WO2018184212A1 - 云台结构及相机组件 - Google Patents

云台结构及相机组件 Download PDF

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Publication number
WO2018184212A1
WO2018184212A1 PCT/CN2017/079742 CN2017079742W WO2018184212A1 WO 2018184212 A1 WO2018184212 A1 WO 2018184212A1 CN 2017079742 W CN2017079742 W CN 2017079742W WO 2018184212 A1 WO2018184212 A1 WO 2018184212A1
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WO
WIPO (PCT)
Prior art keywords
transition section
pan
camera
structure according
camera assembly
Prior art date
Application number
PCT/CN2017/079742
Other languages
English (en)
French (fr)
Inventor
宾朋
马天航
Original Assignee
深圳市大疆灵眸科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201780005489.3A priority Critical patent/CN108513607B/zh
Priority to PCT/CN2017/079742 priority patent/WO2018184212A1/zh
Publication of WO2018184212A1 publication Critical patent/WO2018184212A1/zh
Priority to US16/590,049 priority patent/US11054725B2/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F16M11/2028—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis for rolling, i.e. for creating a landscape-portrait rotation
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/125—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction for tilting and rolling
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • 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

Definitions

  • the present invention relates to the field of cloud camera technology, and in particular to a cloud platform structure and a camera assembly.
  • the micro controller needs to control the data of the gimbal motor and the transmission camera through the wire, but it is limited by the pan/tilt volume. Smaller, the arrangement of the wires from the structure will cause the following problems: (1) The space of the gimbal is small and the number of wires is large, resulting in no arrangement of the wires, or it is easy to break the wires. (2) The motor generates severe heat. Due to the large angle of rotation of the wire, the wire generates a large torque. These torques are loads for the PTZ motor, which reduces the controllability of the PTZ motor and causes the motor to heat up.
  • the allowable bending radius of the wire itself is small.
  • the wire of the wire is likely to cause a large internal stress during the bending process, resulting in a short life of the wire.
  • the ordinary wire has no signal shielding effect, which is easy to cause signal interference of components.
  • the related PTZ camera equipment generally adopts a scheme of increasing the volume of the gimbal, so that the wire has sufficient movable space, but at the same time brings the disadvantage that the PTZ camera device is bulky.
  • the invention provides a pan/tilt structure and a camera assembly.
  • a camera assembly of a pan-tilt structure is provided, the camera assembly being rotatable about a first axis of rotation of the pan-tilt structure, the camera assembly comprising: a housing disposed at the a camera module in the housing and a cable disposed in the housing, the cable includes a first connection end, a second connection end, and a connection between the first connection end and the second connection end a transition portion; the first connection end is coupled to the camera module, the second connection end is coupled to an external device located outside the housing, and the transition section includes a bend setting about the first rotation axis The first transition segment.
  • a pan/tilt structure including a pan-tilt body and a camera assembly mounted on the pan-tilt body;
  • the camera assembly includes a housing, a camera module disposed in the housing, and a cable disposed in the housing, the cable including a first connection end, a second connection end, and a connection a transition between the first connection end and the second connection end; the first connection end is connected to the camera module, and the second connection end is connected to an external device located outside the housing,
  • the transition section includes a first transition section that is bent about the first axis of rotation.
  • the camera assembly of the present invention is configured to bend the first transition section of the cable to be disposed about the first rotation axis, and to enable the cable to rotate relative to the first rotation axis when the camera assembly is rotated about the first rotation axis
  • the rotation can effectively reduce the torque generated by the camera assembly during the rotation around the first rotating shaft, thereby reducing the resistance of the motor to drive the entire camera assembly.
  • the pan/tilt structure of the present invention is configured to bend the first transition section of the cable of the camera assembly to be bent around the first rotation axis, and when the camera assembly rotates around the first rotation axis, the cable can also be relatively
  • the rotation of the first rotating shaft can effectively reduce the torque generated by the camera assembly during the rotation around the first rotating shaft, thereby reducing the driving of the entire camera assembly by the pan/tilt motor. resistance.
  • FIG. 1 is a schematic diagram of a wiring structure of a camera assembly according to an embodiment of the present invention.
  • FIG. 2 is an exploded view of a camera assembly in accordance with an embodiment of the present invention.
  • FIG 3 is a structural view of a whole machine structure of a pan/tilt head according to an embodiment of the present invention.
  • FIG. 4 is an exploded view of a gimbal structure according to an embodiment of the present invention.
  • FIG. 5 and FIG. 6 are schematic diagrams showing the structure of the structure of the pan/tilt structure according to an embodiment of the present invention.
  • the usual pan/tilt camera is small in size, and the camera module almost completely fills the internal space of the pan-tilt camera, so the space for routing the wires is very small.
  • the wires of the wires are generally routed from the side of the pan-tilt camera by the inside of the pan-tilt camera, and then bent at a certain angle to be connected to the external device. In this way of wire routing, since the wire is directly bent, the bending radius and the bending angle are relatively small, and the wire is deformed toward the original shape by the action of its own elastic force, which causes deformation of the wire. A problem that easily rubs against other parts of the pan/tilt camera.
  • the wire adopting the above-mentioned routing method may cause a large pulling force and a torsion force to the wire during the rotation of the pan/tilt camera. It is easy to cause problems of wire breakage or wear.
  • the present invention provides a pan-tilt structure and a camera assembly, which can effectively avoid the problem that the camera module causes excessive pulling force and torque to the wire during the rotation process, and avoids the problem that the wire itself has a large elastic force.
  • the pan/tilt structure and camera assembly of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.
  • a camera assembly 10 of a pan-tilt structure is provided according to an embodiment of the present invention.
  • the camera assembly 10 is rotatable about a first rotating shaft 910 of the pan-tilt structure.
  • the camera assembly 10 The device includes a housing, a camera module 110 disposed in the housing, and a cable disposed in the housing, the cable including a first connection end 121, a second connection end 122, and the first connection A transition section 123 between the connection end 121 and the second connection end 122.
  • the first connection end 121 is connected to the camera module 110, the second connection end 122 is connected to an external device (such as a drone body or the like) located outside the housing, and the transition section 123 includes the The first rotating shaft 910 is bent by the first transition section 1231.
  • the camera assembly 10 of the embodiment of the present invention effectively increases the bending radius of the cable by setting the first transition section 1231 of the transition section 123 of the cable to be bent around the first rotating shaft 910 of the pan-tilt structure.
  • the first transition section 1231 of the transition section 123 is also rotatable relative to the first rotation axis 910 when the camera assembly 10 is rotated about the first rotation axis 910, thereby reducing the rotation of the camera assembly 10 about the first rotation.
  • the torque generated by the cable during the rotation of the shaft 910 reduces the resistance of the motor of the pan-tilt structure to drive the entire camera assembly.
  • the transition section 123 further includes a second transition section 1232 that is smoothly connected to the first transition section 1231 and a third transition section 1233 that is bent and connected to the second transition section 1232.
  • the second transition section 1232 extends along an axial direction of the first rotating shaft 910, and the third transition section 1233 protrudes from the housing for connecting an external device. That is, the first connecting end 121 of the cable is disposed on the first transition section 1231 of the transition section 123, and the second connecting end 122 of the cable is disposed on the third transition section 1233 of the transition section 123.
  • a connecting portion of the second transition portion 1232 of the transition section 123 of the cable and the third transition section 1233 is located at the
  • the first rotating shaft 910 is configured to enable the second transition section 1232 to smoothly transition to the third transition section 1233, thereby reducing the pulling force or torque generated by the camera assembly 10 on the cable during the rotation.
  • the camera assembly 10 of the embodiment of the present invention can pass the cable through the center of rotation of the camera assembly 10 by arranging the second transition portion 1232 of the transition portion 123 of the cable to extend along the axial direction of the first rotating shaft 910 (ie, The first rotating shaft 910), thereby reducing the pulling force generated by the camera assembly 10 during rotation about the first rotating shaft 910, and the closer the second transition section 1232 is to the center of rotation, the camera assembly 10 is wound around the first The pulling force generated on the cable during the rotation of the rotating shaft 910 is smaller.
  • the cable By bending the third transition section 1233 of the transition section 123 of the cable and the second transition section 1232, the cable protrudes from the housing of the camera assembly 10 and is connected to an external device, so that the cable It is possible to smoothly transition from the first transition section 1231 of the transition section 123 to the third transition section 1233.
  • the first transition section 1231 of the transition section 123 is bent from one side of the camera module 110 to the other side of the camera module 110 around the first rotation axis 910. . That is, in the embodiment, the camera module 10 can be routed from the upper portion of the camera module 110 to the lower side of the camera module 110 through the first transition portion 1231 of the transition portion 123, and then The cable is then routed from the side of the camera assembly 10 through the extension transition of the second transition section 1232 and the third transition section 1233 and the bend transition, as shown in FIG.
  • the first transition section 1231 of the transition section 123 may be bent from the lower side of the camera module 110 to the upper side of the camera module 110, and then extended by the extension of the second transition section 1232 and the third transition section 1233. And a bend transition that causes the cable to exit the side of the camera assembly 10.
  • the camera assembly 10 of the embodiment of the present invention can achieve a smooth transition of the cable from the first transition section 1231 of the transition section 123 to the third transition section 1233 from the inside of the camera assembly 10 by using any of the above two routing methods.
  • the purpose of the line is then taken out from the camera assembly 10. Since the first connecting end 121 and the second connecting end 122 of the cable are always fixed, the first transition section 1231 of the transition section 123 is bent from one side of the camera module 110 to the camera module 110. On the other side, it is possible to increase the bending radius of the cable and the bending angle, thereby reducing the elastic force of the cable of the cable itself, and reducing the cable of the camera assembly 10 during the rotation about the first rotating shaft 910. The resulting torque.
  • the second transition section 1232 of the transition section 123 extends along the axial direction of the first rotation axis 910 to enable the cable to pass through the center of rotation of the camera assembly 10, thereby reducing the camera assembly 10 about the first rotation axis 910. The pulling force on the cable during the rotation.
  • the first transition section 1231, the second transition section 1232, and the third transition section 1233 of the transition section 123 are transitioned to form the cable by using the above connection manner.
  • the purpose of arranging cables in a narrow space of the camera assembly 10 achieves the effect of increasing the bending radius and bending angle of the cable, and passing the cable through the center of rotation of the camera assembly 10, thereby reducing the camera assembly.
  • first transition section 1231 and the second transition section 1232 are integrally formed, and the second transition section 1232 and the third transition section 1233 are integrally formed, and the first section A transition section 1231 is a circular arc transition section and the third transition section 1233 is a circular arc transition section.
  • the bending angle between the third transition section 1233 and the second transition section 1232 ranges from 85 degrees to 95 degrees.
  • the first transition section 1231, the second transition section 1232, and the third transition section 1233 of the transition section 123 are all integrally formed, and a circular transition section is adopted, which can improve the smooth transition effect of the cable, thereby further reducing The torque generated by the camera assembly 10 during rotation about the first axis of rotation 910 and the pulling force generated on the cable.
  • the cable includes a plurality of wires and a flexible printed circuit board (FPC: Flexible Printed Circuit) wrapped around the plurality of wires.
  • FPC Flexible Printed Circuit
  • the combination of a plurality of wires can enhance the strength of the wire and effectively reduce the torque of the wire when bent at a large angle.
  • the plurality of wires of the cable are coaxial wires, which can effectively reduce the internal stress of the cable.
  • the camera module 110 is further provided with a connector 111, and the first connection end 121 of the cable is connected to the connector 111. That is, the first transition section 1231 of the transition section 123 is bent by the connector 111 from one side of the camera module 110 to the other side of the camera module 110.
  • the housing of the camera assembly 10 includes a camera front cover 131 and a camera rear cover 132.
  • the camera module 110 is further provided with a mounting seat 112.
  • the cover 132 is provided with a receiving slot 133 for receiving the mounting seat 112 of the camera module 110.
  • the camera module 110 and the camera rear cover 132 are sandwiched to form the first transition section 1231. Containment space.
  • the housing of the camera assembly 10 is a cylindrical housing, and the camera front cover 131 and the camera rear cover 132 are both semi-cylindrical housings.
  • the camera front cover 131 is provided with a first opening portion 1311
  • the camera rear cover 132 is provided with a second opening portion 1321 adapted to the first opening portion 1311.
  • the first opening portion 1311 and the second opening portion 1321 are spliced to form an opening.
  • the housing also includes a sealing cover 134, the sealing cover 134 being disposed over the opening. Further, the sealing cover 134 is provided with a lead hole 135, and the third transition portion 1233 passes through the lead hole 135 to protrude from the housing. That is, in the embodiment shown in FIG. 1, the cable is routed in such a manner that the first connection end 121 is started by the connector 111 through the first transition section 1231, first from the camera module.
  • the upper bend of 110 transitions to the lower side of the camera module 110, and then through the extension transition of the second transition section 1232 and the third transition section 1233 and the bending transition, from the lead of the sealing cover 134 disposed at the side of the camera assembly 10.
  • the hole 135 is pierced.
  • the first rotating shaft 910 is a pitch axis of the pan-tilt structure.
  • the camera assembly 10 is rotatable about a pitch axis to achieve a function of a pan and a pan.
  • the mounting seat 112 of the camera module 110 is first mounted in the receiving slot 133 of the camera back cover 132, and then the camera front cover 131 and the camera back cover 132 are fastened to each other. Finally, the sealing cover 134 is mounted on the camera front cover 131 and the camera rear cover 132.
  • the cable of the camera module 110 is routed through the first transition segment 1231 through the connector 111 of the camera module 110, first from the camera module 110.
  • the upper bend transitions to the lower side of the camera module 110, and then passes through the lead transition 135 of the sealing cover 134 on the side of the camera assembly 10 through the extension transition and the bend transition of the second transition section 1232 and the third transition section 1233.
  • an embodiment of the present invention further provides a pan-tilt structure 1 including a pan-tilt body and a camera assembly 10 as described above, and the camera assembly 10 is mounted on the pan-tilt body. It should be noted that the description of the camera assembly 10 in the above embodiments and embodiments is equally applicable to the pan/tilt structure 1 of the present invention.
  • the pan/tilt structure 1 of the present invention can be increased by bending from the one side of the camera module 110 to the other side of the camera module 110 through the first transition section 1231 of the transition section 123 of the cable of the camera assembly 10.
  • the bending radius of the large cable and the bending angle reduce the elastic force of the cable of the cable itself, and reduce the torque generated by the camera assembly 10 during the rotation about the first rotating shaft 910.
  • the second transition section 1232 of the transition section 123 is along the axial direction of the first rotating shaft 910
  • the extension arrangement enables the cable to pass through the center of rotation of the camera assembly 10, thereby reducing the pulling force of the camera assembly 10 during rotation about the first rotating shaft 910, thereby reducing the pan/tilt motor driving the entire camera assembly. resistance.
  • the pan/tilt structure 1 further includes a first axle arm 210 and a first axle arm end cover 220 for driving the camera module 110 to rotate along the first rotating shaft 910.
  • the first axle arm 210 and the first axle arm end cover 220 are disposed on both sides of the casing of the camera assembly 10 along the axial direction of the first rotating shaft 910.
  • the first rotating shaft 910 is a pitch axis of the pan-tilt structure 1 .
  • the first axle arm 210 is capable of driving the camera assembly 10 to rotate about a pitch axis of the pan/tilt structure 1 (ie, the first axis of rotation 910).
  • the pan-tilt structure 1 is a two-axis pan/tilt, and the pan-tilt structure 1 further includes a second rotating shaft 920 for driving the camera module 110 along the pan-tilt structure 1
  • a rotating second axle arm 230 is disposed on the housing along an axial direction of the second rotation shaft 920.
  • the second rotating shaft 920 is a rolling axis of the pan-tilt structure 1 .
  • the second axle arm 230 is capable of driving the camera assembly 10 to rotate about a roll axis of the pan/tilt structure 1 (ie, the second axis of rotation 920).
  • the first axle arm 210 is the pitch axle arm
  • the second axle arm 230 is the roll axle arm.
  • the first axle arm 210 further includes a shaft arm bracket 211 coupled to the second axle arm 230 for supporting the camera assembly 10 when the camera assembly 10 is mounted, on the second axle arm 230 There is also a connecting bracket 240 for connecting the pan-tilt structure 1 with other devices.
  • the axle arm bracket 211 is first connected to the second axle arm 230, and then the camera assembly 10 is mounted on the first axle arm 210, and the third portion of the transition section 123 is at this time.
  • the transition section 1233 passes through the sealing cover 134 of the camera assembly 10, as shown in FIG.
  • the first axle arm end cap 220 is then mounted to the seal cover 134 of the camera assembly 10 as shown in FIG.
  • the cable of the camera assembly 10 of the pan-tilt structure 1 adopts the smooth transition from the first transition section 1231 of the transition section 123 to the third transition section 1233 as described in the above embodiments and embodiments, and then exits from the camera assembly 10
  • the way of routing can reduce the elastic force of the cable itself, so in the camera group During the rotation of the member 10, the cable of the camera assembly 10 can be greatly reduced from friction with the first axle arm end cover 220, thereby preventing the cable from being damaged due to excessive friction and prolonging the service life of the cable.

Abstract

一种云台结构及相机组件。相机组件(10)可绕云台结构的第一旋转轴(910)转动，包括壳体、设置于壳体内的相机模组(110)以及布设于壳体内的线缆，线缆包括第一连接端(121)、第二连接端(122)以及连接于第一连接端(121)和第二连接端(122)之间的过渡段(123)；第一连接端(121)与相机模组(110)连接，第二连接端(122)与位于壳体外的外部设备连接，过渡段(123)包括绕第一旋转轴(910)弯折设置的第一过渡段(1231)。通过第一过渡段绕第一旋转轴弯折设置，当相机组件绕第一旋转轴转动时，能够使线缆也相对第一旋转轴发生转动，可以有效降低相机组件转动过程中对线缆产生的扭力。

Description

云台结构及相机组件 技术领域
本发明涉及云台相机技术领域，特别涉及一种云台结构及相机组件。
背景技术
随着科学技术水平高速发展，人们对电子设备的小型化、可靠性、高精密性提出了越来越高的要求，在无人机航拍领域，采用更小的飞行器以及采用更小的云台相机成为了一种新的技术趋势，能够使用户最为便捷的携带拍摄产品。
小型飞行器由于受到空间与有限承载重量的限制，往往选择比较小的云台与摄像头作为拍摄设备，那么微型控制器需要通过导线控制云台的电机与传输摄像头的数据，但受限于云台体积较小，从结构上布置导线将会产生以下几个问题：(1)云台空间狭小而且导线的数目多，导致导线布置不下，或者容易把导线卡断。(2)电机发热严重，由于导线的线材转动角度大，导致导线产生很大的扭力，这些扭力对于云台电机而言是负载，会降低云台电机的可控能力，同时导致电机发热。(3)由于云台整体体积小，导致导线的线材本身的容许弯折半径小。(4)由于弯折半径小，转动角度大，将会导致导线的线材在弯折过程中容易导致内应力大，导致导线寿命短的现象。(5)普通线材无信号屏蔽作用，容易导致元器件的信号干扰。
目前相关的云台相机设备为了避免上述问题，普遍采用加大云台体积的方案，让导线有足够的活动空间，但同时带来云台相机设备体积大的缺点。
发明内容
本发明提供一种云台结构及相机组件。
根据本发明实施例的第一方面，提供一种云台结构的相机组件，所述相机组件可绕所述云台结构的第一旋转轴转动，所述相机组件包括：壳体、设置于所述壳体内的相机模组以及布设于所述壳体内的线缆，所述线缆包括第一连接端、第二连接端以及连接于所述第一连接端和所述第二连接端之间的过渡段；所述第一连接端与所述相机模组连接，所述第二连接端与位于所述壳体外的外部设备连接，所述过渡段包括绕所述第一旋转轴弯折设置的第一过渡段。
根据本发明实施例的第二方面，提供一种云台结构，包括云台本体和装设于所述云台本体上的相机组件；
其中，所述相机组件包括：壳体、设置于所述壳体内的相机模组以及布设于所述壳体内的线缆，所述线缆包括第一连接端、第二连接端以及连接于所述第一连接端和所述第二连接端之间的过渡段；所述第一连接端与所述相机模组连接，所述第二连接端与位于所述壳体外的外部设备连接，所述过渡段包括绕所述第一旋转轴弯折设置的第一过渡段。
本发明的相机组件，通过把线缆的过渡段的第一过渡段设置成绕第一旋转轴弯折设置，当相机组件绕第一旋转轴转动时，能够使线缆也相对第一旋转轴发生转动，可以有效降低相机组件在绕第一旋转轴转动的过程中对线缆产生的扭力，进而降低电机驱动整个相机组件的阻力。
本发明的云台结构，通过把相机组件的线缆的过渡段的第一过渡段设置成绕第一旋转轴弯折设置，当相机组件绕第一旋转轴转动时，能够使线缆也相对第一旋转轴发生转动，可以有效降低相机组件在绕第一旋转轴转动的过程中对线缆产生的扭力，进而降低云台电机驱动整个相机组件的 阻力。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一实施例示出的相机组件的走线结构图。
图2是本发明一实施例示出的相机组件的爆炸图。
图3是本发明一实施例示出的云台结构的整机结构图。
图4是本发明一实施例示出的云台结构的爆炸图。
图5与图6是本发明一实施例示出的云台结构的走线结构图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
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。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
通常的云台相机体积较小，其中的相机模组几乎把云台相机的内部空间全部占满，因此用于布设导线的空间十分狭小。并且，通常导线的线材一般都是采用由云台相机的内部从云台相机的侧面出线，然后再弯折一定角度后与外部设备连接的走线方式。这样的走线方式，由于线材直接进行弯折，弯折半径和弯折角度都相对较小，线材由于自身弹性力的作用会朝向恢复原来形态的趋势发生一定形变，这样就会导致线材产生变形容易与云台相机内的其他部件发生摩擦的问题。另外，由于云台相机在使用的过程中是会绕某个旋转轴进行转动的，线材采用上述的走线方式还会导致云台相机转动的过程中对线材造成较大的拉扯力和扭力，容易造成线材断裂或磨损的问题。
有鉴于此，本发明提供一种云台结构及相机组件，能够有效避免相机模组在转动过程中对线材造成过大的拉扯力及扭力的问题，以及避免线材本身弹性力较大的问题。下面结合附图，对本发明的云台结构及相机组件进行详细说明。在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
参见图1与图2所示，本发明实施例提供的一种云台结构的相机组件10，所述相机组件10可绕所述云台结构的第一旋转轴910转动，所述相机组件10包括：壳体、设置于所述壳体内的相机模组110以及布设于所述壳体内的线缆，所述线缆包括第一连接端121、第二连接端122以及连接于所述第一连接端121和所述第二连接端122之间的过渡段123。所述 第一连接端121与所述相机模组110连接，所述第二连接端122与位于所述壳体外的外部设备连接(如无人机机身等)，所述过渡段123包括绕所述第一旋转轴910弯折设置的第一过渡段1231。
本发明实施例的相机组件10，通过把线缆的过渡段123的第一过渡段1231设置成绕云台结构的第一旋转轴910弯折设置，有效增大了线缆的弯折半径以及弯折角度，当相机组件10绕第一旋转轴910转动时，所述过渡段123的第一过渡段1231也能够相对第一旋转轴910进行转动，进而减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的扭力，同时也就降低了云台结构的电机驱动整个相机组件的阻力。
在本发明一实施方式中，所述过渡段123还包括与所述第一过渡段1231平顺连接的第二过渡段1232以及与所述第二过渡段1232弯折连接的第三过渡段1233，所述第二过渡段1232沿所述第一旋转轴910的轴向延伸设置，所述第三过渡段1233凸出于所述壳体设置，用于连接外部设备。即所述线缆的第一连接端121设置于所述过渡段123的第一过渡段1231上，所述线缆的第二连接端122设置于所述过渡段123的第三过渡段1233上。可选地，所述线缆的过渡段123的第二过渡段1232与第三过渡段1233的连接部(即第二过渡段1232与第三过渡段1233之间弯折过渡的部位)位于所述第一旋转轴910上，使第二过渡段1232能够平顺过渡到第三过渡段1233，从而减小相机组件10在转动过程中对线缆产生的拉扯力或扭力。
本发明实施例的相机组件10，通过把线缆的过渡段123的第二过渡段1232设置成沿第一旋转轴910的轴向延伸设置，能够使线缆经过相机组件10的旋转中心(即第一旋转轴910)，从而减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的拉扯力，并且第二过渡段1232越接近旋转中心，相机组件10在绕第一旋转轴910转动的过程中对线缆产生的拉扯力越小。通过将线缆的过渡段123的第三过渡段1233与第二过渡段1232弯折连接后凸出于相机组件10的壳体并与外部设备连接，使得线缆 能够从过渡段123的第一过渡段1231平顺过渡到第三过渡段1233。
在本发明一实施方式中，所述过渡段123的第一过渡段1231绕所述第一旋转轴910从所述相机模组110的一侧弯折至所述相机模组110的另一侧。即在本实施例中，所述相机组件10的走线方式，可以是通过所述过渡段123的第一过渡段1231从相机模组110的上方弯折过渡到相机模组110的下方，然后再通过第二过渡段1232以及第三过渡段1233的延伸过渡以及弯折过渡，使所述线缆从相机组件10的侧部出线，如图1所示。也可以是通过所述过渡段123的第一过渡段1231从相机模组110的下方弯折过渡到相机模组110的上方，然后再通过第二过渡段1232以及第三过渡段1233的延伸过渡以及弯折过渡，使所述线缆从相机组件10的侧部出线。
本发明实施例的相机组件10采用上述两种走线方式中的任意一种，都能够实现线缆从相机组件10的内部由过渡段123的第一过渡段1231平顺过渡到第三过渡段1233后再从相机组件10出线的目的。由于所述线缆的第一连接端121和第二连接端122始终是固定的，因此所述过渡段123的第一过渡段1231从相机模组110的一侧弯折过渡到相机模组110的另一侧，能够增大线缆的弯折半径以及弯折角度，从而减小线缆本身线材的弹性力，以及减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的扭力。所述过渡段123的第二过渡段1232沿所述第一旋转轴910的轴向延伸设置，能够使线缆经过相机组件10的旋转中心，从而减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的拉扯力。
因此，本发明实施例的相机组件10，所述过渡段123的第一过渡段1231、第二过渡段1232以及第三过渡段1233之间采用上述的连接方式过渡形成所述线缆，既实现了在相机组件10的狭小空间内布设线缆的目的，又实现了增大线缆的弯折半径以及弯折角度的效果，以及使线缆经过相机组件10的旋转中心，从而减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的扭力以及对线缆产生的拉扯力。
在本发明一实施方式中，所述第一过渡段1231和所述第二过渡段1232为一体成型，所述第二过渡段1232和所述第三过渡段1233为一体成型，并且所述第一过渡段1231为圆弧过渡段以及所述第三过渡段1233为圆弧过渡段。可选地，所述第三过渡段1233与所述第二过渡段1232之间的弯折角度的范围为85度～95度。将所述过渡段123的第一过渡段1231、第二过渡段1232以及第三过渡段1233均设置为一体成型，并且采用圆弧过渡段，能够提高线缆的平顺过渡效果，进而进一步减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的扭力以及对线缆产生的拉扯力。
在本发明一实施方式中，所述线缆包括多根线材和包裹于所述多根线材外部的柔性电路板(FPC：Flexible Printed Circuit)。将多根线材聚合在一起，可以增强线材的强度，有效降低线材在大角度弯曲时的扭力。可选地，所述线缆的多根线材为同轴线，可有效降低线缆的内应力。
在本发明一实施方式中，所述相机模组110上还设有连接器111，所述线缆的第一连接端121与所述连接器111连接。即所述过渡段123的第一过渡段1231由所述连接器111开始从所述相机模组110的的一侧弯折过渡到相机模组110的另一侧。
在本发明一实施方式中，所述相机组件10的壳体包括：扣合连接的相机前盖131和相机后盖132，所述相机模组110上还设有安装座112，所述相机后盖132上设有用以收容所述相机模组110的安装座112的收容槽133，所述相机模组110和所述相机后盖132之间夹设形成有用以收容所述第一过渡段1231的收容空间。进一步地，所述相机组件10的壳体为圆柱体型壳体，所述相机前盖131和所述相机后盖132均为半圆柱体型壳体。
在本发明一实施方式中，所述相机前盖131上设有第一开口部1311，所述相机后盖132上设有与所述第一开口部1311相适配的第二开口部1321，所述第一开口部1311和所述第二开口部1321拼接形成开口。所述 壳体还包括密封盖134，所述密封盖134封盖设置于所述开口上。进一步地，所述密封盖134上设有引线孔135，所述第三过渡段1233穿出所述引线孔135进而凸出于所述壳体设置。即在如图1所示的实施例中，所述线缆的走线方式是，所述第一连接端121通过所述第一过渡段1231由所述连接器111开始，先从相机模组110的上方弯折过渡到相机模组110的下方，然后再通过第二过渡段1232以及第三过渡段1233的延伸过渡以及弯折过渡，从设置于相机组件10侧部的密封盖134的引线孔135穿出。
在本发明一实施方式中，所述第一旋转轴910为所述云台结构的俯仰轴。相机组件10能够绕俯仰轴转动，实现俯拍及仰拍的功能。
本发明实施例的相机组件10安装时，先将相机模组110的安装座112装设在相机后盖132上的收容槽133内，然后将相机前盖131与相机后盖132相互扣合，最后将密封盖134装设在相机前盖131与相机后盖132上。相机模组110内部线缆的走线方式为，将所述线缆的第一连接端121通过所述第一过渡段1231由相机模组110的连接器111开始，先从相机模组110的上方弯折过渡到相机模组110的下方，然后再通过第二过渡段1232以及第三过渡段1233的延伸过渡以及弯折过渡，从相机组件10侧部的密封盖134的引线孔135穿出。
参见图3至图6所示，本发明实施例还提供一种云台结构1，包括云台本体和如上所述的相机组件10，所述相机组件10装设于所述云台本体上。需要说明的是，上述实施例及实施方式中对所述相机组件10的描述，同样适用于本发明的云台结构1。
本发明的云台结构1，通过相机组件10的所述线缆的过渡段123的第一过渡段1231从相机模组110的一侧弯折过渡到相机模组110的另一侧，能够增大线缆的弯折半径以及弯折角度，从而减小线缆本身线材的弹性力，以及减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的扭力。所述过渡段123的第二过渡段1232沿所述第一旋转轴910的轴向 延伸设置，能够使线缆经过相机组件10的旋转中心，从而减小相机组件10在绕第一旋转轴910转动的过程中对线缆产生的拉扯力，进而降低云台电机驱动整个相机组件的阻力。
在本发明一实施方式中，所述云台结构1还包括用以驱动所述相机模组110沿所述第一旋转轴910转动的第一轴臂210和第一轴臂端盖220，所述第一轴臂210和所述第一轴臂端盖220沿所述第一旋转轴910的轴向设置于所述相机组件10的壳体两侧。可选地，所述第一旋转轴910为所述云台结构1的俯仰轴。所述第一轴臂210能够驱动相机组件10绕所述云台结构1的俯仰轴(即第一旋转轴910)进行转动。
在本发明一实施方式中，所述云台结构1为两轴云台，所述云台结构1还包括用以驱动所述相机模组110沿所述云台结构1的第二旋转轴920转动的第二轴臂230，所述第二轴臂230沿所述第二旋转轴920的轴向设置于所述壳体上。可选地，所述第二旋转轴920为所述云台结构1的横滚轴。所述第二轴臂230能够驱动相机组件10绕所述云台结构1的横滚轴(即第二旋转轴920)进行转动。如此，第一轴臂210即为俯仰轴轴臂，第二轴臂230即为横滚轴轴臂。第一轴臂210还包括与第二轴臂230连接的轴臂托架211，轴臂托架211用于安装相机组件10时对相机组件10起到承托的作用，第二轴臂230上还设有连接架240，连接架240用于将云台结构1与其他设备连接。
本发明实施例的云台结构1安装时，先将轴臂托架211与第二轴臂230连接，再将相机组件10装设在第一轴臂210上，此时过渡段123的第三过渡段1233穿出于相机组件10的密封盖134，如图5所示。然后再将第一轴臂端盖220装设在相机组件10的密封盖134上，如图6所示。由于所述云台结构1的相机组件10的线缆采用了如上实施例与实施方式所述的由过渡段123的第一过渡段1231平顺过渡到第三过渡段1233后再从相机组件10出线的走线方式，可以降低线缆本身线材的弹性力，因此在相机组 件10转动的过程中能够极大程度的降低相机组件10的线缆与第一轴臂端盖220发生摩擦，进而避免了线缆由于过度摩擦而受损，延长了线缆的使用寿命。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本发明实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。
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 (36)

  1. 一种云台结构的相机组件，所述相机组件可绕所述云台结构的第一旋转轴转动，其特征在于，所述相机组件包括：壳体、设置于所述壳体内的相机模组以及布设于所述壳体内的线缆，所述线缆包括第一连接端、第二连接端以及连接于所述第一连接端和所述第二连接端之间的过渡段；所述第一连接端与所述相机模组连接，所述第二连接端与位于所述壳体外的外部设备连接，所述过渡段包括绕所述第一旋转轴弯折设置的第一过渡段。
  2. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述过渡段还包括与所述第一过渡段连接的第二过渡段，所述第二过渡段沿所述第一旋转轴的轴向延伸设置。
  3. 根据权利要求2所述的云台结构的相机组件，其特征在于，所述第一过渡段和所述第二过渡段为一体成型。
  4. 根据权利要求2所述的云台结构的相机组件，其特征在于，所述过渡段还包括与所述第二过渡段弯折连接的第三过渡段，所述第三过渡段凸出于所述壳体设置。
  5. 根据权利要求4所述的云台结构的相机组件，其特征在于，所述第三过渡段与所述第二过渡段之间的弯折角度的范围为85度～95度。
  6. 根据权利要求4所述的云台结构的相机组件，其特征在于，所述第二过渡段和所述第三过渡段为一体成型。
  7. 根据权利要求4所述的云台结构的相机组件，其特征在于，所述第三过渡段为圆弧过渡段。
  8. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述第一过渡段为圆弧过渡段。
  9. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述线缆包括多根线材和包裹于所述多根线材外部的柔性电路板。
  10. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述 第一过渡段绕所述第一旋转轴从所述相机模组的一侧弯折至所述相机模组的另一侧。
  11. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述壳体包括：扣合连接的相机前盖和相机后盖，所述相机后盖上设有用以收容所述相机模组的收容槽，所述相机模组和所述相机后盖之间夹设形成有用以收容所述第一过渡段的收容空间。
  12. 根据权利要求11所述的云台结构的相机组件，其特征在于，所述相机前盖上设有第一开口部，所述相机后盖上设有与所述第一开口部相适配的第二开口部，所述第一开口部和所述第二开口部拼接形成开口；所述壳体还包括密封盖，所述密封盖封盖设置于所述开口上。
  13. 根据权利要求12所述的云台结构的相机组件，其特征在于，所述过渡段还包括与所述第一过渡段连接的第三过渡段，所述第三过渡段凸出于所述壳体设置；所述密封盖上设有引线孔，所述第三过渡段通过所述引线孔穿出所述壳体。
  14. 根据权利要求11所述的云台结构的相机组件，其特征在于，所述壳体为圆柱体型壳体，所述相机前盖和所述相机后盖均为半圆柱体型壳体。
  15. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述相机模组上设有连接器，所述第一连接端与所述连接器连接。
  16. 根据权利要求1所述的云台结构的相机组件，其特征在于，所述第一旋转轴为所述云台结构的俯仰轴。
  17. 一种云台结构，其特征在于，包括云台本体和装设于所述云台本体上的相机组件；
    其中，所述相机组件包括：壳体、设置于所述壳体内的相机模组以及布设于所述壳体内的线缆，所述线缆包括第一连接端、第二连接端以及连接于所述第一连接端和所述第二连接端之间的过渡段；所述第一连接端与所述相机模组连接，所述第二连接端与位于所述壳体外的外部设备连接，所述过渡段包括绕所述第一旋转轴弯折设置的第一过渡段。
  18. 根据权利要求17所述的云台结构，其特征在于，所述过渡段还包括与所述第一过渡段连接的第二过渡段，所述第二过渡段沿所述第一旋转轴的轴向延伸设置。
  19. 根据权利要求18所述的云台结构，其特征在于，所述第一过渡段和所述第二过渡段为一体成型。
  20. 根据权利要求18所述的云台结构，其特征在于，所述过渡段还包括与所述第二过渡段弯折连接的第三过渡段，所述第三过渡段凸出于所述壳体设置。
  21. 根据权利要求20所述的云台结构，其特征在于，所述第三过渡段与所述第二过渡段之间的弯折角度的范围为85度～95度。
  22. 根据权利要求20所述的云台结构，其特征在于，所述第二过渡段和所述第三过渡段为一体成型。
  23. 根据权利要求20所述的云台结构，其特征在于，所述第三过渡段为圆弧过渡段。
  24. 根据权利要求17所述的云台结构，其特征在于，所述第一过渡段为圆弧过渡段。
  25. 根据权利要求17所述的云台结构，其特征在于，所述线缆包括多根线材和包裹于所述多根线材外部的柔性电路板。
  26. 根据权利要求17所述的云台结构，其特征在于，所述第一过渡段绕所述第一旋转轴从所述相机模组的一侧弯折至所述相机模组的另一侧。
  27. 根据权利要求17所述的云台结构，其特征在于，所述壳体包括：扣合连接的相机前盖和相机后盖，所述相机后盖上设有用以收容所述相机模组的收容槽，所述相机模组和所述相机后盖之间夹设形成有用以收容所述第一过渡段的收容空间。
  28. 根据权利要求27所述的云台结构，其特征在于，所述相机前盖上设有第一开口部，所述相机后盖上设有与所述第一开口部相适配的第二开口部，所述第一开口部和所述第二开口部拼接形成开口；所述壳体还包括 密封盖，所述密封盖封盖设置于所述开口上。
  29. 根据权利要求28所述的云台结构，其特征在于，所述过渡段还包括与所述第一过渡段连接的第三过渡段，所述第三过渡段凸出于所述壳体设置；所述密封盖上设有引线孔，所述第三过渡段通过所述引线孔穿出所述壳体。
  30. 根据权利要求27所述的云台结构，其特征在于，所述壳体为圆柱体型壳体，所述相机前盖和所述相机后盖均为半圆柱体型壳体。
  31. 根据权利要求17所述的云台结构，其特征在于，所述相机模组上设有连接器，所述第一连接端与所述连接器连接。
  32. 根据权利要求17所述的云台结构，其特征在于，所述第一旋转轴为所述云台结构的俯仰轴。
  33. 根据权利要求17所述的云台结构，其特征在于，还包括用以驱动所述相机模组沿所述第一旋转轴转动的第一轴臂和第一轴臂端盖，所述第一轴臂和所述第一轴臂端盖沿所述第一旋转轴的轴向设置于所述壳体两侧。
  34. 根据权利要求33所述的云台结构，其特征在于，所述第一旋转轴为俯仰轴。
  35. 根据权利要求17所述的云台结构，其特征在于，所述云台结构为两轴云台，所述云台结构还包括用以驱动所述相机模组沿所述云台结构的第二旋转轴转动的第二轴臂，所述第二轴臂沿所述第二旋转轴的轴向设置于所述壳体上。
  36. 根据权利要求35所述的云台结构，其特征在于，所述第二旋转轴为横滚轴。
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