12 is formed with a groove 122 or a projection 122.
- the lower case 14 can be fixed to the upper case 12 by, but not limited to, bolting, and can also be fixed to the upper case 12 by means of snapping, pinning, or the like.
- the edge of the lower case 14 is formed with a protrusion 142 or a groove 142 that matches the groove 122 or the protrusion 122 of the upper case 12, and the groove 122 or the protrusion of the upper case 12 when the lower case 14 is fixed to the upper case 12.
- 122 cooperates with the projection 142 or the recess 142 of the lower casing 14.
- the lower case 14 is provided with a protrusion 142, and the groove 122 of the upper case 12 is engaged with the protrusion 142 of the lower case 14; when the upper case 12 is provided with the protrusion 122
- the lower case 14 is provided with a recess 142, and the projection 122 of the upper case 12 cooperates with the recess 142 of the lower case 14.
- the groove 122 or the protrusion 122 of the upper case 12 forms a closed annular structure along the edge of the upper case 12, and correspondingly, the protrusion 142 or the groove 142 of the lower case 14 is along the edge of the lower case 14. Form a closed annular structure.
- the groove 122 or the protrusion 122 of the upper case 12 when the groove 122 or the protrusion 122 of the upper case 12 is engaged with the protrusion 142 or the groove 142 of the lower case 14, it can function as a seal, thereby preventing the rain from being separated from the gap between the upper case 12 and the lower case 14. Enter the fixed bracket 10.
- the platform mount 20 includes a pan/tilt joint 22 and a plurality of connecting arms 24.
- the PTZ connector 22 includes a first end 221 and a second end 222 opposite to each other.
- the first end 221 defines a PTZ interface 223 for connecting to the PTZ 302, and the second end 222 is opened.
- the pan/tilt 302 is detachably connected to the pan-tilt interface 223, the circuit board 224 includes controllers and other electronic components, and circuit board 224 is used to control pan/tilt operation.
- the PTZ interface 223 includes an electrical interface 2231 electrically connected to the PTZ 302 and a mechanical interface 2232 mechanically coupled to the PTZ; the electrical interface 2231 can be used for the PTZ 302 to transmit electrical signals, video signals, and control signals; 2232 is used to realize the mechanical connection between the pan-tilt joint 22 and the pan-tilt 302.
- the mechanical connection of the mechanical interface 2232 and the pan-tilt 302 includes, but is not limited to, a snap, a bolted, a threaded connection or the like.
- a plurality of connecting arms 24 are evenly distributed around the pan-tilt joint 22 and are coupled to the outer side wall 220 of the pan-tilt joint 22.
- the number of the connecting arms 24 is three, and the three connecting arms 24 are evenly distributed around the pan-tilt joint 22, and the angle between the two adjacent connecting arms 24 is 120 degrees.
- the number of connecting arms 24 can also be two, four or any number.
- the damper mechanism 30 is coupled between the fixed bracket 10 and the platform mount 20.
- the damper mechanism 30 includes a damper member 32 to which the connecting arm 24 of the pan/tilt mount 20 is mounted.
- the shock absorbing member 32 is made of a material having elasticity or the shock absorbing member 32 includes a spring or other elastic member. In this manner, the damper mechanism 30 can dampen the pan/tilt mount 20 mounted on the damper mechanism 30 and the pan/tilt head 302 mounted on the pan-tilt mount 20.
- the unmanned aerial vehicle 300 and the pan/tilt head device 100 of the embodiment of the present invention form a groove 122 or a projection 122 in the upper case 12 of the fixing bracket 10, and form a groove 122 or a protrusion 122 with the upper case 12 in the lower case 14
- the protrusions 142 or the grooves 142, the grooves 122 or the protrusions 122 of the upper case 12 cooperate with the protrusions 142 or the grooves 142 of the lower case 14 to function as a seal, thereby preventing rainwater from being detached from the upper case 12 and the lower case 14
- the gap therebetween enters the fixed bracket 10, thereby preventing rainwater from entering the inside of the body 200 of the drone 300 from inside the fixed bracket 10.
- the pan-tilt device 100 further includes a first sealing member 101. If the upper casing 12 is provided with the groove 122 and the lower casing 14 is provided with the protrusion 142, the groove 122 is provided with the first portion. a sealing member 101, when the lower case 14 is mounted on the upper case 12, the protrusion 142 is engaged with the groove 122 and the protrusion 142 is in contact with the first sealing member 101 to further function as a seal; if the upper case 12 is provided with a convex
- the lower casing 14 is provided with a recess 142.
- the recess 142 is provided with a first sealing member 101.
- the projection 122 cooperates with the recess 142 and the projection 122 is first.
- the sealing member 101 is in contact with each other to further function as a seal, thereby further preventing rainwater from entering the fixing bracket 10 from the gap between the upper casing 12 and the lower casing 14.
- the first sealing member 101 comprises a silicone or a sealing ring.
- the silicone is disposed in the groove 122/142 by dispensing, and the protrusion 144 is further disposed.
- the /124 is snapped into the groove 122/142, so that the upper casing 12 and the lower casing 14 are pressed together, so that the preparation of the first sealing ring 101 can be performed in synchronization with the installation, thereby saving the manufacturing process and the other side.
- the surface also improves the mounting accuracy.
- the fixing bracket 10 is formed with a through hole 16 extending through the upper casing 12 and the lower casing 14.
- the pan/tilt device 100 further includes a second sealing member 102 and a cable 103, and a cable One end of the 103 passes through the through hole 16 and enters the inside of the body 200 of the drone 300, and the other end of the cable 103 is connected to the circuit board 224 in the pan/tilt mount 20.
- the second seal 102 is sleeved on the cable 103 and seals the gap between the through hole 16 and the cable 103.
- the second seal 102 includes, but is not limited to, a silicone or a seal.
- the pan-tilt device 100 further includes a line box 40 mounted on the pan-tilt connector 22, the line box 40 including a first cover 42 and a second cover 44.
- a receiving cavity 422 is defined in the bottom of the first cover 42 .
- the sidewall 420 of the first cover 42 defines a through hole 424 communicating with the receiving cavity 422 .
- the first cover 42 is connected to the second end 222 of the PTZ connector 22, and the receiving cavity 422 is in communication with the receiving cavity 225; specifically, when the first cover 42 is mounted on the PTZ connector 22, the first cover 42 is The bottom portion opposes the second end 22 of the pan-tilt joint 22, allowing the receiving cavity 422 to communicate with the receiving cavity 225 and form a closed cavity.
- the pan-tilt joint 22 and the first cover 42 are fixed together by a bolt connection, and the manner of fixing between the pan-tilt joint 22 and the first cover 42 further includes a screw connection. Any one or more of a snap fit or a pin connection.
- the pan-tilt device 100 further includes a third seal 104 mounted on the second end 222 of the pan-tilt joint 22 and the bottom of the first cover 42 between.
- the third seal 104 includes, but is not limited to, a silicone or a seal.
- the gap between the portion 22 and the first cover 42 enters the cavity formed by the receiving cavity 422 and the receiving cavity 225 to corrode the circuit board 224 located in the receiving cavity 225.
- the second cover 44 is mounted at the perforations 424 and seals the perforations 424.
- the second cover 44 includes a first limiting member 441, a second limiting member 442, and a connecting member 443 connected between the first limiting member 441 and the second limiting member 442.
- the first limiting member 441 is carried on the second limiting member 441.
- the connecting member 443 is disposed in the through hole 424.
- the second limiting member 442 is received in the receiving cavity 422 and interferes with the inner wall of the receiving cavity 422.
- the second cover 44 is opened.
- the first limit member 441 There are through the first limit member 441, the first The second limiting member 442 and the through hole 444 of the connecting member 443 pass through the through hole 444 and enter the accommodating cavity 422 to be connected to the circuit board 224.
- the first limiting member 441 and the second limiting member 442 are both larger in size than the through hole 424.
- the second limiting member 442 may be made of an elastic material including, but not limited to, rubber. Therefore, the second limiting member 442 is passed through the through hole 424 and received in the accommodating cavity 422.
- the size of the connector 443 is less than or equal to the size of the through hole 424; or, the connector 443 is larger than the size of the through hole 424, and the connector 443 is made of an elastic material to be able to press the connector 443 by an external force.
- the perforation 424 is inserted.
- the inner wall of the through hole 444 extends toward the center of the through hole 444 to form an annular plurality of elastic walls 445.
- the plurality of elastic walls 445 are spaced apart from each other and sleeved on the cable 103 to seal the cable 103. A gap with the inner wall of the through hole 444. In this way, the elastic wall 445 can prevent rainwater and dust from entering the accommodating cavity 422 from the gap between the through holes 444 along the cable 103, thereby functioning as waterproof and dustproof.
- the number of the cables 103 is plural, and the number of the through holes 444 is plural, and each of the cables 103 passes through one through hole 444.
- the number of the cables 103 is the same as the number of the through holes 444, and the size of each of the cables 103 is substantially the same as the size of the corresponding through holes 444 or the size of each of the cables 103 is larger than the size of the corresponding through holes 444. It is only necessary to satisfy that the elastic wall 445 can wrap the cable 103 to seal the gap between the cable 103 and the inner wall of the through hole 444.
- the cable 103 includes a power line, a control signal line, and an image transmission line, and the power line, the control signal line, and the image transmission line each include a plurality of wires.
- the power line and the control signal line pass through a larger through hole 444, and the image transmission line passes through another through hole 444 having a smaller size.
- the pan-tilt device 100 further includes a binocular camera 50 and a camera seal 105 mounted on the fixed bracket 10 .
- the binocular camera 50 is mounted on the fixed bracket 10.
- the binocular camera 50 includes two cameras 52, each of which includes a lens barrel 54 and a lens 56 mounted on the end face of the lens barrel 54.
- a camera seal 105 is disposed between the lens barrel 54 and the lens 56, and the camera seal 105 is formed on the lens barrel 54 of each camera 52 by means of adhesive curing (Ultraviolet Rays, UV glue). Between the lenses 56.
- the pan-tilt device 100 further includes a first person view (FPV) mechanism 60 disposed on the fixed bracket 10
- the FPV mechanism 60 includes a bracket disposed on the fixed bracket 10 .
- 62 and a camera 64 disposed on the bracket 62.
- Bracket 62 and photo The surface of the lens like the head 64 is provided with a nano waterproof coating.
- the FPV mechanism 60 is also waterproof to prevent rainwater from entering the interior of the FPV mechanism 60 and corroding electronic components within the FPV mechanism 60.
- the bracket 62 is rotatably mounted on the mounting bracket 10, and the camera 64 is secured to the bracket 62 and is rotatable with the bracket 64. In this way, the user can change the shooting angle of the camera 64 as needed.
- first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
- features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
- a plurality means at least two, for example two, three, unless specifically defined otherwise.
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Abstract
一种云台装置（100）及其应用的无人机（300），无人机（300）包括机身（200），云台装置（100）固定在机身（200）上；云台装置（100）包括固定支架（10）、云台安装座（20）和减震机构（30）。固定支架（10）用于承载双目摄像头（50），固定支架（10）包括上壳（12）和下壳（14），上壳（12）设置在机身（200）的底部，上壳（12）的边缘形成有凹槽或凸起。下壳（14）的边缘形成凸起或凹槽，下壳（14）固定在上壳（12）时，上壳（12）的凹槽或凸起与下壳（14）的凸起或凹槽配合。云台安装座（20）用于承载云台（302）。减震机构（30）连接于云台安装座（20）与固定支架（10）之间并用于给云台（20）减震。云台装置（100）通过在上壳（12）形成的凹槽或凸起与下壳（14）形成的凸起或凹槽配合起到密封作用。
Description
本发明涉及无人机技术，特别涉及一种云台装置及无人机。
无人机在雨中飞行时，经常会有雨水从无人机的云台与无人机的机身之间的连接处进入机身的内部，导致机身内部的元件腐蚀或损坏，进而影响无人机的使用及无人机的使用寿命。
发明内容
本发明的实施方式提供一种云台装置及无人机。
第一方面，本发明实施方式的云台装置，用于无人机，所述无人机包括机身，所述云台装置固定在所述机身上；所述云台装置包括固定支架、云台安装座和减震机构。所述固定支架用于承载双目摄像头，所述固定支架包括上壳和下壳。所述上壳设置在所述机身的底部，所述上壳的边缘形成有凹槽或凸起。所述下壳的边缘形成有与所述凹槽或所述凸起匹配的凸起或所述凹槽，所述下壳固定在所述上壳时，所述上壳的所述凹槽或所述凸起与所述下壳的所述凸起或所述凹槽配合。所述云台安装座用于承载云台。所述减震机构连接于所述云台安装座与所述固定支架之间，用于给所述云台减震。
第二方面，本发明提供一种无人机，所述无人机包括机身以及云台装置，所述云台装置，用于无人机，所述无人机包括机身，所述云台装置固定在所述机身上；所述云台装置包括：
固定支架，用于承载双目摄像头，所述固定支架包括：
上壳，所述上壳设置在所述机身的底部，所述上壳的边缘形成有凹槽或凸起；及
下壳，所述下壳的边缘形成有与所述凹槽或所述凸起匹配的凸起或凹槽，所述下壳固定在所述上壳时，所述上壳的所述凹槽或所述凸起与所述下壳的所述凸起或所述凹槽配合；
云台安装座，用于承载云台；以及
减震机构，连接于所述云台安装座与所述固定支架之间，用于给所述云台减震；
所述云台装置设置在所述机身的底部。
本发明实施方式的无人机和云台装置通过在固定支架的上壳形成凹槽或凸起，且在下壳形成与上壳的凹槽或凸起配合的凸起或凹槽，上壳的凹槽或凸起与下壳的凸起或凹槽配合能够起到密封作用，进而能够避免雨水从上壳与下壳之间的间隙进入固定支架内，进而避免雨水由固定支架内部进入无人机的机身内部。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
本发明的实施方式的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的无人机的立体结构示意图；
图2是本发明实施方式的云台装置的立体组装示意图；
图3是本发明实施方式的云台装置的立体分解示意图；
图4是本发明另一实施方式的云台装置的平面示意图；
图5是图4的V处的局部放大示意图；
图6是本发明又一实施方式的云台装置的平面示意图；
图7是本发明又一实施方式的第二盖体的立体结构示意图；
图8是本发明又一实施方式的第二盖体的剖视图；
图9是本发明再一实施方式的云台装置的平面示意图。
主要元件符号说明：
无人机300、云台302、机身200、云台装置100、第一密封件101、第二密封件102、线缆103、第三密封件104、摄像头密封件105、固定支架10、上壳12、凹槽122、下壳14、凸起142、通孔16、云台安装座20、云台接头22、外侧壁220、第一端221、第二端222、云台接口223、电接口2231、机械接口2232、电路板224、收容腔225、连接臂24、减震机构30、减震件32、线路盒40、第一盖体42、侧壁420、容置腔422、穿孔424、第二盖体44、第一限位件441、
第二限位件442、连接件443、贯通孔444、弹性壁445、双目摄像头50、摄像头52、镜筒54、镜片56、第一人称视角机构60、支架62、摄像头64。
下面详细描述本发明的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
请参阅图1，本发明实施方式的无人机300包括机身200和固定在机身200上的云台装置100。在某些实施方式中，云台装置100固定在机身200的底部。
请参阅图1-2，本发明实施方式的云台装置100包括固定支架10、云台安装座20和减震机构30。
固定支架10固定在机身200的底部，固定支架10包括上壳12和下壳14。
请参阅图1、图4及图5，上壳12可通过但不限于螺栓连接的方式固定在机身200的底部，还可以采用卡合、销钉连接等方式固定在机身200的底部。上壳12的边缘形成有凹槽122或凸起122。
请参阅图4及图5，下壳14可通过但不限于螺栓连接的方式固定在上壳12上，还可以采用卡合、销钉连接等方式固定在上壳12上。下壳14的边缘形成有与上壳12的凹槽122或凸起122相匹配的凸起142或凹槽142，当下壳14固定在上壳12时，上壳12的凹槽122或凸起122与下壳14的凸起142或凹槽142配合。具体地，当上壳12设置有凹槽122时，下壳14设置有凸起142，上壳12的凹槽122与下壳14的凸起142配合；当上壳12设置有凸起122时，下壳14设置有凹槽142，上壳12的凸起122与下壳14的凹槽142配合。具体地，上壳12的凹槽122或凸起122沿着上壳12的边缘形成一个封闭的环状结构，对应地，下壳14的凸起142或凹槽142沿着下壳14的边缘形成一个封闭的环状结构。如此，上壳12的凹槽122或凸起122与下壳14的凸起142或凹槽142配合时，能够起到密封作用，进而能够避免雨水从上壳12与下壳14之间的间隙进入固定支架10内。
请参阅图2，云台安装座20包括云台接头22及多个连接臂24。
请参阅图1至图3，云台接头22包括相背的第一端221和第二端222，第一端221开设有与用于连接云台302的云台接口223，第二端222开设有用于放置电路板224的收容腔225。云台302能够拆卸地与云台接口223连接，电路板
224包括控制器及其他电子元件，电路板224用于控制云台工作。具体地，云台接口223包括与云台302电连接的电接口2231及与云台机械连接的机械接口2232；电接口2231可用于云台302进行电信号、视频信号、控制信号传输；机械接口2232用于实现云台接头22与云台302之间的机械连接，机械接口2232与云台302的机械连接包括但不限于卡合、螺栓连接、螺纹连接等连接方式。
多个连接臂24环绕云台接头22均匀分布，并与云台接头22的外侧壁220连接。本实施方式中，连接臂24的数量为三个，三个连接臂24环绕云台接头22均匀分布，两个相邻的连接臂24之间的夹角为120度。当然，连接臂24的数量还可以为两个、四个或任意多个。
请参阅图2，减震机构30连接在固定支架10和云台安装座20之间。减震机构30包括减震件32，云台安装座20的连接臂24安装在减震件32上。具体地，减震件32为具有弹性的材料制成或减震件32包括弹簧或其他弹性零件。如此，减震机构30能够给安装在减震机构30上的云台安装座20和安装在云台安装座20上的云台302减震。
本发明实施方式的无人机300和云台装置100通过在固定支架10的上壳12形成凹槽122或凸起122、在下壳14形成与上壳12的凹槽122或凸起122配合的凸起142或凹槽142，上壳12的凹槽122或凸起122与下壳14的凸起142或凹槽142配合能够起到密封作用，进而能够避免雨水从上壳12与下壳14之间的间隙进入固定支架10内，进而避免雨水由固定支架10内部进入无人机300的机身200内部。
请参阅图4-5，在某些实施方式中，云台装置100还包括第一密封件101，若上壳12设置凹槽122、下壳14设置凸起142，凹槽122内设置有第一密封件101，当下壳14安装在上壳12上时，凸起142与凹槽122配合且凸起142与第一密封件101相抵触以进一步起到密封的作用；若上壳12设置凸起122、下壳14设置有凹槽142，凹槽142内设置有第一密封件101，当下壳14安装在上壳12上时，凸起122与凹槽142配合且凸起122与第一密封件101相抵触以进一步起到密封的作用，进而能够进一步避免雨水从上壳12与下壳14之间的间隙进入固定支架10内。在某些实施方式中，第一密封件101包括硅胶或密封圈，当第一密封圈101为硅胶时，是通过点胶的方式将硅胶设置在凹槽122/142内，再将凸起144/124卡入凹槽122/142内，使得上壳12与下壳14压合而形成，如此能够将第一密封圈101的制成与安装同步进行，一方面节省了制作工艺，另一方
面也提高了安装精度。
请参阅图2-3，在某些实施方式中，固定支架10形成有贯穿上壳12与下壳14的通孔16，云台装置100还包括第二密封件102和线缆103，线缆103的一端从通孔16穿设进入无人机300的机身200内部，线缆103的另一端与云台安装座20中的电路板224连接。第二密封件102套设在线缆103上并密封通孔16与线缆103之间的空隙。第二密封件102包括但不限于硅胶或密封圈。由于无人机300倾斜飞行时，雨水会从沿着线缆103并由通孔16进入机身200内部，通过在线缆103和通孔16之间设置第二密封件102能够避免雨水沿着线缆103并由通孔16进入机身200内部。
请参阅图2-3，在某些实施方式中，云台装置100还包括安装在云台接头22上的线路盒40，线路盒40包括第一盖体42和第二盖体44。
第一盖体42的底部开设有容置腔422，第一盖体42的侧壁420上开设有与容置腔422连通的穿孔424。第一盖体42连接在云台接头22的第二端222，容置腔422与收容腔225连通；具体地，第一盖体42安装在云台接头22上时，第一盖体42的底部与云台接头22的第二端22相抵触，使容置腔422与收容腔225连通并形成封闭的腔体。在某些实施方式中，云台接头22与第一盖体42之间通过但不限于螺栓连接的方式固定在一起，云台接头22与第一盖体42之间的固定方式还包括螺纹连接、卡合、销钉连接中的任意一种或多种。
请参阅图2-3，在某些实施方式中，云台装置100还包括第三密封件104，第三密封件104安装在云台接头22的第二端222与第一盖体42的底部之间。第三密封件104包括但不限于硅胶或密封圈。如此，通过在云台接头22与第一盖体42之间设置第三密封件104，进一步提升了云台接头22与第一盖体42之间的密封效果，避免雨水或灰尘由云台接头22与第一盖体42之间的间隙进入容置腔422与收容腔225形成的腔体内部进而腐蚀位于收容腔225内的电路板224。
请结合图7-8，第二盖体44安装在穿孔424处并密封住穿孔424。第二盖体44包括第一限位件441、第二限位件442及连接在第一限位件441与第二限位件442之间的连接件443，第一限位件441承载在第一盖体34的侧壁420上，连接件443穿设在穿孔424内，第二限位件442收容在容置腔422内并与容置腔422的内壁抵触，第二盖体44开设有贯穿第一限位件441、第
二限位件442及连接件443的贯通孔444，线缆103的另一端穿过贯通孔444并进入容置腔422以与电路板224连接。在某些实施方式中，第一限位件441与第二限位件442的尺寸均大于穿孔424的尺寸。具体地，第二限位件442可以由弹性材料制成，弹性材料包括但不限于橡胶。如此便于将第二限位件442穿过穿孔424并收容在容置腔422内。在某些实施方式中，连接件443的尺寸小于或等于穿孔424的尺寸；或，连接件443大于穿孔424的尺寸，且连接件443由弹性材料制成，以能通过外力将连接件443压入穿孔424。
在某些实施方式中，贯通孔444的内壁朝贯通孔444的中心延伸出环形的多个弹性壁445，多个弹性壁445相互间隔设置并套设在线缆103上以密封住线缆103与贯通孔444的内壁之间的空隙。如此，弹性壁445能够防止雨水和灰尘沿着线缆103从贯通孔444之间的间隙进入容置腔422内，进而起到了防水及防尘的作用。
在某些实施方式中，线缆103的数量为多条，贯通孔444的数量为多个，每条线缆103分别穿过一个贯通孔444。具体地，线缆103的数量与贯通孔444的数量一致，每条线缆103的尺寸与对应的贯通孔444的尺寸基本一致或每条线缆103的尺寸大于对应的贯通孔444的尺寸，只需要满足弹性壁445能够包裹住线缆103以密封住线缆103与贯通孔444的内壁之间的空隙即可。
具体在图示的实施例中，所述线缆103包括电源线、控制信号线、以及图像传输线，电源线、控制信号线、以及图像传输线各包括多个导线。其中，电源线、以及控制信号线穿过一个尺寸较大的贯穿孔444，图像传输线穿过另外一个尺寸较小的贯穿孔444。
请参阅图9，在某些实施方式中，云台装置100还包括安装在固定支架10上的双目摄像头50及摄像头密封件105。双目摄像头50安装在固定支架10上。双目摄像头50包括两个摄像头52，每个摄像头52包括一个镜筒54和安装在镜筒54端面的镜片56。具体地，镜筒54与镜片56之间设置有摄像头密封件105，摄像头密封件105采用无影胶(Ultraviolet Rays,UV胶)通过黏胶固化的方式形成在每个摄像头52的镜筒54和镜片56之间。
请参阅图9，在某些实施方式中，云台装置100还包括设置在固定支架10上的第一人称视角(First Person View,FPV)机构60，FPV机构60包括设置在固定支架10上的支架62和设置在支架62上的摄像头64。支架62和摄
像头64的镜头的表面均设置有纳米防水涂层。如此，FPV机构60也能够防水，避免雨水进入FPV机构60的内部并腐蚀FPV机构60内部的电子元器件。在某些实施方式中，支架62能够转动地安装在固定支架10上，摄像头64固定在支架62上并能够随着支架64一起转动。如此，用户能够根据需要改变摄像头64的拍摄角度。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。
Claims (26)
- 一种云台装置，用于无人机，所述无人机包括机身，所述云台装置固定在所述机身上；其特征在于，所述云台装置包括：固定支架，用于承载双目摄像头，所述固定支架包括：上壳，所述上壳设置在所述机身的底部，所述上壳的边缘形成有凹槽或凸起；及下壳，所述下壳的边缘形成有与所述凹槽或所述凸起匹配的凸起或凹槽，所述下壳固定在所述上壳时，所述上壳的所述凹槽或所述凸起与所述下壳的所述凸起或所述凹槽配合；云台安装座，用于承载云台；以及减震机构，连接于所述云台安装座与所述固定支架之间，用于给所述云台减震。
- 如权利要求1所述的云台装置，其特征在于，所述云台装置包括设置在所述凹槽内的第一密封件，所述凸起与所述第一密封件相抵触。
- 如权利要求2所述的云台装置，其特征在于，所述第一密封件包括硅胶或密封圈。
- 如权利要求2所述的云台装置，其特征在于，所述固定支架开设有贯穿所述上壳与所述下壳的通孔，所述云台装置包括线缆和第二密封件，所述线缆的一端从所述通孔穿设进入所述机身内部，所述第二密封件套设在所述线缆上并密封所述通孔与所述线缆之间的空隙。
- 如权利要求4所述的云台装置，其特征在于，所述云台安装座包括云台接头及环绕所述云台接头的外侧壁设置的多个连接臂，所述云台接头的第一端开设有用于连接云台的云台接口，与所述第一端相背的第二端开设有用于放置电路板的收容腔，所述多个连接臂与所述减震机构连接；所述云台装置还包括线路盒，所述线路盒包括第一盖体和第二盖体，所述第一盖体的底部开设有容置腔，所述第一盖体的侧壁上开设有与所述容置 腔连通的穿孔，所述第一盖体连接在所述第二端，所述容置腔与所述收容腔连通，所述第二盖体安装在所述穿孔处并密封住所述穿孔，所述线缆的另一端贯穿所述第二盖体并进入所述容置腔以与所述电路板连接。
- 如权利要求5所述的云台装置，其特征在于，所述云台装置还包括第三密封件，所述第三密封件安装在所述第二端与所述第一盖体的底部之间。
- 如权利要求5所述的云台装置，其特征在于，所述第二密封件包括硅胶或密封圈，所述第三密封件包括硅胶或密封圈。
- 如权利要求5所述的云台装置，其特征在于，所述第二盖体包括第一限位件、第二限位件及连接在所述第一限位件与所述第二限位件之间的连接件，所述第一限位件承载在所述第一盖体的侧壁上，所述连接件穿设在所述穿孔内，所述第二限位件收容在所述容置腔内并与所述容置腔的内壁抵触，所述第二盖体开设有贯穿所述第一限位件、所述第二限位件及所述连接件的贯通孔，所述线缆的另一端穿过所述贯通孔。
- 如权利要求8所述的云台装置，其特征在于，所述贯通孔的内壁朝所述贯通孔的中心延伸出环形的多个弹性壁，所述多个弹性壁相间隔地套设在所述线缆上并密封住所述线缆与所述贯通孔的内壁之间的空隙。
- 如权利要求8所述的云台装置，其特征在于，所述线缆的数量为多条，所述贯通孔的数量为多个，每条所述线缆分别穿过一个所述贯通孔。
- 如权利要求2-10任意一项所述的云台装置，其特征在于，所述云台装置包括所述双目摄像头及摄像头密封件，所述双目摄像头包括承载在所述固定支架相对两端的两个摄像头，每个摄像头的镜片与镜筒之间设置有所述摄像头密封件。
- 如权利要求11所述的云台装置，其特征在于，所述摄像头密封件是通过黏胶固化的方式形成在每个双目摄像头的镜片与镜筒之间。
- 如权利要求11所述的云台装置，其特征在于，所述云台装置包括第一人称视角机构，所述第一人称视角机构包括设置在所述固定支架上的支架及设置在所述支架上的摄像头，所述支架和所述摄像头的镜头的表面均设置有纳米防水涂层。
- 一种无人机，所述无人机包括机身以及云台装置，所述云台装置，用于无人机，所述无人机包括机身，所述云台装置固定在所述机身上；其特征在于，所述云台装置包括：固定支架，用于承载双目摄像头，所述固定支架包括：上壳，所述上壳设置在所述机身的底部，所述上壳的边缘形成有凹槽或凸起；及下壳，所述下壳的边缘形成有与所述凹槽或所述凸起匹配的凸起或凹槽，所述下壳固定在所述上壳时，所述上壳的所述凹槽或所述凸起与所述下壳的所述凸起或所述凹槽配合；云台安装座，用于承载云台；以及减震机构，连接于所述云台安装座与所述固定支架之间，用于给所述云台减震；所述云台装置设置在所述机身的底部。
- 如权利要求14所述的无人机，其特征在于，所述云台装置包括设置在所述凹槽内的第一密封件，所述凸起与所述第一密封件相抵触。
- 如权利要求15所述的无人机，其特征在于，所述第一密封件包括硅胶或密封圈。
- 如权利要求15所述的无人机，其特征在于，所述固定支架开设有贯穿所述上壳与所述下壳的通孔，所述云台装置包括线缆和第二密封件，所述线缆的一端从所述通孔穿设进入所述机身内部，所述第二密封件套设在所述线缆上并密封所述通孔与所述线缆之间的空隙。
- 如权利要求17所述的无人机，其特征在于，所述云台安装座包括云 台接头及环绕所述云台接头的外侧壁设置的多个连接臂，所述云台接头的第一端开设有用于连接云台的云台接口，与所述第一端相背的第二端开设有用于放置电路板的收容腔，所述多个连接臂与所述减震机构连接；所述云台装置还包括线路盒，所述线路盒包括第一盖体和第二盖体，所述第一盖体的底部开设有容置腔，所述第一盖体的侧壁上开设有与所述容置腔连通的穿孔，所述第一盖体连接在所述第二端，所述容置腔与所述收容腔连通，所述第二盖体安装在所述穿孔处并密封住所述穿孔，所述线缆的另一端贯穿所述第二盖体并进入所述容置腔以与所述电路板连接。
- 如权利要求18所述的无人机，其特征在于，所述云台装置还包括第三密封件，所述第三密封件安装在所述第二端与所述第一盖体的底部之间。
- 如权利要求18所述的无人机，其特征在于，所述第二密封件包括硅胶或密封圈，所述第三密封件包括硅胶或密封圈。
- 如权利要求18所述的无人机，其特征在于，所述第二盖体包括第一限位件、第二限位件及连接在所述第一限位件与所述第二限位件之间的连接件，所述第一限位件承载在所述第一盖体的侧壁上，所述连接件穿设在所述穿孔内，所述第二限位件收容在所述容置腔内并与所述容置腔的内壁抵触，所述第二盖体开设有贯穿所述第一限位件、所述第二限位件及所述连接件的贯通孔，所述线缆的另一端穿过所述贯通孔。
- 如权利要求21所述的无人机，其特征在于，所述贯通孔的内壁朝所述贯通孔的中心延伸出环形的多个弹性壁，所述多个弹性壁相间隔地套设在所述线缆上并密封住所述线缆与所述贯通孔的内壁之间的空隙。
- 如权利要求21所述的无人机，其特征在于，所述线缆的数量为多条，所述贯通孔的数量为多个，每条所述线缆分别穿过一个所述贯通孔。
- 如权利要求15-23任意一项所述的无人机，其特征在于，所述云台装置包括所述双目摄像头及摄像头密封件，所述双目摄像头包括承载在所述固定支架相对两端的两个摄像头，每个摄像头的镜片与镜筒之间设置有所述 摄像头密封件。
- 如权利要求24所述的无人机，其特征在于，所述摄像头密封件是通过黏胶固化的方式形成在每个双目摄像头的镜片与镜筒之间。
- 如权利要求24所述的无人机，其特征在于，所述云台装置包括第一人称视角机构，所述第一人称视角机构包括设置在所述固定支架上的支架及设置在所述支架上的摄像头，所述支架和所述摄像头的镜头的表面均设置有纳米防水涂层。
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| WO2019100316A1 (zh) * | 2017-11-24 | 2019-05-31 | 深圳市大疆创新科技有限公司 | 防尘结构、双目传感器及无人飞行器 |
| WO2019127392A1 (zh) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | 驱动装置、云台、拍摄装置及无人飞行器 |
| CN108272423A (zh) * | 2018-04-16 | 2018-07-13 | 佛山市顺德区美的洗涤电器制造有限公司 | 内胆组件及洗碗机 |
| CN108482694B (zh) * | 2018-05-18 | 2020-10-16 | 云上创新航空科技(厦门)有限公司 | 一种两镜旋转式倾斜摄影云台 |
| CN208412168U (zh) * | 2018-06-26 | 2019-01-22 | 深圳市大疆创新科技有限公司 | 无人机及其机身、云台相机 |
| CN112866521A (zh) * | 2020-12-31 | 2021-05-28 | 上海商汤临港智能科技有限公司 | 摄像头、车载摄像装置、车辆及驾驶员行为检测系统 |
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