WO2018214030A1 - 相机、云台组件及无人机 - Google Patents

相机、云台组件及无人机 Download PDF

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Publication number
WO2018214030A1
WO2018214030A1 PCT/CN2017/085561 CN2017085561W WO2018214030A1 WO 2018214030 A1 WO2018214030 A1 WO 2018214030A1 CN 2017085561 W CN2017085561 W CN 2017085561W WO 2018214030 A1 WO2018214030 A1 WO 2018214030A1
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WO
WIPO (PCT)
Prior art keywords
camera
pan
lens
tilt
peripheral wall
Prior art date
Application number
PCT/CN2017/085561
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English (en)
French (fr)
Inventor
马天航
宾朋
赵喜峰
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 PCT/CN2017/085561 priority Critical patent/WO2018214030A1/zh
Priority to CN201780066451.7A priority patent/CN109891315B/zh
Publication of WO2018214030A1 publication Critical patent/WO2018214030A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/08—Waterproof bodies or housings

Definitions

  • the invention relates to a camera, a pan/tilt head assembly and a drone.
  • drones have been widely used in many fields.
  • the drone can be used on a gimbal to carry a variety of portable cameras, and is widely used in television, movies, reality shows, sports shooting, aerial photography, security surveillance and other scenarios.
  • the pressure of a vapor that is in equilibrium with a solid or a liquid at a certain temperature is called a saturated vapor pressure.
  • the same substance has different saturated vapor pressures at different temperatures and increases with increasing temperature.
  • the saturated vapor pressure of the pure solvent is greater than the saturated vapor pressure of the solution; for the same substance, the saturated vapor pressure of the solid is less than the saturated vapor pressure of the liquid.
  • the glass often produces fog. This is because the glass surface contains saturated super-saturated air at a higher temperature. After the rapid cooling, the existing water vapor cannot be accommodated, and the excess water vapor is in the glass.
  • the surface condenses into a very fine dewdrop due to the action of heterogeneous nucleation, causing the light to diffusely reflect, thereby forming an atomized opaque shape.
  • the temperature of the components gradually increases, and the internal cavity of the camera generates high-temperature saturated water vapor.
  • the outermost lens of the camera is cooled first rapidly, and the cavity is saturated.
  • the vapor pressure is lowered, the water vapor will condense in the low-temperature lens area to form a water mist, which is extremely troublesome for shooting. This phenomenon is more apparent on the miniaturized PTZ camera.
  • a camera includes a circuit board, a lens barrel disposed on the circuit board, and a lens assembly housed in the lens barrel, the camera including a camera front case, a camera back case, the camera front case and the camera
  • the rear cover fixed connection is formed to form an accommodating space, and the circuit board, the lens barrel and the lens assembly are all accommodated in the accommodating space, and the lens barrel and the camera front case are disposed between a sealing ring that seals a space surrounding the camera front case and the lens barrel that accommodates the lens assembly.
  • a pan/tilt assembly includes a pan-tilt carrying structure and a camera carrying a connection to the pan-tilt carrying structure, the camera being the camera described above.
  • a drone includes a fuselage and a pan/tilt assembly coupled to the fuselage, the pan/tilt assembly being the pan/tilt assembly described above.
  • the camera, the pan/tilt assembly and the drone are sealed to prevent water vapor from entering the interior of the gimbal camera cavity, thereby reducing the possibility of moisture condensing on the gimbal lens in a quenching environment.
  • FIG. 1 is a perspective view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of a pan/tilt assembly provided by an embodiment of the present invention.
  • FIG 3 is a perspective view of a camera according to an embodiment of the present invention.
  • FIG. 4 is a perspective view of another perspective view of a camera according to an embodiment of the present invention.
  • Figure 5 is a cross-sectional view of the camera shown in Figure 4 taken along line V-V.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • the present invention provides a drone that can be used in any suitable environment, such as in the air (eg, an unmanned helicopter, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft, an unmanned airship, no Human parachute aircraft), in the water (eg, boat or submarine), on the ground (eg, motorcycles, cars, trucks, buses, trains, etc.), in space (eg, space shuttle, satellite or detector) , or in the underground (such as the subway), or any combination of the above.
  • the air eg, an unmanned helicopter, a rotorcraft, a fixed-wing aircraft, or a fixed-wing and rotor-mixed aircraft, an unmanned airship, no Human parachute aircraft
  • in the water eg, boat or submarine
  • the ground eg, motorcycles, cars, trucks, buses, trains, etc.
  • space eg, space shuttle, satellite or detector
  • underground such as the subway
  • the drone is a rotorcraft, wherein the rotors may be a single rotor, a double rotor, a triple rotor, a quadrotor, a six-rotor, and an eight-rotor.
  • the drone in the following embodiment is described by taking a quadrotor as an example.
  • the drone 1000 includes a body 1 and a pan/tilt assembly 2 disposed below the body 1 .
  • the pan/tilt assembly 2 includes a pan-tilt carrying structure 20 and a camera 22 carried on the pan-tilt carrying structure 20.
  • the camera 22 is used for shooting an environment image of the drone 1000.
  • the camera 22 can be built with a high-definition camera for taking pictures and videos, and can be used in scenes such as television, movies, reality shows, sports shooting, aerial photography, and security monitoring.
  • the pan-tilt carrying structure 20 is used to carry the camera 22 while at the same time to implement the attitude stabilization control of the camera 22, in other words, to enable the camera to remain stationary during motion.
  • the pan-tilt carrying structure 20 can cause the camera 22 to take a smooth picture during motion.
  • One or more servo motors may be disposed on the support arm of the pan/tilt bearing structure 20, and are responsible for rotation in one or more directions of front, rear, left and right, up and down, and the like.
  • the pan/tilt bearing structure 20 may be two axes (for example: Roll axis, Pitch axis), three axes (for example: yaw (YAW) axis, Roll axis, pitch (Pitch) The shaft.), the four-axis rotating bearing structure, for convenience of description, the following embodiment takes a two-axis rotating bearing structure as an example for description.
  • FIG. 2 is a schematic structural diagram of the PTZ load bearing structure 20 according to an embodiment of the present invention.
  • the gimbal bearing structure 20 includes a shock absorbing structure 200, a first rotating structure 202 fixedly coupled to the shock absorbing structure 200, and a supporting structure 204 rotatably coupled to the first rotating structure 202 and disposed on the supporting structure A second rotating structure 206 away from one end of the first rotating structure 202.
  • the first rotating structure 202 is capable of driving the support structure 204 to rotate in a first direction
  • the second rotating structure 206 is capable of driving a camera 22 carried on the support structure 204 to rotate in a second direction
  • the first The direction is orthogonal to the second direction.
  • the first rotating structure 202 is an R-axis (roll axis) rotating structure that controls roll motion
  • the second rotating structure 206 is a P-axis rotating structure that controls pitching motion. .
  • the shock absorbing structure 200 is configured to be coupled to the body 1 of the drone 1000, and is capable of reducing the body 1 of the drone 1000 during movement of the drone 1000 during movement The effect of the generated vibration on the camera 22.
  • the shock absorbing structure 200 includes a damper plate 2000 and a damper ball 2002 disposed on the damper plate 2000.
  • the damper plate 2000 and the damper ball 2002 may be disposed inside the body 1 , and an end of the damper ball 2002 away from the damper plate 2000 may be fixedly connected inside the body 1 .
  • the damper plate 2000 is movably disposed inside the body 1. It can be understood that the damper ball 2002 and the damper plate 2000 can also be disposed outside the body 1.
  • the end of the damper ball 2002 away from the damper plate 2000 is fixedly connected to the machine. The outside of the body 1.
  • the first rotating structure 202 includes a first motor portion fixedly coupled to the shock absorbing structure 200.
  • the first motor portion is substantially cylindrical and includes a first rotating shaft portion 2022, and the first rotating shaft portion 2022 (shown in FIG. 4) is fixedly coupled to the support structure 204, and the first motor portion can drive the first shaft portion 2022 to rotate to drive the support structure 204 to rotate.
  • the support structure 204 is substantially U-shaped, including a first support arm 2040 and two opposite ends from the first support arm 2040 away from the first direction in a direction substantially parallel to an axis of a rotation axis of the first motor portion Two second support arms 2042 extending in the direction of the support arms 2040.
  • the rotating shaft of the first motor portion is rotatably coupled to the first supporting arm 2040, and the two second supporting arms 2042 are respectively coupled to opposite ends of the camera 22.
  • the axis of the rotating shaft of the first motor portion is substantially perpendicular to the first support arm 2042.
  • the second rotating structure 206 is disposed on one of the second supporting arms 2042 of the supporting structure 204, and is capable of driving the camera 22 to rotate relative to the supporting structure 204, the rotation direction of the camera 22 and the supporting structure
  • the direction of rotation of 204 is orthogonal.
  • the structure of the second rotating structure 206 is substantially the same as the structure of the first rotating structure 202, and includes a second motor portion fixedly disposed on the second supporting arm 2042, and the second motor portion is substantially cylindrical.
  • the second rotating shaft portion is fixedly connected to the camera 22, and the second motor portion drives the second rotating shaft portion to rotate to drive the camera 22 to rotate.
  • a second support arm 2042 remote from the second motor portion is rotatably coupled to the camera 22.
  • first rotating structure 202 and the second rotating structure 206 are not limited to the above described structure, as long as the supporting structure 204 and the camera 22 can be rotated around different axes.
  • the support structure 204 is also not limited to the structure described above, as long as the camera 22 can be carried and the camera 22 is rotated relative to the support structure 204.
  • the support structure 204 can be a one-arm support.
  • the camera 22, that is, the support structure 204 is only connected to one end of the camera 22.
  • FIG. 3 to FIG. 6 are structural diagrams of the camera 22 according to an embodiment of the present invention.
  • the camera 22 includes a camera front case 220, a camera rear case 221, a circuit board 222, a lens barrel 223, and a lens assembly 224.
  • the front cover 220 and the rear cover 221 of the camera can be detachably fixed to each other to enclose a receiving space, and the circuit board 222, the lens barrel 223 and the lens assembly 224 are accommodated in the receiving space.
  • a through hole 2200 and a transparent lens 2202 are disposed at a position corresponding to the lens assembly 224 on the front cover 220 of the camera.
  • the through hole 2200 is opposite to the lens assembly 224, and the transparent lens 2202 covers the through hole. 2200.
  • the image around the camera 22 can be acquired through the through hole 2200 and the transparent lens 2202.
  • the transparent lens 2202 may be a glass lens or a lens made of other transparent materials, as long as the through hole 2200 can be covered and light can be incident on the lens assembly 224 from the transparent lens 2202.
  • the lens barrel 223 is substantially cylindrical and fixedly disposed on the circuit board 222.
  • the lens assembly 224 is received in the lens barrel 223 and includes one or more optical lenses.
  • the circuit board 222 is integrated.
  • There are electronic components such as an image sensor (such as a charge coupled device, CCD), a sampling circuit, and an analog-to-digital conversion circuit.
  • an image sensor such as a charge coupled device, CCD
  • a sampling circuit such as a charge coupled device, CCD
  • an analog-to-digital conversion circuit such as a charge coupled device, CCD
  • the image sensor When external light passes through the through hole 2200 and enters the lens assembly 224, the image sensor is sensed by the image sensor.
  • the optical signal is converted into a charge signal and then converted into a digital image by a sampling circuit and an analog-to-digital conversion circuit.
  • the camera 22 further includes a flange 225 sleeved on the lens barrel 223 and a sealing ring 226 disposed between the camera front case 220 and the camera rear case 221.
  • the flange 225 has a substantially cylindrical shape and can be sleeved on the lens barrel 223.
  • the flange 225 includes a cylindrical portion 2250 sleeved on the lens barrel 223 and a flange 2252 extending radially from an end of the cylindrical portion 2250 away from the circuit board 222.
  • the flange 2252 The outer diameter is larger than the outer diameter of the cylindrical portion 2250.
  • the seal ring 226 abuts between the flange 2252 of the flange 225 and the camera front housing 220.
  • the sealing ring 226 is made of a resilient material, such as rubber, when the sealing ring 226 is held between the camera front housing 220 and the flange 2252, the sealing ring 226 is The elastic restoring force causes the sealing ring 226 to seal the inner space enclosed by the camera front case 220 and the flange 225 and the lens barrel 223.
  • the inner wall of the camera front case 220 extends in a direction substantially parallel to the axis of the lens barrel 223 in a direction away from the transparent lens 2202 to form a cylindrical peripheral wall 2204, and the cylindrical peripheral wall 2204 encloses an accommodating space.
  • the cylindrical peripheral wall 2204 is disposed opposite the flange 225 to abut the seal ring 226 such that the seal ring 226 is tightly held against the camera front case 220 and the flange 225. Between the flanges 2252.
  • the camera 22 further includes a sealing cover 227 disposed on the side of the camera front case 220 and the camera rear case 221 .
  • the camera front cover 220, the camera rear case 221 and the sealing cover 227 are respectively provided with a first fixing hole 2216, a second fixing hole 2200 and a third fixing hole 2270, and the sealing cover 227 can pass the fixing device A 228 (for example, a screw or the like) is attached to the camera front case 220 and the camera rear case 221 through a corresponding fixing hole.
  • the sealing cover 227 can also be fixed to the camera front case 220 and the camera rear case 221 by other fixing means, for example, snap, thread, interference, and form fit.
  • the sealing cover 227 can be fixed to the side surfaces of the camera front case 220 and the camera rear case 221.
  • the camera front case 220 and the camera rear case 221 are both substantially semicircular sides, and the sealing cover 227 is substantially circular when the sealing cover 227 is fixed to the camera front case 220 and the camera.
  • the sealing cover 227 just covers and shields the side edges of the camera front case 220 and the camera rear case 221.
  • the sealing cover 227 is provided with a connecting hole 2272 for mounting a rotating shaft of the supporting structure 204, so that the rotating shaft is fixedly connected with the sealing cover 227 and rotates as the rotating shaft rotates.
  • the lens barrel 223 is first fixed to the circuit board 222, and then the lens assembly 224 is mounted in the lens barrel 223, and then the flange 225 is sleeved on the lens barrel.
  • a sealing ring 226 is placed on the flange 2252 of the flange 225, and then the camera front case 220 is placed over the lens assembly 224 such that the cylindrical peripheral wall of the camera front case 220 2204 is resisted on the sealing ring 226, and then the camera front case 220 and the camera rear case 221 are fixedly connected together by the sealing cover 227, and finally the transparent lens 2202 is covered on the camera.
  • the through hole 2200 of the front case 220 is on.
  • a cavity 2205 is formed between the cylindrical peripheral wall 2204 and the lens assembly 224, and the cavity 2205 can be vacuumed before the transparent lens 2202 is covered, thereby making the lens Assembly 224 is in a vacuum enclosed environment.
  • the cavity 2205 can also be filled with a foamed material that can absorb moisture, thereby further reducing the likelihood of fogging.
  • the lens assembly 224 can also be provided with a heating structure, such as an electrothermal material coupled between the lens and the lens or on the lens, powered by the circuit board 222 to heat the lens of the lens assembly 224, thereby further Reduce the possibility of fogging.
  • the heating structure may also be disposed at any suitable position within the lens barrel (e.g., the inner wall of the lens barrel) as long as the lens assembly 224 can be heated.
  • the flange 225 can be omitted, the outer peripheral wall of the lens barrel 223 radially extends a flange, and the cylindrical peripheral wall 2204 of the camera front case 220 is opposite to the flange of the lens barrel.
  • the seal ring 226 is abutted between the cylindrical peripheral wall 2204 of the camera front case 220 and the flange of the lens barrel 223.
  • the sealing ring 226 can be resisted between the camera front case 220 and the lens barrel 223 and can have other suitable structures as long as the sealing ring 226 can be sealed when it is resisted.
  • the camera front case 220 and the lens barrel 223 may surround the space of the lens assembly 224.
  • the sealing ring 226 and the sealing cover 227 are added to the camera 22 to insulate the outside water vapor, thereby reducing the possibility that the drone is condensed on the gimbal lens in a quenching environment, thereby preventing fogging. .

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

一种相机(22)，包括电路板(222)、设置在电路板(222)上的镜筒(223)及容设在所述镜筒(223)内的镜头组件(224)，所述相机(22)包括相机前壳(220)、相机后壳(221)，所述相机前壳(220)和所述相机后壳(221)固定连接围设形成容置空间，所述电路板(222)、所述镜筒(223)及所述镜头组件(224)均容设在所述容置空间内，所述镜筒(223)与所述相机前壳(220)之间设置有密封圈(226)，所述密封圈(226)密封所述相机前壳(220)与所述镜筒(223)围设的容纳所述镜头组件(224)的空间。还提供一种云台组件(2)及无人机(1000)。

Description

相机、云台组件及无人机 技术领域
本发明涉及一种相机、云台组件及无人机。
背景技术
随着无人机技术的发展，无人机在多领域得到了广泛应用。无人机可搭载云台承载各种便携式相机使用，广泛运用于电视、电影、真人秀、运动拍摄、航拍、安防监控等场景。
在密闭条件中，在一定温度下，与固体或液体处于相平衡的蒸气所具有的压强称为饱和蒸气压。同一物质在不同温度下有不同的饱和蒸气压，并随着温度的升高而增大。纯溶剂的饱和蒸气压大于溶液的饱和蒸气压；对于同一物质，固态的饱和蒸气压小于液态的饱和蒸气压。玻璃在温度高、温差变化显著的条件下，往往产生雾，这是由于玻璃表面在较高温度下含有已饱和过饱和的空气在迅速降温后，容纳不了已有的水汽，多余的水汽在玻璃表面由于异质成核的作用而凝结成很细的露珠，使光线发生漫反射，从而形成雾化不透明状。
云台相机内部元件随着使用时间增长，元器件温度逐渐升高，相机内部空腔会产生高温饱和水蒸气，当飞行器进去低温区域后，相机最外层镜片最先迅速降温，空腔内饱和蒸汽压降低，水蒸气会凝结在低温镜片区域形成水雾，对拍摄造成极大的困扰。这一现象在小型化云台相机上更为明显。
发明内容
有鉴于此，有必要提供一种具有镜片防雾结构的相机、云台组件及无人机。
一种相机，包括电路板、设置在电路板上的镜筒及容设在所述镜筒内的镜头组件，所述相机包括相机前壳、相机后壳，所述相机前壳和所述相机后壳固定连接围设形成容置空间，所述电路板、所述镜筒及所述镜头组件均容设在所述容置空间内，所述镜筒与所述相机前壳之间设置有密封圈，所述密封圈密封所述相机前壳与所述镜筒围设的容纳所述镜头组件的空间。
一种云台组件，包括云台承载结构及承载连接在所述云台承载结构上的相机，所述相机为上所述的相机。
一种无人机，包括机身及连接在所述机身上的云台组件，所述云台组件为上所述的云台组件。
上所述相机、云台组件及无人机通过密封结构，防止水汽进入云台相机空腔内部，减少了水汽在急冷环境下凝结在云台镜片上的可能性。
 附图说明
图1是本发明实施方式提供的一种无人机的立体图。
图2是本发明实施方式提供的一种云台组件的立体图。
图3是本发明实施方式提供的一种相机的立体图。
图4是本发明实施方式提供的一种相机另一视角的立体图。
图5是图4所示的相机沿V-V线的剖视图。
图6至图3所示的相机的爆炸拆解图。
主要元件符号说明
无人机 1000
机身 1
云台组件 2
云台承载结构 20
减震结构 200
减震板 2000
减震球 2002
第一旋转结构 202
第一转轴部 2022
支撑结构 204
第一支撑臂 2040
第二支撑臂 2042
第二旋转结构 206
相机 22
相机前壳 220
通孔 2200
透明镜片 2202
圆筒形周壁 2204
第一固定孔 2206
相机后壳 221
第二固定孔 2210
电路板 222
镜筒 223
镜头组件 224
法兰 225
圆筒部 2250
凸缘 2252
密封圈 226
密封盖 227
第三固定孔 2270
连接孔 2272
固定装置 228
如下具体实施方式将结合上述附图进一步说明本发明。
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。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。第一，第二等词语用来表示名称，而并不表示任何特定的顺序。
本发明提供一种无人机，所述无人机可用于任何适宜的环境，例如在空中（例如无人直升机、旋翼飞行器、固定翼飞行器或固定翼与旋翼混合的飞行器、无人飞艇、无人伞翼机），在水中（例，船或潜艇），在地面上（例，摩托车，汽车，卡车，公交车，火车等），在太空中（例，航天飞机、卫星或探测器），或在地下（例如地铁），或上述环境的任意组合。在本实施例中，所述无人机为旋翼飞行器，其中所述旋翼可为单旋翼、双旋翼、三旋翼、四旋翼、六旋翼及八旋翼等。为便于描述，如下实施例中的无人机以四旋翼飞行器为例进行说明。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，所述无人机1000包括机身1及设置在所述机身1下方的云台组件2。所述云台组件2包括云台承载结构20及承载在所述云台承载结构20上的相机22。
所述相机22用于拍摄无人机1000的环境影像，其可内置高清摄像头以拍摄图片及视频，可运用于电视、电影、真人秀、运动拍摄、航拍、安防监控等场景。
所述云台承载结构20用于承载所述相机22，同时为实现所述相机22姿态稳定控制的装置，换言之，就是使所述相机可以在运动中保持其姿态的静止。所述云台承载结构20可以使所述相机22在运动的过程中拍摄出平稳的画面。所述云台承载结构20的支撑臂上可设置一个或多个伺服电机，负责前后、左右、上下等一个或多个方向的旋转。所述云台承载结构20可以为二轴（例如：横滚（Roll）轴、俯仰（Pitch）轴）、三轴(例如：偏航（YAW）轴、横滚（Roll）轴、俯仰（Pitch）轴。)、四轴等旋转承载结构，为便于描述，以下实施例中以二轴旋转承载结构为例进行说明。
请参阅图2所示，为本发明一实施例的所述云台承载结构20的结构示意图。所述云台承载结构20包括减震结构200、固定连接于所述减震结构200的第一旋转结构202及转动连接于所述第一旋转结构202的支撑结构204及设置在所述支撑结构204上远离所述第一旋转结构202的一端的第二旋转结构206。所述第一旋转结构202能够驱动所述支撑结构204沿第一方向旋转，所述第二旋转结构206能够驱动承载在所述支撑结构204上的相机22沿第二方向旋转，所述第一方向与所述第二方向正交。在图所示的实施例中，所述第一旋转结构202为控制横滚运动的R轴（roll轴）旋转结构，所述第二旋转结构206为控制俯仰运动的P轴（pitch）旋转结构。
所述减震结构200用于与所述无人机1000的机身1相连接，并能够在所述无人机1000的移动时减小所述无人机1000的机身1在移动过程中产生的震动对所述相机22的影响。所述减震结构200包括减震板2000及设置在所述减震板2000上的减震球2002。所述减震板2000及所述减震球2002可设置在所述机身1内部，所述减震球2002远离所述减震板2000的一端可固定连接在所述机身1内部，所述减震板2000活动设置于所述机身1内部。可以理解的是，所述减震球2002和所述减震板2000也可设置在所述机身1外侧，所述减震球2002远离所述减震板2000的一端固定连接于所述机身1的外侧。
所述第一旋转结构202一端与所述减震结构200固定连接，另一端连接于所述支撑结构204。所述第一旋转结构202，包括固定连接在所述减震结构200上的第一电机部，所述第一电机部大致呈圆柱型，包括第一转轴部2022，所述第一转轴部2022（参图4所示）与所述支撑结构204固定连接，所述第一电机部能够驱动所述第一转轴部2022旋转从而带动所述支撑结构204旋转。
所述支撑结构204大致呈U形，包括第一支撑臂2040及自所述第一支撑臂2040的两相对端以大致平行于所述第一电机部的转轴的轴线的方向向远离所述第一支撑臂2040的方向延伸的两第二支撑臂2042。所述第一电机部的转轴转动连接在所述第一支撑臂2040上，所述两第二支撑臂2042分别连接在所述相机22的两相对端。所述第一电机部的转轴的轴线大致垂直于所述第一支撑臂2042。
所述第二旋转结构206设置在所述支撑结构204的其中一第二支撑臂2042上，能够驱动所述相机22相对所述支撑结构204旋转，所述相机22的旋转方向与所述支撑结构204的旋转方向正交。所述第二旋转结构206的结构与所述第一旋转结构202的结构大致相同，包括固定设置在所述第二支撑臂2042上的第二电机部，所述第二电机部大致呈圆柱形，包括第二转轴部，所述第二转轴部与所述相机22固定连接，所述第二电机部驱动所述第二转轴部旋转从而带动所述相机22旋转。远离所述第二电机部的第二支撑臂2042与所述相机22转动连接。
可以理解的是，所述第一旋转结构202、所述第二旋转结构206也不限于上所述的结构，只要能使得所述支撑结构204及所述相机22绕不同的轴旋转即可。所述支撑结构204也不限于上所述的结构，只要能承载所述相机22并使得所述相机22相对所述支撑结构204旋转即可，例如，所述支撑结构204可以是单臂支撑所述相机22，即所述支撑结构204仅仅与所述相机22的一端相连接。
请参阅图3至图6所示，为本发明实施例的相机22的结构图。所述相机22包括相机前壳220、相机后壳221、电路板222、镜筒223、镜头组件224。所述相机前壳220和所述相机后壳221能够可分离地相互固定从而围设一收容空间，所述电路板222、所述镜筒223及所述镜头组件224均收容在所述收容空间内。所述相机前壳220上对应所述镜头组件224的位置处设置有通孔2200及透明镜片2202，所述通孔2200与所述镜头组件224相对正，所述透明镜片2202遮盖所述通孔2200，通过该通孔2200及所述透明镜片2202可获取所述相机22周围影像。所述透明镜片2202可以是玻璃镜片，也可以是其他透明材质制作的镜片，只要能盖设所述通孔2200且能使得光线从所述透明镜片2202入射至所述镜头组件224上即可。
所述镜筒223大致呈圆柱形，固定设置在所述电路板222上，所述镜头组件224容设在所述镜筒223中，包括一个或多个光学镜片，所述电路板222上集成有图像传感器（例如电荷耦合元件Charge Coupled Device，CCD）、采样电路、模数转换电路等电子元器件，当外部光线经过所述通孔2200进入到所述镜头组件224，被所述图像传感器感测，将光学信号转换为电荷信号，然后经过采样电路和模数转换电路转换成数字影像。
所述相机22还包括套设在所述镜筒223上的法兰225及设置在所述相机前壳220和所述相机后壳221之间的密封圈226。所述法兰225大致呈圆柱筒形，能够套设在所述镜筒223上。所述法兰225包括套设在所述镜筒223上的圆筒部2250及自所述圆筒部2250远离所述电路板222的一端径向延伸一凸缘2252，所述凸缘2252的外径大于所述圆筒部2250的外径。所述密封圈226抵持在所述法兰225的凸缘2252与所述相机前壳220之间。优选地，所述密封圈226采用具有弹性的材料制成，例如橡胶，当所述密封圈226抵持在所述相机前壳220和所述凸缘2252之间时，所述密封圈226被挤压，其弹性回复力使得所述密封圈226密封所述相机前壳220和所述法兰225、所述镜筒223围设的内部空间。
所述相机前壳220内壁以大致平行于所述镜筒223的轴线的方向向远离所述透明镜片2202的方向延伸形成圆筒形周壁2204，所述圆筒形周壁2204围设一容置空间，以收容所述镜头组件224。所述圆筒形周壁2204与所述法兰225对正设置，共同抵持所述密封圈226，从而使得所述密封圈226被紧密抵持在所述相机前壳220和所述法兰225的凸缘2252之间。
所述相机22还包括设置在所述相机前壳220和所述相机后壳221侧边的密封盖227。所述相机前壳220、所述相机后壳221及所述密封盖227上分别设置有第一固定孔2216、第二固定孔2200及第三固定孔2270，所述密封盖227可通过固定装置228（例如螺钉等）穿设对应的固定孔而固定在所述相机前壳220和所述相机后壳221上。可以理解的是，在其他实施例中，所述密封盖227也可以通过其他固定方式固定至所述相机前壳220和所述相机后壳221，例如，卡扣、螺纹、过盈、形状配合等，只要能使得所述密封盖227固定至所述相机前壳220和所述相机后壳221的侧面即可。所述相机前壳220和所述相机后壳221侧边均大致呈半圆形，所述密封盖227大致呈圆形，当所述密封盖227固定在所述相机前壳220和所述相机后壳221上时，所述密封盖227刚好盖设并遮蔽所述相机前壳220和所述相机后壳221的侧边。所述密封盖227开设有连接孔2272，用于装设所述支撑结构204的转轴，从而使得所述转轴与所述密封盖227固定连接，并随着所述转轴的转动而转动。
组装所述相机22时，首先将镜筒223固定至所述电路板222上，然后将所述镜头组件224装设在所述镜筒223内，然后将法兰225套设在所述镜筒223上，将密封圈226置于所述法兰225的凸缘2252上，然后将所述相机前壳220罩设在所述镜头组件224上，使得所述相机前壳220的圆筒形周壁2204抵持在所述密封圈226上，然后通过所述密封盖227将所述相机前壳220和所述相机后壳221固定连接在一起，最后将所述透明镜片2202盖设在所述相机前壳220的通孔2200上。组装完成后，所述圆筒形周壁2204与所述镜头组件224之间形成有空腔2205，可在盖设所述透明镜片2202前将所述空腔2205抽真空处理，从而使得所述镜头组件224处于真空密闭环境中。
在一些实施例中，所述空腔2205还可以填充发泡材料，所述发泡材料可以吸收水汽，从而进一步降低起雾可能性。
在一些实施例中，所述镜头组件224还可以设置加热结构，例如，在镜片与镜片之间或镜片上连接电热材料，通过所述电路板222供电以加热所述镜头组件224的镜片，从而进一步降低起雾可能性。所述加热结构还可以设置在镜筒内任意适宜的位置（例如镜筒内壁），只要能给所述镜头组件224加热即可。
可以理解的是，所述法兰225可以省略，所述镜筒223的外周壁径向延伸出一凸缘，所述相机前壳220的圆筒形周壁2204与所述镜筒的凸缘相对正，所述密封圈226被抵持于所述相机前壳220的圆筒形周壁2204和所述镜筒223的凸缘之间。可以理解的是，所述密封圈226被抵持于所述相机前壳220和所述镜筒223之间还可以有其他适宜的结构，只要能使得所述密封圈226被抵持时能密封所述相机前壳220和所述镜筒223围设的容置所述镜头组件224的空间即可。
所述相机22内增设所述密封圈226及所述密封盖227，隔绝外界水汽进入，减小无人机在在急冷环境下水汽凝结在云台镜片上的可能性，从而起到防雾效果。
另外，对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (32)

  1. 一种相机，包括电路板、设置在电路板上的镜筒及容设在所述镜筒内的镜头组件，其特征在于：所述相机包括相机前壳、相机后壳，所述相机前壳和所述相机后壳固定连接围设形成容置空间，所述电路板、所述镜筒及所述镜头组件均容设在所述容置空间内，所述镜筒与所述相机前壳之间设置有密封圈，所述密封圈密封所述相机前壳与所述镜筒围设的容纳所述镜头组件的空间。
  2. 如权利要求1所述的相机，其特征在于：所述相机前壳内壁形成有圆筒形周壁，所述密封圈抵持在所述圆筒形周壁与所述镜筒之间。
  3. 如权利要求2所述的相机，其特征在于：所述相机还包括套设在所述镜筒外周壁的法兰，所述法兰包括套设在所述镜筒外周壁的圆筒部及自所述圆筒部远离所述电路板的一侧径向延伸形成的凸缘，所述密封圈抵持在所述圆筒形周壁和所述凸缘之间。
  4. 如权利要求2所述的相机，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间为真空。
  5. 如权利要求1所述的相机，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间填充发泡材料。
  6. 如权利要求1所述的相机，其特征在于：所述镜头组件设置加热结构，所述加热结构能够给所述镜头组件的一个或多个镜片加热。
  7. 如权利要求1所述的相机，其特征在于：所述密封圈为橡胶材质。
  8. 如权利要求1所述的相机，其特征在于：所述相机还包括密封盖，所述密封盖固定连接所述相机前壳和所述相机后壳。
  9. 如权利要求8所述的相机，其特征在于：所述密封盖上设置有连接孔，所述连接孔用于与一云台承载结构连接以承载所述相机与所述云台承载结构上。
  10. 如权利要求8所述的相机，其特征在于：所述密封盖大致呈圆形，所述相机前壳和所述相机后壳相互固定连接时，所述相机前壳和所述相机后壳的侧边大致呈圆形，所述密封盖刚好遮蔽所述相机前壳和所述相机后壳的侧边。
  11. 一种云台组件，包括云台承载结构及承载在所述云台承载结构上的相机，所述相机包括电路板、设置在电路板上的镜筒及容设在所述镜筒内的镜头组件，其特征在于：所述相机包括相机前壳、相机后壳，所述相机前壳和所述相机后壳固定连接围设形成容置空间，所述电路板、所述镜筒及所述镜头组件均容设在所述容置空间内，所述镜筒与所述相机前壳之间设置有密封圈，所述密封圈密封所述相机前壳与所述镜筒围设的容纳所述镜头组件的空间。
  12. 如权利要求11所述的云台组件，其特征在于：所述相机前壳内壁形成有圆筒形周壁，所述密封圈抵持在所述圆筒形周壁与所述镜筒之间。
  13. 如权利要求12所述的云台组件，其特征在于：所述相机还包括套设在所述镜筒外周壁的法兰，所述法兰包括套设在所述镜筒外周壁的圆筒部及自所述圆筒部远离所述电路板的一侧径向延伸形成的凸缘，所述密封圈抵持在所述圆筒形周壁和所述凸缘之间。
  14. 如权利要求12所述的云台组件，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间为真空。
  15. 如权利要求11所述的云台组件，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间填充发泡材料。
  16. 如权利要求11所述的云台组件，其特征在于：所述镜头组件设置加热结构，所述加热结构能够给所述镜头组件的一个或多个镜片加热。
  17. 如权利要求11所述的云台组件，其特征在于：所述密封圈为橡胶材质。
  18. 如权利要求11所述的云台组件，其特征在于：所述相机还包括密封盖，所述密封盖固定连接所述相机前壳和所述相机后壳。
  19. 如权利要求18所述的云台组件，其特征在于：所述密封盖上设置有连接孔，所述连接孔用于与所述云台承载结构连接以承载所述相机于所述云台承载结构上。
  20. 如权利要求18所述的云台组件，其特征在于：所述密封盖大致呈圆形，所述相机前壳和所述相机后壳相互固定连接时，所述相机前壳和所述相机后壳的侧边大致呈圆形，所述密封盖刚好遮蔽所述相机前壳和所述相机后壳的侧边。
  21. 如权利要求19所述的云台组件，其特征在于：所述云台承载结构包括第一旋转结构、支撑结构及第二旋转结构，所述第一旋转结构能够驱动所述支撑结构绕第一方向旋转，所述第二旋转结构能够驱动所述相机相对所述支撑结构绕第二方向旋转，所述第一方向与所述第二方向正交。
  22. 如权利要求21所述的云台组件，其特征在于：所述支撑结构包括转轴，所述连接孔用于连接所述转轴，以使得所述相机能相对所述支撑结构旋转。
  23. 如权利要求21所述的云台组件，其特征在于：所述云台承载结构包括减震结构，通过所述减震结构连接所述云台承载结构于无人机的机身。
  24. 一种无人机，包括机身及连接在所述机身上的云台组件，所述云台组件包括云台承载结构及承载连接在所述云台承载结构上的相机，所述相机包括电路板、设置在电路板上的镜筒及容设在所述镜筒内的镜头组件，其特征在于：所述相机包括相机前壳、相机后壳，所述相机前壳和所述相机后壳固定连接围设形成容置空间，所述电路板、所述镜筒及所述镜头组件均容设在所述容置空间内，所述镜筒与所述相机前壳之间设置有密封圈，所述密封圈密封所述相机前壳与所述镜筒围设的容纳所述镜头组件的空间。
  25. 如权利要求24所述的无人机，其特征在于：所述相机前壳内壁形成有圆筒形周壁，所述密封圈抵持在所述圆筒形周壁与所述镜筒之间。
  26. 如权利要求25所述的无人机，其特征在于：所述相机还包括套设在所述镜筒外周壁的法兰，所述法兰包括套设在所述镜筒外周壁的圆筒部及自所述圆筒部远离所述电路板的一侧径向延伸形成的凸缘，所述密封圈抵持在所述圆筒形周壁和所述凸缘之间。
  27. 如权利要求25所述的无人机，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间为真空。
  28. 如权利要求24所述的无人机，其特征在于：所述圆筒形周壁与所述镜筒围设的容纳所述镜头组件的空间填充发泡材料。
  29. 如权利要求24所述的无人机，其特征在于：所述镜头组件设置加热结构，所述加热结构能够给所述镜头组件的一个或多个镜片加热。
  30. 如权利要求24所述的无人机，其特征在于：所述密封圈为橡胶材质。
  31. 如权利要求24所述的无人机，其特征在于：所述相机还包括密封盖，所述密封盖固定连接所述相机前壳和所述相机后壳。
  32. 如权利要求29所述的无人机，其特征在于：所述密封盖上设置有连接孔，所述连接孔用于与所述云台承载结构连接以承载所述相机于所述云台承载结构上。
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