WO2019007129A1 - 云台及具有此云台的摄像组件和无人机 - Google Patents

云台及具有此云台的摄像组件和无人机 Download PDF

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Publication number
WO2019007129A1
WO2019007129A1 PCT/CN2018/082218 CN2018082218W WO2019007129A1 WO 2019007129 A1 WO2019007129 A1 WO 2019007129A1 CN 2018082218 W CN2018082218 W CN 2018082218W WO 2019007129 A1 WO2019007129 A1 WO 2019007129A1
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WO
WIPO (PCT)
Prior art keywords
rotating
camera
driving device
pan
load
Prior art date
Application number
PCT/CN2018/082218
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English (en)
French (fr)
Inventor
张正力
常松涛
倪枫
Original Assignee
深圳市道通智能航空技术有限公司
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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 WO2019007129A1 publication Critical patent/WO2019007129A1/zh
Priority to US16/733,886 priority Critical patent/US10809600B2/en

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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the technical field of drones, in particular to a cloud platform and a camera assembly 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.
  • an embodiment of the present invention provides a cloud platform having a compact structure and high control precision, and a camera assembly 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 load comprising a camera and a casing, the camera being disposed in the casing, the pan/tilt head comprising: a first rotating member and a second rotating member, the first The rotating member includes a first driving device, the first driving device includes a first rotating portion, the second rotating member includes a second driving device and a first connecting arm, and the second driving device includes a second fixing portion and The first connecting arm is fixedly coupled between the first rotating portion and the second fixed portion with respect to the second rotating portion that is rotated by the second fixing portion; the first connecting arm and the first rotation The portion and the second fixing portion are integrally formed.
  • the first driving device includes a first fixing portion and a first rotating shaft, and the first rotating portion is rotatable relative to the first fixing portion about a first rotating shaft;
  • the second driving device includes a second rotating shaft, wherein the second rotating portion is rotatable relative to the second fixing portion about the second rotating shaft.
  • the pan/tilt includes a third rotating member
  • the third rotating member includes: a third driving device and a second connecting arm
  • the third driving device includes a third fixing portion and a third rotating portion
  • the third rotating shaft is rotatable relative to the third fixing portion about the third rotating shaft
  • the second connecting arm is fixedly coupled to the second rotating portion and the third fixed portion
  • the third rotating portion is configured to be fixedly coupled to the load and to drive the load to rotate relative to the third fixing portion.
  • At least one of the first drive device, the second drive device, and the third drive device is a disk motor.
  • the second connecting arm is integrally formed with the second rotating portion and the third fixed portion.
  • the load includes a camera and a housing, the camera is disposed in the housing; the third rotating portion is for fixed connection with the camera and the housing, and the third driving device is The axis of the three-axis coincides with the optical axis of the camera.
  • the load includes a camera and a housing, the camera is disposed in the housing; the third rotating portion is for fixed connection with the camera, and the third fixing portion is for The housing is fixedly coupled and the axis of the third shaft of the third drive coincides with the optical axis of the camera.
  • the third rotating member includes a plurality of mounting posts, one end of the plurality of mounting posts is disposed on a connecting surface of the third rotating portion, and the other end is configured to clamp the camera.
  • the third rotating member includes a fixing base, the fixing base is a hollow cylinder; the mounting post is sleeved on the camera, and the mounting post and the camera are mounted on the fixing base Inside.
  • the embodiment of the present invention further provides the following technical solutions:
  • An imaging assembly includes a load and a pan/tilt described above, the pan/tilt carrying the load.
  • the embodiment of the present invention further provides the following technical solutions:
  • a drone includes a fuselage, a load, and the pan/tilt, the pan/tilt carrying the load, and a first rotating member of the pan/tilt is mounted to the fuselage.
  • the first connecting arm is integrally formed with the first rotating portion and the second fixing portion, so that the pan/tilt is compact, and the first connecting arm and the
  • the integrated structure formed by the first rotating portion and the second fixed portion has high strength and good anti-fatigue and anti-shock performance, so that when the load mounted on the pan/tilt is operated, the shaking or vibration is reduced, and the pair of pan/tilt is improved. The control accuracy and stability of the load carried by it.
  • FIG. 1 is a schematic structural diagram of an image pickup assembly according to an embodiment of the present invention.
  • Figure 2 is a schematic perspective view showing the structure of the image pickup unit shown in Figure 1;
  • FIG. 3 is another schematic structural view of the image pickup assembly shown in FIG. 2;
  • FIG. 4 is a schematic exploded view showing the structure of the third rotating member and the camera of the pan/tilt head shown in FIG. 2;
  • Figure 5 is a schematic perspective view showing the structure of the third rotating member and the camera shown in Figure 4;
  • Fig. 6 is a schematic perspective view showing the structure of a fixing base of the camera shown in Fig. 5.
  • an embodiment of the present invention provides an imaging assembly 300 including a cloud platform 100 and a load 200 mounted on the cloud platform 100 .
  • the platform 100 can be used to carry a load 200 to achieve the fixing of the load 200, or to adjust the posture of the load 200 (for example, changing the height, inclination and/or direction of the load 200) and
  • the load 200 is stably maintained in a set posture.
  • 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., and may also be 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 is used to mount the load 200.
  • the pan/tilt head 100 is a three-axis omnidirectional pan/tilt head, and the pan/tilt head 100 includes a first rotating member 11, a second rotating member 12 and a third rotating member 13, wherein the first rotating member 11 is used.
  • the first rotating member 11 is connected to the second rotating member 12, the third rotating member 13 and the second rotating body are directly mounted to the body of the drone directly or through a shock absorbing device or the like.
  • the piece 12 is connected and the third rotating piece 13 is used to mount 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 platform 100 includes only the first rotating member 11 and the second rotating member 12, wherein the first rotating member 11 is for mounting on 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 pan/tilt head 100 respectively responds to the received rotation control signal, and controls the rotation portion thereof to rotate clockwise or counterclockwise with respect to the fixing portion thereof according to the control signal, and adjusts the rotation portion.
  • the speed of rotation thus achieving the corresponding direction of adjustment.
  • control of the direction, orientation, and stability of the load 200 is achieved.
  • the load 200 is enabled to obtain a stable video and/or picture of a corresponding viewing angle.
  • the pan/tilt head 100 can also include a rotating member that rotates in one direction, rotates in two directions, or rotates in more directions.
  • the first rotating member 11 includes a first driving device 111, and the first driving device 111 includes a first fixing portion 1111, a first rotating portion 1112, and a first rotating shaft (not shown). Show).
  • the first rotating portion 1112 is rotatable relative to the first fixing portion 1111 about a first rotating shaft (not shown).
  • the first fixing portion 1111 is for fixed connection with the body of the drone.
  • 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 ( The figure is not shown).
  • the second rotating portion 1212 is rotatable relative to the second fixing portion 1211 about a second rotating shaft (not shown).
  • 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 first connecting arm 122 is integrally formed with the first rotating portion 1112 and the second fixing portion 1211, so that the structure of the platform 100 is more compact, and in addition, the corresponding platform is reduced due to the reduction of the corresponding fixing member. The weight of 100 is also reduced.
  • 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. (As shown in Figure 5).
  • the third rotating portion 1312 is rotatable relative to the third fixing portion 1311 about the third rotating shaft 1313.
  • One end of the second connecting arm 132 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 second connecting arm 132 is integrally formed with the second rotating portion 1212 and the third fixing portion 1311, so that the structure of the platform 100 is more compact, and in addition, the corresponding platform is reduced due to the reduction of the corresponding fixing member. The weight of 100 is also reduced.
  • the first driving device 111, the second driving device 121, and the third driving device 131 are all disc motors, such that the first driving device 111, the second driving device 121, and the third driving device 131 are
  • the axial length i.e., thickness
  • the axial length is very small, further reducing the volume of the platform 100, and the structure of the platform 100 is more compact.
  • the first driving device 111, the second driving device 121, and the third driving device 131 may also be one of a brushless motor, a brush motor, or a pneumatic motor, respectively.
  • the first driving device 111, the second driving device 121, and the third driving device 131 may also be a combination of a disk motor and other types of motors, that is, the first driving device 111, the second driving device 121, and the At least one of the three driving devices 131 is a disk motor.
  • 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. 2); the second rotating member 12 controls the The load 200 is rotated about a pitch axis (in the P-axis direction as shown in FIG. 2); the third rotating member 13 controls the load 200 to rotate about a roll axis (in the R-axis direction as shown in FIG. 2).
  • 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 load 200 includes a camera 210 and a housing 220.
  • the camera 210 is disposed in the outer casing 220, and the camera 210 is fixedly connected to the outer casing 220.
  • the third rotating portion 1312 is fixedly connected, and the optical axis of the camera 210 coincides with the axis of the third rotating shaft of the third driving device 131 (ie, the optical axis and the rolling axis (R axis) of the camera 210 and the The axes of the three shafts coincide with each other such that the third rotating portion 1312 drives the outer casing 220 and the camera 210 to rotate about the roll axis.
  • the advantage of this design is that the third driving device 131 and the camera 210 both rotate around the roll axis, which is beneficial to improve the control precision of the camera 100 to the camera 210.
  • the camera 210 is movably coupled to the housing 220 and the camera 210 is rotatable relative to the housing 220.
  • the camera 210 is fixedly coupled to the third rotating portion 1312, and the outer casing 220 is fixedly coupled to the third fixing portion 1311.
  • the optical axis of the camera 210 coincides with the axis of the third rotating shaft of the third driving device 131 (ie, the optical axis of the camera 210 coincides with the axis of the roll (R axis) and the axis of the third rotating shaft) so that The third rotating portion 1312 drives the camera 210 to rotate about the roll axis.
  • the outer casing 220 since the outer casing 220 is fixedly coupled to the third fixing portion 1311, the outer casing 220 does not rotate about the horizontal axis.
  • the camera 210 includes a base 211 , a head 212 , and a threaded hole 213 .
  • the head 212 is fixed to one end of the base 211 .
  • the head portion 212 is hemispherical, the base portion 211 is cylindrical, the diameter of the head portion 212 is smaller than the diameter of the base portion 211, and the head portion 212 and the axis of the base portion 211 coincide.
  • the threaded hole 213 is provided at the other end of the base 211 in the axial direction of the base 211, and the axis of the threaded hole 213 coincides with the axis of the base 211.
  • the third rotating shaft 1313 is received and fixed in the threaded hole 213.
  • the third rotating member 13 further includes a fixing base 133 for mounting and fixing the camera 210.
  • the fixing base 133 is a hollow cylinder, and one end thereof is provided with a mounting hole 1331, and the other end is provided with a connecting hole 1332, and the mounting hole 1331 and the connecting hole 1332 communicate with each other.
  • the diameter of the mounting hole 1331 is equal to the diameter of the head 212.
  • the third driving device 131 further includes a mounting post 1314 , and one end of the mounting post 1314 is disposed on the connecting surface 1316 of the third rotating portion 1312 .
  • the mounting posts 1314 have three in total and are evenly distributed around the third rotating shaft 1313 and surround the third rotating shaft 1313.
  • the projection of the mounting post 1314 on the connecting surface 1316 of the third rotating portion 1312 and the camera 210 is circular, that is, the mounting post 1314 is adjacent to the side of the third rotating shaft 1313 (ie, the inner side Is a circular arc surface having a diameter equal to the diameter of the base portion 211; the side of the mounting post 1314 away from the third rotating shaft 1313 (ie, the outer side surface) is also a circular arc surface having a diameter equal to the connecting hole 1332 diameter.
  • the outer side of the mounting post 1314 is provided with an external thread, the connecting hole is a threaded hole, and the other end of the mounting post 1314 is connected to the fixing seat 133 in a screw connection manner.
  • the mounting post 1314 is sleeved on the camera 210, and the camera 210 is fixed to the third rotating portion 1312.
  • the other ends of the three mounting posts 1314 are located within the connecting holes 1332 and are distributed around the base 211 of the camera 210.
  • the three mounting posts 1314 jointly hold the camera 210 to ensure that the coaxiality of the third rotating shaft 1313 of the camera 210 and the third driving device 131 is extremely high, thereby improving the control precision of the camera 210. .
  • the axis of the third rotating shaft 1313 coincides with the optical axis of the camera 210 in the load 200, which not only can reduce the size of the pan-tilt head 100, but also makes the pan-tilt head 100 on the pan-tilt head 100.
  • the load 200 mounted has high control precision and good stability.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
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Abstract

一种云台（100）及具有此云台的摄像组件和无人机，所述云台（100）包括：第一转动件（11）和第二转动件（12）。所述第一转动件（11）包括第一驱动装置（111），所述第一驱动装置（111）包括第一转动部（1112），所述第二转动件（12）包括第二驱动装置（121）和第一连接臂（122），所述第二驱动装置（121）包括第二固定部（1211）以及可相对于所述第二固定部（1211）转动的第二转动部（1212），所述第一连接臂（122）固定连接于所述第一转动部（1112）与第二固定部（1211）之间；所述第一连接臂（122）与所述第一转动部（1112）以及第二固定部（1211）一体成型。

Description

云台及具有此云台的摄像组件和无人机
申请要求于2017年7月4日申请的、申请号为201710538222.2、申请名称为“云台及具有此云台的摄像组件和无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及无人机技术领域，尤其涉及一种云台及具有此云台的摄像组件和无人机。
【背景技术】
无人驾驶飞机，简称无人机(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
在实现本发明的过程中，发明人发现现有技术至少存在以下问题：在现有的云台设计中，云台的尺寸较大，并且对该云台上所搭载的负载的控制精度差。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种结构紧凑且控制精度高的云台及具有此云台的摄像组件和无人机。
为解决上述技术问题，本发明实施例提供以下技术方案：
一种云台，其用于搭载一负载，所述负载包括摄像头和外壳，所述摄像头设置于所述外壳内，所述云台包括：第一转动件和第二转动件，所述第一 转动件包括第一驱动装置，所述第一驱动装置包括第一转动部；所述第二转动件包括第二驱动装置和第一连接臂，所述第二驱动装置包括第二固定部以及可相对于所述第二固定部转动的第二转动部，所述第一连接臂固定连接于所述第一转动部与第二固定部之间；所述第一连接臂与所述第一转动部以及第二固定部一体成型。
在一些实施例中，所述第一驱动装置包括第一固定部和第一转轴，所述第一转动部可以绕第一转轴相对于所述第一固定部转动；所述第二驱动装置包括第二转轴，所述第二转动部可以绕所述第二转轴相对于所述第二固定部转动。
在一些实施例中，所述云台包括第三转动件，所述第三转动件包括：第三驱动装置和第二连接臂，所述第三驱动装置包括第三固定部、第三转动部和第三转轴，所述第三转动部可绕所述第三转轴相对于所述第三固定部转动；所述第二连接臂固定连接于所述第二转动部与所述第三固定部之间，所述第三转动部用于与所述负载固定连接，并带动所述负载相对于所述第三固定部转动。
在一些实施例中，所述第一驱动装置、所述第二驱动装置和所述第三驱动装置中至少一个为盘式电机。
在一些实施例中，所述第二连接臂与所述第二转动部以及第三固定部一体成型。
在一些实施例中，所述负载包括摄像头和外壳，所述摄像头设置于所述外壳内；所述第三转动部用于与所述摄像头和外壳固定连接，并且所述第三驱动装置中第三转轴的轴线与摄像头的光轴重合。
在一些实施例中，所述负载包括摄像头和外壳，所述摄像头设置于所述外壳内；所述第三转动部用于与所述摄像头固定连接，所述第三固定部用于与所述外壳固定连接，并且所述第三驱动装置中第三转轴的轴线与摄像头的光轴重合。
在一些实施例中，所述第三转动件包括多个安装柱，多个所述安装柱的一端设置于所述第三转动部的连接面，另一端用于夹持所述摄像头。
在一些实施例中，所述安装柱共有三个，以所述第三转轴为中心均匀分布，并环绕于所述第三转轴周围。
在一些实施例中，所述第三转动件包括固定座，所述固定座为中空圆柱体；所述安装柱套设于所述摄像头，所述安装柱和所述摄像头安装于所述固定座内。
为了解决上述技术问题，本发明实施例还提供以下技术方案：
一种摄像组件，包括负载和以上所述的云台，所述云台搭载所述负载。
为了解决上述技术问题，本发明实施例还提供以下技术方案：
一种无人机，包括机身、负载和所述的云台，所述云台搭载所述负载，所述云台中的第一转动件安装于所述机身。
与现有技术相比较，在本发明实施例的云台中，所述第一连接臂与所述第一转动部以及第二固定部一体成型，使得云台结构紧凑，同时第一连接臂与所述第一转动部以及第二固定部形成的一体结构的强度高，抗疲劳、抗震性能佳，使得所述云台上所搭载的负载工作时，晃动或震动减少，提高了所述云台对其所搭载的负载的控制精度和稳定性。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为简化示出的本发明实施例提供的一种摄像组件的结构示意图
图2为图1所示的摄像组件的结构示意立体图；
图3为图2所示的摄像组件的另一结构示意图；
图4为图2所示的云台的第三转动件及摄像头的结构示意分解图；
图5为图4所示的第三转动件及摄像头的结构示意立体图；
图6为图5所示的摄像头的固定座的结构示意立体图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施方式，对本发明进行更详 细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书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。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方式的目的，不是用于限制本发明。本说明书所使用的术语“和/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。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，本发明实施例提供一种摄像组件300，包括云台100和搭载于所述云台100上的负载200。所述云台100，可用于搭载一负载200，以实现所述负载200的固定、或随意调节所述负载200的姿态(例如，改变所述负载200的高度、倾角和/或方向)以及使所述负载200稳定保持在设定的姿态上。所述负载200可以为图像获取装置，例如相机、摄影机、摄像头等，或为其它便携式电子装置，例如手机、平板电脑等，可以理解的也可以为传感器等。所述云台100可作为摄影、照相、监测、采样的辅助装置，其可应用在但不限于，手持拍摄设备、无人机、无人船或者无人车等装置中。例如，所述云台100可搭载所述图像获取装置，并安装于无人机上，以进行航拍工作。或者，所述云台100也可搭载所述图像获取装置并安装于一手柄上作为手持式拍摄设备进行拍照、录像等工作，并允许用户手动操作所述云台100来控制所述图像获取装置的拍摄角度。
以下将以所述负载200为摄像头为例，并且所述云台100应用于无人机来详细阐述本发明。
所述云台100用于搭载所述负载200。在本实施例中，所述云台100为三轴全方位云台，所述云台100包括第一转动件11、第二转动件12和第三转动件13，其中第一转动件11用于直接或通过减震装置等间接安装于所述无人机的机身，所述第一转动件11与所述第二转动件12连接，所述第三转动件13与所述第二转动件12连接，并且所述第三转动件13用于安装所述负载200。
第一转动件11、第二转动件12、第三转动件13均包括一驱动装置，每个驱动装置均包括固定部和转动部，并且所述转动部可相对于所述固定部转动。
可以理解的是，在其它一些实施例中，所述云台100仅包括第一转动件11和第二转动件12，其中第一转动件11用于安装于所述无人机的机身，所述第一转动件11与所述第二转动件12连接，并且所述第二转动件12用于安装所述负载200。
在本发明实施例中，所述云台100的各个驱动装置分别响应接收到的转动控制信号，并根据控制信号控制其转动部相对于其固定部顺时针或逆时针转动，以及调节该转动部的转速，从而实现相应方向的调整。进而实现所述负载200的方向、方位及稳定性的控制。通过以上方式，使得所述负载200能够获得相应视角的、稳定的视频和/或图片。可以理解的是，所述云台100也可包括一个方向转动、两个方向转动或更多方向转动的转动件。
请一并参阅图2和图3，所述第一转动件11包括第一驱动装置111，所述第一驱动装置111包括第一固定部1111、第一转动部1112和第一转轴(图未示)。其中，所述第一转动部1112可以绕第一转轴(图未示)相对于所述第一固定部1111转动。所述第一固定部1111用于与所述无人机的机身固定连接。
在本实施例中，所述第二转动件12包括第二驱动装置121和第一连接臂122，所述第二驱动装置121包括第二固定部1211、第二转动部1212和第二转轴(图未示)。其中，所述第二转动部1212可以绕第二转轴(图未示)相对于所述第二固定部1211转动。所述第一连接臂122的一端与所述第一转动部1112固定连接，另一端与所述第二驱动装置121中第二固定部1211固定连接，从而使得在所述第一驱动装置111的第一转动部1112转动时，可带动所述第二转动件12相对于所述第一转动件11中的第一固定部1111转动。所述第一连接臂122与所述第一转动部1112以及第二固定部1211一体成型，从而 使得所述云台100的结构更加紧凑，另外，因减少了相应的固定部件，所述云台100的重量也得到减轻。
在本实施例中，所述第三转动件13包括第三驱动装置131和第二连接臂132，所述第三驱动装置131包括第三固定部1311、第三转动部1312和第三转轴1313(如图5所示)。其中，所述第三转动部1312可以绕第三转轴1313相对于所述第三固定部1311转动。所述第二连接臂132的一端与所述第二转动部1212固定连接，另一端与所述第三驱动装置131中第三固定部1311固定连接，从而使得在所述第二驱动装置121的第二转动部1212转动时，可带动所述第三转动件13相对于所述第二转动件12中的第二固定部1211转动。所述第三转动部1312与所述负载200固定连接，用于带动所述负载200相对于所述第三固定部1311转动。所述第二连接臂132与所述第二转动部1212以及第三固定部1311一体成型，从而使得所述云台100的结构更加紧凑，另外，因减少了相应的固定部件，所述云台100的重量也得到减轻。
在本实施例中，所述第一驱动装置111、第二驱动装置121、第三驱动装置131均为盘式电机，使得第一驱动装置111、第二驱动装置121和第三驱动装置131在轴向的长度(即厚度)非常小，进一步减小了云台100的体积，云台100的结构更加紧凑。
在其它的一些实施例中，所述第一驱动装置111、第二驱动装置121、第三驱动装置131还可以分别为无刷电机、有刷电机或气动马达中的一种。或者，所述第一驱动装置111、第二驱动装置121、第三驱动装置131也可以为盘式电机和其他种类电机的组合，即所述第一驱动装置111、第二驱动装置121、第三驱动装置131中至少一个驱动装置为盘式电机。
进一步的，在本实施例中，所述第一转动件11控制所述负载200绕平移轴/航向轴(如图2所示的Y轴方向)转动；所述第二转动件12控制所述负载200绕俯仰轴(如图2所示的P轴方向)转动；所述第三转动件13控制所述负载200绕横滚轴(如图2所示的R轴方向)转动。
在其它的一些实施例中，所述第一转动件11控制所述负载200绕俯仰轴转动；所述第二转动件12控制所述负载200绕偏航轴转动；所述第三转动件13控制所述负载200绕横滚轴转动。
在本实施例中，所述负载200包括摄像头210和外壳220，所述摄像头 210设置于所述外壳220内，并且所述摄像头210与所述外壳220固定连接，所述外壳220又与所述第三转动部1312固定连接，并且，所述摄像头210的光轴与所述第三驱动装置131中第三转轴的轴线重合(即，摄像头210的光轴与横滚轴(R轴)以及第三转轴的轴线重合)，以使得所述第三转动部1312带动所述外壳220和摄像头210绕横滚轴转动。这样设计的好处是：第三驱动装置131和摄像头210均绕横滚轴转动，有利于提高所述云台100对所述摄像头210的控制精度。
可以理解的是，在其它一些实施例中，所述摄像头210与所述外壳220活动连接，并且所述摄像头210可相对于所述外壳220转动。所述摄像头210与第三转动部1312固定连接，所述外壳220与所述第三固定部1311固定连接。所述摄像头210的光轴与所述第三驱动装置131中第三转轴的轴线重合(即，摄像头210的光轴与横滚轴(R轴)以及第三转轴的轴线重合)，以使得所述第三转动部1312带动摄像头210绕横滚轴转动。此种状况下，由于所述外壳220与所述第三固定部1311固定连接，所述外壳220不会绕横滚轴转动。
请参阅图4至图6，所述摄像头210包括基部211、头部212和螺纹孔213，所述头部212固定于所述基部211的一端。所述头部212为半球状，所述基部211为圆柱状，所述头部212的直径小于所述基部211的直径，并且所述头部212和基部211的轴线重合。所述螺纹孔213沿所述基部211的轴线方向设置于所述基部211的另一端，并且所述螺纹孔213的轴线和所述基部211的轴线重合。所述第三转轴1313收容并固定于所述螺纹孔213内。
所述第三转动件13还包括固定座133，用于安装并固定所述摄像头210。所述固定座133为中空圆柱体，其一端设置有安装孔1331，另一端设置有连接孔1332，并且所述安装孔1331与连接孔1332相互连通。所述安装孔1331的直径等于所述头部212的直径。
所述第三驱动装置131还包括安装柱1314，所述安装柱1314的一端设置于所述第三转动部1312的连接面1316。所述安装柱1314共有三个，并以所述第三转轴1313为中心均匀分布，并环绕于所述第三转轴1313周围。所述安装柱1314在所述第三转动部1312与所述摄像头210连接的连接面1316上的投影为圆弧形，即所述安装柱1314靠近所述第三转轴1313的侧面(即内 侧面)为圆弧面，其直径等于所述基部211的直径；所述安装柱1314远离所述第三转轴1313的侧面(即外侧面)也为圆弧面，其直径等于所述连接孔1332的直径。所述安装柱1314的外侧面设置有外螺纹，所述连接孔为螺纹孔，所述安装柱1314的另一端与所述固定座133以螺纹连接的方式连接。所述安装柱1314套设于所述摄像头210，并将所述摄像头210固定于所述第三转动部1312。三个所述安装柱1314的另一端位于所述连接孔1332内，并且分布于所述摄像头210中基部211的周围。三个所述安装柱1314共同夹持住所述摄像头210，可以保证所述摄像头210和所述第三驱动装置131中第三转轴1313的同轴度极高，从而提高所述摄像头210的控制精度。
在本发明实施例的云台100中，第三转轴1313的轴线与负载200中摄像头210的光轴重合，不仅可以缩小所述云台100的尺寸，还使得云台100对该云台100上所搭载的负载200的控制精度高、稳定性好。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (12)

  1. 一种云台(100)，其用于搭载一负载(200)，其特征在于，所述云台(100)包括：
    第一转动件(11)，其包括第一驱动装置(111)，所述第一驱动装置(111)包括第一转动部(1112)；
    第二转动件(12)，其包括第二驱动装置(121)和第一连接臂(122)，所述第二驱动装置(121)包括第二固定部(1211)以及可相对于所述第二固定部(1211)转动的第二转动部(1212)，所述第一连接臂(122)固定连接于所述第一转动部(1112)与第二固定部(1211)之间，所述第一连接臂(122)与所述第一转动部(1112)以及第二固定部(1211)一体成型。
  2. 根据权利要求1所述的云台(100)，其特征在于，
    所述第一驱动装置(111)包括第一固定部(1111)和第一转轴，所述第一转动部(1112)可以绕第一转轴相对于所述第一固定部(1111)转动；
    所述第二驱动装置(121)包括第二转轴，所述第二转动部(1212)可以绕所述第二转轴相对于所述第二固定部(1211)转动。
  3. 根据权利要求1或2所述的云台(100)，其特征在于，
    所述云台包括第三转动件(13)，所述第三转动件(13)包括：第三驱动装置(131)和第二连接臂(132)，所述第三驱动装置(131)包括第三固定部(1311)、第三转动部(1312)和第三转轴(1313)，所述第三转动部(1312)可绕所述第三转轴(1313)相对于所述第三固定部(1311)转动；
    所述第二连接臂(132)固定连接于所述第二转动部(1212)与所述第三固定部(1311)之间，所述第三转动部(1312)用于与所述负载(200)固定连接，并带动所述负载(200)相对于所述第三固定部(1311)转动。
  4. 根据权利要求3所述的云台(100)，其特征在于，所述第一驱动装置(111)、所述第二驱动装置(121)和所述第三驱动装置(131)中至少一个为盘式电机。
  5. 根据权利要求3所述的云台(100)，其特征在于，所述第二连接臂(132)与所述第二转动部(1212)以及第三固定部(1311)一体成型。
  6. 根据权利要求5所述的云台(100)，其特征在于，所述负载(200)包括摄像头(210)和外壳(220)，所述摄像头(210)设置于所述外壳(220)内；
    所述第三转动部(1312)用于与所述摄像头(210)和外壳(220)固定连接，并且所述第三驱动装置(131)中第三转轴(1313)的轴线与摄像头(210)的光轴重合。
  7. 根据权利要求5所述的云台(100)，其特征在于，所述负载(200)包括：摄像头(210)和外壳(220)，所述摄像头(210)设置于所述外壳(220)内；
    所述第三转动部(1312)用于与所述摄像头(210)固定连接，所述第三固定部(1311)用于与所述外壳(220)固定连接，并且所述第三驱动装置(131)中第三转轴(1313)的轴线与所述摄像头(210)的光轴重合。
  8. 根据权利要求6或7所述的云台(100)，其特征在于，
    所述第三转动件(13)包括多个安装柱(1314)，多个所述安装柱(1314)的一端设置于所述第三转动部(1312)的连接面(1316)，另一端用于夹持所述摄像头(210)。
  9. 根据权利要求8所述的云台(100)，其特征在于，
    所述安装柱(1314)共有三个，以所述第三转轴(1313)为中心均匀分布，并环绕于所述第三转轴(1313)周围。
  10. 根据权利要求8或9所述的云台(100)，其特征在于，所述第三转动件(13)包括固定座(133)，所述固定座(133)为中空圆柱体；所述安装柱(1314)套设于所述摄像头(210)，所述安装柱(1314)和所述摄像头(210) 安装于所述固定座(133)内。
  11. 一种摄像组件(300)，其特征在于，包括：负载(200)和如权利要求1-10中任一项所述的云台(100)，所述云台(100)搭载所述负载(200)。
  12. 一种无人机，包括机身，其特征在于，所述无人机还包括：负载(200)和如权利要求1-10中任一项所述的云台(100)，所述第云台(100)搭载所述负载(200)，所述云台(100)中的第一转动件(11)安装于所述机身。
PCT/CN2018/082218 2017-07-04 2018-04-08 云台及具有此云台的摄像组件和无人机 WO2019007129A1 (zh)

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CN113923336B (zh) * 2021-10-28 2023-09-05 高维武 一种隐藏式用于森林拍摄的摄影装置

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