WO2019007128A1 - Panoramique-inclinaison et véhicule aérien sans pilote le comprenant - Google Patents

Panoramique-inclinaison et véhicule aérien sans pilote le comprenant Download PDF

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Publication number
WO2019007128A1
WO2019007128A1 PCT/CN2018/082215 CN2018082215W WO2019007128A1 WO 2019007128 A1 WO2019007128 A1 WO 2019007128A1 CN 2018082215 W CN2018082215 W CN 2018082215W WO 2019007128 A1 WO2019007128 A1 WO 2019007128A1
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WO
WIPO (PCT)
Prior art keywords
rotating
signal line
connecting arm
rotating member
circuit board
Prior art date
Application number
PCT/CN2018/082215
Other languages
English (en)
Chinese (zh)
Inventor
余春
陈法全
周波
Original Assignee
深圳市道通智能航空技术有限公司
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 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019007128A1 publication Critical patent/WO2019007128A1/fr

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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
    • 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
    • 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
    • H02G11/00—Arrangements of electric cables or lines between relatively-movable parts

Definitions

  • the invention relates to the technical field of drones, in particular to a cloud platform and a drone having the same.
  • the drone referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order.
  • the field of anti-terrorism and other fields are widely used.
  • the inventors have found that at least the following problems exist in the prior art: in the existing pan/tilt design, a cable for providing signals to the load and the pan/tilt motor separately needs to be disposed on the pan/tilt head.
  • the existing cloud platform has many wirings and complicated winding, which makes the structure of the existing cloud platform complex and uncoordinated, affecting the appearance of the cloud platform.
  • the cable usually rotates following the rotation of the load or the rotating member of the gimbal, which easily forms a phenomenon of cable winding, which causes the cable to be easily damaged, and the rotation of the load or the pan/tilt is not smooth. And the rotation accuracy is low.
  • an embodiment of the present invention provides a cloud platform with simple wiring and can effectively avoid cable winding and a drone having the same.
  • the embodiment of the present invention provides the following technical solutions:
  • a pan/tilt head for carrying a load, the pan/tilt head comprising: a stabilizing component and a signal transmission component disposed on the stabilizing component, the stabilizing component for mounting the load;
  • the stabilizing The assembly includes: a first rotating member and a second rotating member, wherein the first rotating member and the second rotating member are coupled; the first rotating member and the second rotating member each include a driving device, and at least one of the driving devices
  • the rotating shaft is disposed with a through hole in the axial direction;
  • the signal transmission component includes a first signal line, a second signal line, and a first circuit board, the first signal line passes through the through hole, and is used to be electrically connected to the load Connected, the first circuit board is disposed in the second rotating component, and the second signal line is electrically connected to the first circuit board.
  • the first rotating member includes a first driving device, and a rotating shaft of the first driving device is axially disposed with a first through hole; the first signal line and the second signal line pass through the The first through hole is described.
  • the stabilizing assembly further includes a third rotating member, the third rotating member being coupled to the second rotating member;
  • the signal transmission assembly further comprising: a third signal line and a second circuit board The second circuit board is disposed in the third rotating component, one end of the third signal line is electrically connected to the first circuit board, and the other end of the third signal line is opposite to the second circuit The board is electrically connected.
  • the first driving device includes: a first fixing portion, a first rotating portion, and a first rotating shaft, wherein the first rotating portion is rotatable relative to the first fixing portion about the first rotating shaft;
  • the second rotating member includes a second driving device and a first connecting arm, the second driving device includes a second fixing portion, a second rotating portion and a second rotating shaft, wherein the second rotating portion can surround the first rotating portion
  • the two rotating shafts rotate relative to the second fixing portion; one end of the first connecting arm is fixedly connected to the first rotating portion, and the other end is fixedly connected to the second fixing portion.
  • the third rotating member includes: a third driving device and a second connecting arm
  • the third driving device includes: a third fixing portion, a third rotating portion, and a third rotating shaft, wherein The third rotating portion is rotatable relative to the third fixing portion about the third rotating shaft; one end of the second connecting arm is fixedly connected with the second rotating portion, and the other end is fixedly connected with the third fixing portion
  • the third rotating portion is for fixed connection with the load.
  • the third rotating member further includes a third connecting arm, the second connecting arm and the third connecting arm respectively for hinged to opposite sides of the load, the third connecting arm One end is fixedly connected to the second rotating portion, and the other end is used for articulation with the load.
  • the first circuit board is disposed within the first connecting arm; the second circuit board is disposed within the second connecting arm.
  • the other end of the first connecting arm is provided with a connecting slot
  • the first signal line passes through the connecting slot and is used for electrical connection with the load
  • the third signal line passes through The connection slot is electrically connected to the second circuit board.
  • the first signal line includes a bent portion that is located inside the other end of the second connecting arm.
  • the first signal line further includes a winding portion, the winding portion is located in the third rotating portion, and is disposed around the third rotating shaft.
  • the third signal line is provided with a bent portion that is located inside the other end of the first connecting arm.
  • the first signal line and the second signal line are both single core lines and have a circular cross section; the third signal line is a flexible circuit board line.
  • the second rotating shaft is disposed with a second through hole in an axial direction, and the first signal line and the third signal line pass through the inside of the other end of the first connecting arm, through the first a through hole that passes through the second rotating portion.
  • the third rotating shaft is disposed with a third through hole in an axial direction, and the first signal line passes through the third through hole from the other end of the second connecting arm, thereby Passing through the third rotating portion.
  • the embodiment of the present invention further provides the following technical solutions:
  • a drone includes: a load and a pan/tilt described above, the pan/tilt carrying the load.
  • the first signal line in the pan/tilt of the embodiment of the present invention passes through the through hole provided on the rotating shaft of the driving device in the first rotating member and/or the second rotating member, so that the pan/tilt can be effectively avoided.
  • the signal wires inside are wound together as the rotating member rotates, and the rotation of the rotating member is prevented from being unsmooth.
  • FIG. 1 is a schematic structural diagram of a cloud platform and a load provided by an embodiment of the present invention
  • FIG. 2 is another schematic structural view of the cloud platform and the load shown in FIG. 1;
  • FIG. 3 is a schematic structural diagram of a signal transmission component in the cloud platform shown in FIG. 1;
  • FIG. 4 is a schematic structural view of a signal transmission assembly and a first rotating member in the pan/tilt head shown in FIG. 1.
  • an embodiment of the present invention provides a platform 100 that can be used to carry a load 200 to fix the load 200 or adjust the posture of the load 200 arbitrarily (eg, change the The height, inclination and/or direction of the load 200) and the load 200 are stably maintained in a set attitude.
  • the load 200 may be an image acquisition device, such as a camera, a camera, a camera, or the like, or other portable electronic devices, such as a mobile phone, a tablet, etc., which may be understood as a sensor or the like.
  • the pan/tilt head 100 can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to, but not limited to, a handheld photographing device, a drone, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head 100 may be equipped with the image acquisition device and installed on the drone for aerial photography.
  • the pan/tilt head 100 can also mount the image acquisition device and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/tilt head 100 to control the image acquisition device.
  • the angle of shooting is a handheld photographing device, a drone, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head 100 may be equipped with the image acquisition device and installed on the drone for aerial photography.
  • the pan/tilt head 100 can also mount the image acquisition device and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/til
  • the present invention will be described in detail by taking the load 200 as a camera as an example, and the pan/tilt 100 is applied to a drone.
  • the pan/tilt head 100 includes a stabilizing assembly 10 and a signal transmission assembly 20 disposed within the stabilizing assembly 10, the stabilizing assembly 10 for mounting the load 200.
  • the pan/tilt head 100 is a three-axis omnidirectional pan/tilt head
  • the stabilizing assembly 10 includes a first rotating member 11, a second rotating member 12 and a third rotating member 13, wherein the first rotating member 11 For mounting to the fuselage of the drone, the first rotating member 11 is coupled to the second rotating member 12, the third rotating member 13 is coupled to the second rotating member 12, and The third rotating member 13 is for mounting the load 200.
  • the first rotating member 11, the second rotating member 12, and the third rotating member 13 each include a driving device, each of which includes a fixing portion and a rotating portion, and the rotating portion is rotatable relative to the fixed portion.
  • the stabilizing assembly 10 includes only the first rotating member 11 and the second rotating member 12, wherein the first rotating member 11 is for mounting to the body of the drone.
  • the first rotating member 11 is coupled to the second rotating member 12, and the second rotating member 12 is used to mount the load 200.
  • each driving device of the stabilizing component 10 of the pan/tilt head 100 respectively responds to the received rotation control signal, and controls the rotating portion thereof to rotate clockwise or counterclockwise with respect to the fixing portion thereof according to the control signal. And adjusting the rotational speed of the rotating portion to achieve the adjustment of the corresponding direction. Further, control of the direction, orientation, and stability of the load 200 is achieved. In the above manner, the load 200 is enabled to obtain a stable video and/or picture of a corresponding viewing angle.
  • the stabilizing assembly 10 can also include a rotating member that rotates in one direction, two directions, or more.
  • the first rotating member 11 includes a first driving device 111
  • the first driving device 111 includes a first fixing portion 1111, a first rotating portion 1112, and a first rotating shaft 1113.
  • the first rotating shaft 1113 is movably connected to the first fixing portion 1111
  • the first rotating shaft 1113 is fixedly connected to the first rotating portion 1112
  • the first rotating portion 1112 is rotatable around the first rotating shaft 1113 .
  • the first fixing portion 1111 is for fixed connection with the body of the drone.
  • the first rotating shaft 1113 is provided with a first through hole 1113a (see Fig. 4) in the axial direction.
  • the second rotating member 12 includes a second driving device 121 and a first connecting arm 122.
  • the second driving device 121 includes a second fixing portion 1211, a second rotating portion 1212, and a second rotating shaft 1213.
  • the second rotating shaft 1213 is movably connected to the second fixing portion 1211 , the second rotating shaft 1213 is fixedly connected to the second rotating portion 1212 , and the second rotating portion 1212 is rotatable around the second rotating shaft 1213 . Rotation with respect to the second fixing portion 1211.
  • One end of the first connecting arm 122 is fixedly connected to the first rotating portion 1112 , and the other end is fixedly connected with the second fixing portion 1211 of the second driving device 121 , so that the first driving device 111 is When the first rotating portion 1112 rotates, the second rotating member 12 can be rotated relative to the first fixing portion 1111 of the first rotating member 11.
  • the third rotating member 13 includes a third driving device 131 and a second connecting arm 132.
  • the third driving device 131 includes a third fixing portion 1311, a third rotating portion 1312, and a third rotating shaft 1313.
  • the third rotating shaft 1313 is movably connected to the third fixing portion 1311
  • the third rotating shaft 1313 is fixedly connected to the third rotating portion 1312
  • the third rotating portion 1312 is rotatable around the third rotating shaft 1313 . Rotation with respect to the third fixing portion 1311.
  • One end of the second connecting arm 131 is fixedly connected to the second rotating portion 1212 , and the other end is fixedly connected with the third fixing portion 1311 of the third driving device 131 , so that the second driving device 121 is When the second rotating portion 1212 rotates, the third rotating member 13 can be rotated relative to the second fixing portion 1211 of the second rotating member 12.
  • the third rotating portion 1312 is fixedly coupled to the load 200 for driving the load 200 to rotate relative to the third fixing portion 1311.
  • the first driving device 111, the second driving device 121, and the third driving device 131 may be one of a brushless motor, a brush motor, or a pneumatic motor, respectively.
  • the third rotating member 13 further includes a third connecting arm (not shown), and the second connecting arm 132 and the third connecting arm are respectively located at the load 200.
  • the third connecting arm On the opposite sides, one end of the third connecting arm is fixedly connected to the second rotating portion 1212, and the other end is hinged to the load 200.
  • the first rotating member 11 controls the load 200 to rotate about a translation axis/heading axis (in the Y-axis direction shown in FIG. 1); the second rotating member 12 controls the The load 200 is rotated about a roll axis (in the R-axis direction as shown in FIG. 1); the third rotating member 13 controls the load 200 to rotate about a pitch axis (in the P-axis direction as shown in FIG. 1).
  • the first rotating member 11 controls the load 200 to rotate about a pitch axis; the second rotating member 12 controls the load 200 to rotate about a yaw axis; the third rotating member 13 The load 200 is controlled to rotate about a roll axis.
  • the signal transmission component 20 includes a first signal line 21, a second signal line 22, a third signal line 23, a first circuit board 24, and a second circuit board 25.
  • the first circuit board 24 is disposed in the second rotating member 12, and the second circuit board 25 is disposed in the third rotating member 13.
  • One end of the first signal line 21 is electrically connected to a processor (not shown) located in the body of the drone, and the other end is electrically connected to the load 200.
  • One end of the second signal line 22 is electrically connected to a processor (not shown) located in the body of the drone, and the other end is electrically connected to the first circuit board 24.
  • One end of the third signal line 23 is electrically connected to the first circuit board 24, and the other end is electrically connected to the second circuit board 25.
  • the first circuit board 24 is disposed in the first connecting arm 122 for controlling an operating state of the second driving device 121; the second circuit board 25 is disposed on The second connecting arm 132 is configured to control an operating state of the third driving device 131.
  • the first signal line 21 passes through the first through hole 1113a so as to pass through the first rotating portion 1112, and extends from one end of the first connecting arm 122 to the other end.
  • the other end of the first connecting arm 122 is provided with a connecting slot 1221 (shown in FIG. 1 ), and the first signal line 21 passes through the connecting slot 1221 to enter one end of the second connecting arm 132 .
  • the first signal line 21 enters the third rotating portion 1312 from the other end of the second connecting arm 132, and is further electrically connected to the load 200 by the third rotating portion 1312. That is, the first signal line 21 sequentially passes through the first through hole 1113a, the first rotating portion 1112, the first connecting arm 122, the second rotating portion 1212, the second connecting arm 132, and the third rotating portion 1312, And electrically connected to the load 200.
  • the first signal line 21 includes a bent portion 211 and a winding portion 212, and the bent portion 211 is located inside the other end of the first connecting arm 122, and the winding portion 212 is located at the third rotation The inside of the portion 1312.
  • the bent portion 211 is further bent or stretched to prevent the first signal line 21 from being torn off when the second rotating portion 1212 is rotated.
  • the winding portion 212 is located in the third rotating portion 1312 and is wound around the third rotating shaft 1313.
  • the number of windings of the winding portion 212 corresponds to a maximum rotation angle of the third rotating portion 1312 with respect to the third fixing portion 1311, so that the third rotating portion 1312 is opposite to the third portion
  • the flexibility of the rotation of the third rotating portion 1312 is not in the process of rotating the fixed portion 1311 in the first direction to the maximum limit angle or in the direction opposite to the first direction to the maximum limit angle.
  • the length of the winding portion 212 is limited; at the same time, the first signal line 21 is not broken by the rotation of the third rotating portion 1312, and the third rotating portion 1312 is not stacked again.
  • the group may be entangled.
  • the second signal line 22 passes through the first through hole 1113a, and passes through the first rotating portion 1112, and extends from one end of the first connecting arm 122 to the first a circuit board 24; and electrically connected to the first circuit board 24. That is, the second signal line 22 sequentially passes through the first through hole 1113a, the first rotating portion 1112, a portion of the first connecting arm 122, and is electrically connected to the first circuit board 24.
  • the third signal line 23 enters the second rotating portion 1212 through the connecting groove 1221, and enters one end of the second connecting arm 132 by the second rotating portion 1212.
  • a third signal line 23 extends from the other end of the second connecting arm 132 to the second circuit board 25 and is electrically connected to the second circuit board 25. That is, the third signal line 23 sequentially passes through a portion of the first connecting arm 122, the second rotating portion 1212, and the second connecting arm 132, and is electrically connected to the second circuit board 25.
  • the third signal line 23 is provided with a bent portion 231 located inside the lower end (ie, the other end) of the first connecting arm 122. A portion of the third signal line 23 located in the connecting groove 1221 will rotate together with the second rotating portion 1212, so that the curved portion 231 is further bent or straightened to prevent the second When the rotating portion 1212 is rotated, the third signal line 23 is broken.
  • the first signal line 21 and the second signal line 22 are both single-core wires (very thin coaxial lines) and have a circular cross section. Such a structure can facilitate the first signal line. 21 and the second signal line 22 pass through the first through hole 1113a.
  • One end of the third signal line 23 is electrically connected to the first circuit board 24, and the other end is electrically connected to the second circuit board 25.
  • the third signal line 23 is a flexible printed circuit (FPC) cable.
  • the FPC cable has a flaky shape and is suitable for bending and low cost. It can be understood that, in other embodiments, the first signal line 21, the second signal line 22, and the third signal line 23 may also use signal lines of the same material, such as single-core or FPC cables. , or other types of signal lines.
  • the second rotating shaft 1213 is disposed with a second through hole (not shown) along the axial direction, and the first signal line 21 and the third signal line 23 are The other end of the first connecting arm 122 passes through the second through hole (not shown) to pass through the second rotating portion 1212.
  • the first signal line 21 does not have to be provided with the bent portion 211
  • the third signal line 23 does not have to be provided with the bent portion 231.
  • the third rotating shaft 1313 is disposed with a third through hole (not shown) in the axial direction, and the first signal line 21 is from the second connecting arm 132. The other end is internally passed through the third through hole (not shown) to pass through the third rotating portion 1312. Based on the above structure, the first signal line 21 does not have to be provided with the winding portion 212.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un panoramique-inclinaison (100) et un véhicule aérien sans pilote le comprenant. Le panoramique-inclinaison comprend : un ensemble d'amélioration de stabilité (10) et un ensemble d'émission de signal (20) disposé dans l'ensemble d'amélioration de stabilité (10) ; l'ensemble d'amélioration de stabilité (10) comprend : une première pièce rotative (11) et une seconde pièce rotative (12) ; la première pièce rotative (11) et la seconde pièce rotative (12) sont reliées ; la première pièce rotative (11) et la seconde pièce rotative (12) comprennent chacune un dispositif d'entraînement (111, 121) ; un arbre rotatif (1113, 1213) d'au moins un dispositif d'entraînement est axialement pourvu d'un trou traversant ; l'ensemble d'émission de signal (20) comprend une première ligne de signal (21), une seconde ligne de signal (22) et une première carte de circuit imprimé (24) ; la première ligne de signal (21) passe à travers le trou traversant et est électriquement connectée à une charge (200) ; la première carte de circuit imprimé (24) est située dans la seconde pièce rotative (12) ; la seconde ligne de signal (22) est électriquement connectée à la première carte de circuit imprimé (24). Au moyen du procédé, des lignes de signal dans un panoramique-inclinaison peuvent être efficacement empêchées d'être enroulées conjointement avec la rotation de pièces rotatives, et ainsi la rotation saccadée des pièces rotatives peut être évitée.
PCT/CN2018/082215 2017-07-03 2018-04-08 Panoramique-inclinaison et véhicule aérien sans pilote le comprenant WO2019007128A1 (fr)

Applications Claiming Priority (2)

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CN201710534485.6 2017-07-03
CN201710534485.6A CN109204856A (zh) 2017-07-03 2017-07-03 云台及具有此云台的无人机

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WO2021081805A1 (fr) * 2019-10-30 2021-05-06 深圳市大疆创新科技有限公司 Cardan et véhicule aérien sans pilote

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DE202014101908U1 (de) * 2014-04-23 2015-07-24 Cullmann Germany Gmbh Stativkopf
CN205320423U (zh) * 2016-01-26 2016-06-15 深圳市道通智能航空技术有限公司 一种云台走线结构及其云台
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