WO2019041509A1 - 云台、云台系统、无人机和无人机系统 - Google Patents

云台、云台系统、无人机和无人机系统 Download PDF

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Publication number
WO2019041509A1
WO2019041509A1 PCT/CN2017/108492 CN2017108492W WO2019041509A1 WO 2019041509 A1 WO2019041509 A1 WO 2019041509A1 CN 2017108492 W CN2017108492 W CN 2017108492W WO 2019041509 A1 WO2019041509 A1 WO 2019041509A1
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WO
WIPO (PCT)
Prior art keywords
lens module
pan
rotating
shaft
fixing
Prior art date
Application number
PCT/CN2017/108492
Other languages
English (en)
French (fr)
Inventor
王平
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 CN201780086956.XA priority Critical patent/CN110337406B/zh
Publication of WO2019041509A1 publication Critical patent/WO2019041509A1/zh

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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
    • 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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • 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 field of cloud platform technology, and more particularly to a cloud platform, a pan/tilt system, a drone and a drone system.
  • Embodiments of the present invention provide a pan/tilt, pan/tilt system, a drone, and a drone system.
  • the rotating arm is rotatably coupled to the lens module, and the lens module is rotatable relative to the carrier of the pan/tilt or the rotating arm;
  • connection assembly being coupled to the rotating arm, the connection assembly including an elastic member capable of providing a restoring force to the lens module, the restoring force causing the lens module to be When working, it returns to a predetermined protection posture to protect the lens module.
  • the lens module is rotatable relative to the rotating arm about a pitch axis of the pan/tilt, the connecting component connecting the lens module and the rotating arm, the predetermined protection
  • the posture is a posture in which the light entrance hole of the lens module is higher than the pitch axis.
  • the elastic member includes a movable end and a fixed end, the fixed end is fixedly connected to the rotating arm, and the movable end rotates synchronously with the lens module to make the lens module The movable end moves relative to the fixed end when rotating.
  • the resilient element is a scroll spring
  • the movable end is located at a center position of the scroll spring
  • the fixed end is located at a peripheral position of the scroll spring
  • the rotating arm includes a fixing boss formed with a fixing hole
  • the fixing end is formed with a mounting hole
  • the connecting assembly further includes a fastener, the fastener Passing through the mounting hole and the fixing hole to fix the fixed end on the fixing boss.
  • the rotating arm includes a body, the body is formed with a mounting space, the fixing boss protrudes outward from the body, the fixing boss, the elastic member, and the tight Firmware is disposed within the installation space.
  • the rotating arm is provided with a shaft hole
  • the connecting assembly includes a rotating shaft
  • the rotating shaft includes a first connecting shaft and a second connecting shaft
  • the first connecting shaft and the second connecting shaft Simultaneously rotating, the first connecting shaft passes through the shaft hole to be fixedly connected with the lens module, and the second connecting shaft is connected to the movable end.
  • the second connecting shaft is formed with a fixing portion that is fixedly coupled to the movable end to rotate the movable end in synchronization with the fixed portion.
  • the fixing portion is a fixing groove formed on the second connecting shaft, and the movable end protrudes into the fixing groove to rotate the movable end synchronously with the fixing groove .
  • the rotating shaft includes a limiting plate between the first connecting shaft and the second connecting shaft, and the limiting plate is in a direction perpendicular to an axial direction of the rotating shaft The size is larger than the size of the shaft hole.
  • the rotating arm includes a mounting boss through which the shaft hole passes, the mounting boss is formed with a receiving groove surrounding the shaft hole, and the elastic member partially receives In the receiving slot.
  • the depth of the receiving groove gradually decreases in a direction from a center of the shaft hole toward an inner wall of the shaft hole.
  • the rotating arm includes two opposite rotating ends
  • the lens module is coupled between the two rotating ends
  • the pan/tilt further includes a pitch motor
  • the connecting component is disposed at One of the rotating ends
  • the pitch motor is disposed at the other of the rotating ends to drive the lens module to rotate.
  • the pan/tilt system of the embodiment of the present invention includes:
  • the lens module is rotatably connected to the rotating arm of the pan/tilt head.
  • the pan/tilt head is connected to the body.
  • pan/tilt head according to any one of the preceding embodiments, wherein the pan/tilt head is connected to the body;
  • the lens module being rotatably coupled to the rotating arm of the pan.
  • the elastic element of the pan/tilt provided by the embodiment of the invention can provide a restoring force to the lens module, so that the lens module returns to a predetermined protection posture when not working, to protect the lens module and avoid damage of the lens module.
  • FIG. 1 is a schematic structural view of a drone system according to an embodiment of the present invention.
  • Figure 2 is an enlarged schematic view of a portion II of Figure 1;
  • FIG. 3 is a perspective exploded view of a pan/tilt head system according to an embodiment of the present invention.
  • Figure 4 is an enlarged schematic view of the portion IV of Figure 3.
  • the first feature "on” or “under” the second feature may be a direct contact of the first and second features, or the first and second features may be indirectly through an intermediate medium, unless otherwise explicitly stated and defined. contact.
  • the first feature "above”, “above” and “above” the second feature may be that the first feature is directly above or above the second feature, or merely that the first feature level is higher than the second feature.
  • the first feature “below”, “below” and “below” the second feature may be that the first feature is directly below or obliquely below the second feature, or merely that the first feature level is less than the second feature.
  • a drone 200 according to an embodiment of the present invention includes a body 30 and a platform 10 , and the platform 10 is coupled to the body 30 .
  • the platform 10 includes a swivel arm 12 and a connection assembly 14.
  • Rotating arm 12 and lens module The rotation of the lens module 20 is rotatable relative to the carrier or the rotating arm 12 of the platform 10 .
  • the connecting component 14 is coupled to the rotating arm 20, and the connecting component 14 includes an elastic component 142.
  • the resilient component 142 can provide a restoring force to the lens module 20, and the restoring force causes the lens module 20 to return to a predetermined protective posture when not working to protect Lens module 20.
  • the elastic member 142 of the pan/tilt head 10 provided by the embodiment of the present invention can provide a restoring force to the lens module 20, so that the lens module 20 returns to a predetermined protection posture when not working to protect the lens module 20 and avoid the lens module. Group 20 is damaged.
  • the carrier of the platform 10 may be the body 30 of the drone 200, and the lens module 20 may be around the yaw axis of the platform 10 with respect to the carrier of the platform 10 (see Z in FIG. 3).
  • the lens module 20 can also rotate relative to the rolling arm 12 about the roll axis of the platform 10 (such as the Y axis in FIG. 3), and the lens module 20 can also pitch around the pan head 10 around the rotating arm 12.
  • the shaft (such as the X-axis in Figure 3) rotates.
  • the predetermined protection posture may be different according to the connection position of the connecting component 14 and the rotating arm 12.
  • the predetermined protection posture may be the lens of the lens module 20. 22 is facing the side of the body 30 to be protected by the body 30;
  • the predetermined protective posture may be that the lens 22 of the lens module 20 is located on the pitch axis (as shown in the figure) X axis in 3).
  • the lens module 20 is rotatable relative to the rotating arm 12 about the pitch axis of the platform 10 (such as the X axis in FIG. 3), and the connecting component 14 is connected to the lens module. 20 and the rotating arm 12, the predetermined protection posture is a posture in which the light entrance hole of the lens module 20 is higher than the pitch axis (such as the X axis in FIG. 3).
  • the pan/tilt head 10 can make the light entrance hole of the lens module 20 be higher than the pitch axis when the lens module 20 is not working, so that the light entrance hole of the lens module 20 does not face downward and touches the ground platform such as the ground.
  • the lens module 20 is not easily damaged.
  • the drone 200 of the embodiment of the present invention includes a body 30 and a platform 10, and the platform 10 is coupled to the body 30.
  • the pan/tilt 10 includes a swivel arm 12 and a connection assembly 14.
  • the UAV 200 can be an unmanned aerial vehicle, an unmanned vehicle, or an unmanned vehicle.
  • the unmanned aerial vehicle 200 is taken as an example of an unmanned aerial vehicle, and the specific form of the unmanned aerial vehicle 200 can be understood. It can be other and is not limited here.
  • the fuselage 30 includes a body 32 and a boom 34 that extends outwardly from the body 32.
  • the number of the arms 34 is four, each of the arms 34 is provided with a power device, the power device can provide power to the drone 200, the power device can be a rotor assembly, and the rotor assembly includes a propeller And the motor used to drive the rotation of the propeller.
  • the number of the arms 34 is not limited to four, and may be six, eight, twelve, or the like.
  • the body 32 includes opposing bottom surfaces 322, a top surface 324, and side surfaces 326.
  • the bottom surface 322 is a side surface of the fuselage 30 close to the ground
  • the top surface 324 is a side surface of the fuselage 30 away from the ground.
  • the side 326 is connected between the bottom surface 322 and the top surface 324, and the arm 34 is Side 326 extends outwardly.
  • the bottom surface 322, the top surface 324, and the side surfaces 326 may each be a flat surface or a curved surface.
  • the platform 10 is coupled to the body 30.
  • the gimbal 10 can be connected to the main body 32. Specifically, the gimbal 10 is connected to the bottom surface 322 or the top surface 324 of the main body 32, so that when the UAV 200 moves, the PTZ 10 is moved, and the image is further acquired by the lens module 20.
  • the image can be a photo or a video.
  • the platform 10 includes a swivel arm 12.
  • the turning arm 12 includes an upper arm 121 and a lower arm 123.
  • the platform 10 is connected to the bottom surface 322 of the main body 32.
  • the platform 10 is connected to the main body 32 through the upper arm 121.
  • the upper arm 121 can surround the yaw axis of the platform 10 with respect to the main body 32 (as shown in FIG. 3). Z axis) rotation.
  • a yaw motor (not shown) is disposed in one end of the upper arm 121 connected to the main body 32, and the yaw motor is used to drive the upper arm 121 to rotate relative to the main body 32.
  • the lower arm 123 is rotatably coupled to the upper arm 121, and the lower arm 123 is rotatable relative to the upper arm 121 about the roll axis of the platform 10 (such as the Y-axis in FIG. 3).
  • a roll motor (not shown) is disposed in one end of the upper arm 121 connected to the lower arm 123, and the roll motor is used to drive the lower arm 123 to rotate relative to the upper arm 121.
  • the lower arm 123 is rotatably coupled to the lens module 20.
  • the lower arm 123 has a "C" shape as a whole, the upper arm 121 can be connected to the middle position of the lower arm 123, and the lower arm 123 includes two opposite rotating ends 129.
  • the lens module 20 is rotatably connected to the two rotating ends 129 and located between the two rotating ends 129.
  • the lens module 20 is rotatable about the pitch axis of the pan/tilt head 10 relative to the lower arm 123 (such as the X-axis in FIG. 3). Turn.
  • the connecting component 14 includes an elastic component 142 for connecting the rotating arm 12 and the lens module 20 .
  • the elastic component 142 provides a restoring force to the lens module 20 , and the restoring force causes the lens module 20 to recover. When it is not working, it returns to the attitude that the light entrance hole of the lens module 20 is higher than the pitch axis of the pan/tilt head 10.
  • the lens module 20 includes a lens 22 and a lens holder 24, and the lens 22 includes one or more groups of lenses.
  • the lens holder 24 is provided with a photosensitive element, a processor and the like, and the light passes through the light hole and then wears. The lens is received by the photosensitive element in the lens holder 24 and processed by the processor to form an image.
  • the lens 22 when the drone 200 is dropped and the pan/tilt head 10 is not powered, the lens 22 has a tendency to rotate under the action of gravity to a posture in which the lens 22 is located below the pitch axis, or the lens 22 has a downward direction or orientation. The trend is obliquely downward, and the lens 22 may touch the landing platform of the drone 200 (such as the ground, the transit platform, etc.), causing the lens 22 to be damaged, such as the lens being scratched.
  • the elastic element 142 causes the lens module 20 to return to the attitude of the lens module 20 when the lens module 20 is lower than the pitch axis of the pan-tilt head 10, or the lens 22 is oriented upward or obliquely upward.
  • the operation of the lens module 20 includes: the lens module 20 is held at a desired shooting angle for taking a picture, the lens module 20 is not photographed, but is in the process of rotating to the desired shooting angle, and the lens The module 20 captures any of the rotations of the desired shooting angle. Conversely, the lens module 20 does not work when the lens module 20 is not used for imaging, and the pan/tilt 10 is not powered. In other words, the fact that the lens module 20 does not work means that the lens module 20 does not keep shooting at the required shooting angle, and does not rotate while shooting. There is no simple rotation to the desired shooting angle.
  • the resilient member 142 includes a movable end 1422 and a fixed end 1424.
  • the fixed end 1424 is fixedly coupled to the rotating arm 12.
  • the movable end 1422 rotates synchronously with the lens module 20 to move the movable end 1422 relative to the fixed end 1424 when the lens module 20 rotates.
  • the movable end 1422 When the lens module 20 rotates, the movable end 1422 is moved relative to the fixed end 1424. The movable end 1422 may be rotated relative to the fixed end 1424 or may be moved relative to the fixed end 1424.
  • the elastic component 142 applies a restoring force to the lens module 20 through the movable end 1422. Specifically, the restoring force can cancel the gravity of the lens module 20 to make the lens 22 face downward, so that the lens 22 Oriented upwards or diagonally upwards.
  • the relative positional relationship between the movable end 1422 and the fixed end 1424 is different, that is, the shape of the elastic element 142 is different, and the magnitude of the restoring force of the elastic element 142 to the lens module 20 is also different.
  • the restoring force reaches a maximum when the lens 22 is in a vertically downward orientation, or when the light entrance aperture of the lens module 20 is below the pitch axis and is at the farthest distance from the pitch axis.
  • the elastic member 142 may be a spiral spring, a cylindrical spring, a torsion bar spring, a rubber band, or the like. In the embodiment of the present invention, the elastic member 142 is taken as an example of a scroll spring. Of course, the specific type of the elastic member 142 may be other, and is not limited herein. Referring to FIG. 3, in some embodiments, the elastic member 142 is a wrap spring, the movable end 1422 is located at a center position of the wrap spring, and the fixed end 1424 is located at a peripheral position of the wrap spring.
  • the movable end 1422 When the lens module 20 rotates, the movable end 1422 can be rotated relative to the fixed end 1424, and the movable end 1422 is located at a central position, so that the movable end 1422 is rotatably connected with the lens module 20, and the fixed end 1424 is located at a peripheral position, so that the fixed end 1424 is convenient. It is fixedly connected to the rotating arm 12.
  • the rotating arm 12 includes a fixing boss 122 , the fixing boss 122 is formed with a fixing hole 1222 , and the fixing end 1424 is formed with a mounting hole 1426 .
  • the attachment assembly 14 also includes a fastener 144 that passes through the mounting aperture 1426 and the securing aperture 1222 to secure the fixed end 1424 to the mounting boss 122.
  • the fixed end 1424 has a hollow cylindrical shape, the hollow portion forms a mounting hole 1426, and the fixed end 1424 is sleeved on the fixing boss 122.
  • the inner wall of the fixing hole 1222 can be formed with an internal thread.
  • the firmware 144 may be a screw that passes through the mounting hole 1426 and penetrates into the fixing hole 1222 and is fixedly coupled to the fixing boss 122 to fix the fixed end 1424 to the fixing boss 122.
  • the fixed end 1424 and the fixing boss 122 are easily connected and detached, and the fixing effect is good.
  • connection manner of the fixing boss 122 and the fixing end 1424 may be other than the above discussion.
  • the fastener 144 is a latch, and after the fixing end 1424 is sleeved on the fixing boss 122, the latch is sequentially opened. After the perforations in the peripheral wall of the fixed end 1424 and the peripheral wall of the fixing boss 122 are locked, the fixed end 1424 is fixedly coupled to the fixing boss 122.
  • the rotating arm 12 includes a body 124, and the body 124 is formed with The mounting space 1242, the fixing boss 122 protrudes outward from the body 124.
  • the fixing boss 122, the elastic member 142, and the fastener 144 are all disposed within the mounting space 1242.
  • the rotating arm 12 may further include a cover body (not shown) that can cooperate with the body 124 to separate the installation space 1242 from the outside.
  • a cover body (not shown) that can cooperate with the body 124 to separate the installation space 1242 from the outside.
  • the connecting component 14 When the connecting component 14 is installed, the cover body and the body 124 may be separated first. After the connecting component 14 is installed in the mounting space 1242, the cover body and the body 124 are fitted together.
  • the fixing boss 122, the elastic member 142 and the fastener 144 are all disposed in the installation space 1242 without affecting the appearance of the platform 10, and the cover of the installation space 1242 can block the erosion of moisture, dust, etc., and the connection assembly 14 works. High reliability and long service life.
  • the pivot arm 12 is provided with a shaft bore 126.
  • the connection assembly 14 includes a shaft 146.
  • the rotating shaft 146 includes a first connecting shaft 1462 and a second connecting shaft 1466.
  • the first connecting shaft 1462 rotates synchronously with the second connecting shaft 1466.
  • the first connecting shaft 1462 passes through the shaft hole 126 to be fixedly connected to the lens module 20, and the second connecting shaft 1466 is coupled to the movable end 1422.
  • the shaft hole 126 is opened on the rotating arm 12. Specifically, the shaft hole 126 is opened at the center of the rotating end 129 of the rotating arm 12, and the axis of the shaft hole 126 can coincide with the pitch axis of the platform 10.
  • the first connecting shaft 1462 is fixedly connected to the lens module 20 through the shaft hole 126.
  • the first connecting shaft 1462 can be formed with an external thread. When the rotating shaft 146 is mounted, the first connecting shaft 1462 can be passed through the shaft hole 126 and the lens.
  • the module 20 is screwed to fixedly connect the rotating shaft 146 and the lens module 20 to rotate the first connecting shaft 1462 and the lens module 20 in synchronization.
  • the first connecting shaft 1462 When the lens module 20 rotates, the first connecting shaft 1462 is synchronously rotated, and the first connecting shaft 1462 drives the second connecting shaft 1466 to rotate synchronously, so that the second connecting shaft 1466 and the lens module 20 rotate synchronously.
  • the second connecting shaft 1466 since the second connecting shaft 1466 is connected to the movable end 1422, the movable end 1422 applies a restoring force to the second connecting shaft 1466, and the restoring force is transmitted from the second connecting shaft 1466 to the first connecting shaft 1462 and then transmitted to the lens module. 20.
  • the second connecting shaft 1466 rotates, the first connecting shaft 1462 and the lens module 20 also rotate in synchronization.
  • the second connecting shaft 1466 is formed with a fixing portion 1468 that is fixedly coupled to the movable end 1422 to rotate the movable end 1422 in synchronization with the fixed portion 1468.
  • the movable end 1422 is connected to the second connecting shaft 1466, and the movable end 1422 and the second connecting shaft 1466 can be fixedly connected by screwing, snapping, gluing or the like. Therefore, the specific configuration of the fixing portion 1468 may be different according to the specific connection manner of the movable end 1422 and the second connecting shaft 1466.
  • the fixing portion 1468 may be A mounting hole is formed in the second connecting shaft 1466 so that the screw penetrates the fixing portion 1468 and fixes the connecting movable end 1422 and the second connecting shaft 1466.
  • the fixing portion 1468 is a fixing groove formed on the second connecting shaft 1466, and the movable end 1422 extends into the fixing groove to rotate the movable end 1422 synchronously with the fixing groove.
  • the fixing groove may pass through the end of the second connecting shaft 1466 while passing through the side of the second connecting shaft 1466 Wall, in the embodiment of the invention, the fixing groove has a "ten" shape.
  • the movable end 1422 extends from the end of the second connecting shaft 1466 into the fixing groove along the axial direction of the second connecting shaft 1466.
  • the movable end 1422 is further formed with a hook, and the hook hooks the second connecting shaft 1466.
  • the width of the side wall, the hook is larger than the width of the fixing groove, so that the movable end 1422 does not escape from the fixing groove in the radial direction of the second connecting shaft 1466.
  • the side wall of the fixing groove interacts with the movable end 1422 to drive the movable end 1422 to rotate.
  • the movable end 1422 applies a restoring force to the side wall of the fixing groove to further transmit the restoring force.
  • the lens module 20 is given.
  • the shaft 146 includes a limiting plate 1464 between the first connecting shaft 1462 and the second connecting shaft 1466 in a direction perpendicular to the axial direction of the rotating shaft 146.
  • the size of the limiting plate 1464 is larger than the size of the shaft hole 126.
  • the first connecting shaft 1462 passes through the shaft hole 126 to be coupled with the lens module 20, and since the dimension of the limiting plate 1464 is larger than the size of the shaft hole 126 in the direction perpendicular to the axial direction of the rotating shaft 146
  • the limiting plate 1464 can function as a limit to prevent the user from penetrating the rotating shaft 146 into the shaft hole 126 too much to damage the rotating arm 12 or the lens module 20.
  • the limiting plate 1464 blocks other components from entering the shaft hole 126 from the second connecting shaft 1466 toward the first connecting shaft 1462. For example, the movable end 1422 connected to the fixing portion 1468 during use can be prevented from being caught. Inside the shaft hole 126.
  • the pivot arm 12 includes a mounting boss 128 that passes through the mounting boss 128 .
  • the mounting boss 128 is formed with a receiving groove 1282 surrounding the shaft hole 126, and the elastic member 142 is partially received in the receiving groove 1282.
  • the receiving groove 1282 can communicate with the shaft hole 126, and the receiving groove 1282 can be a continuous annular groove.
  • the elastic member 142 is partially received in the receiving groove 1282.
  • the side wall of the receiving groove 1282 acts on the elastic member 142 in a limited position.
  • the elastic member 142 does not easily jump in the axial direction of the rotating shaft 146, and the lens module 20 is shaken.
  • the depth of the receiving groove 1282 gradually decreases toward the inner wall of the shaft hole 126 along the center of the shaft hole 126.
  • the movable end 1422 corresponds to the center of the shaft hole 126
  • the fixed end 1424 is fixedly connected to the fixing boss 122 outside the receiving groove 1282, and the movable end 1422
  • the portion between the fixed end 1424 and the fixed end 1424 is received in the receiving groove 1282, and in the direction from the fixed end 1424 to the movable end 1422, the elastic member 142 gradually penetrates into the receiving groove 1282.
  • the contact area between the inner wall of the receiving groove 1282 and the elastic member 142 is large, and the elastic member 142 is further prevented from jumping in the axial direction of the rotating shaft 146.
  • the rotating arm 12 includes two opposite rotating ends 129, and the lens module 20 is coupled between the two rotating ends 129.
  • the pan/tilt head 10 also includes a pitch motor (not shown), the connection assembly 14 is disposed at a rotational end 129, and the pitch motor is disposed at the other rotational end 129 to drive the lens module 20 to rotate.
  • the pitch motor can be used to drive the rotation of the lens module 20, specifically, the pitch motor drives the lens module 20 to overcome the elastic element
  • the action of the restoring force of the piece 142 is rotated about the pitch axis of the platform 10.
  • the pitch motor can be controlled by ESC, and the pitch motor can be a brushless motor to precisely control the angle at which the lens module 20 rotates.
  • the pitch motor can also be other motors, and the ESC accurately controls the rotation angle of the lens module 20 according to the needs of the lens module 20.
  • the pan/tilt head system 100 of the embodiment of the present invention includes a lens module 20 and a pan/tilt head 10 .
  • the lens module 20 is rotatably coupled to the rotating arm 12 of the platform 10 .
  • the lens module 20 and the pan/tilt head 10 may be the lens module 20 and the pan/tilt head 10 of any of the above embodiments.
  • the UAV system 300 of the embodiment of the present invention includes a body 30, a pan/tilt head 10, and a lens module 20.
  • the pan/tilt 10 is coupled to the body 30, and the lens module 20 is rotatably coupled to the pivoting arm 12 of the pan/tilt head 10.
  • the body 30, the pan/tilt head 10, and the lens module 20 may be the body 30, the pan/tilt head 10, and the lens module 20 of any of the above embodiments.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • a plurality means at least two, for example two, three, unless specifically defined otherwise.

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

Abstract

一种云台，云台（10）包括转动臂（12）和连接组件（14）。转动臂（12）与镜头模组（20）转动连接，镜头模组（20）可相对于云台（10）的载体或转动臂（12）转动。连接组件（14）与转动臂（12）连接，连接组件（14）包括弹性元件（142），弹性元件（142）能够给镜头模组（20）提供一个回复力，回复力使镜头模组（20）在不工作时回复到预定的保护姿态以保护镜头模组。以及一种云台系统、无人机和无人机系统。该云台的弹性元件能够给镜头模组提供回复力，以使得镜头模组在不工作时回复到预定的保护姿态，以保护镜头模组，避免镜头模组损坏。

Description

云台、云台系统、无人机和无人机系统 技术领域
本发明涉及云台技术领域，更具体而言，涉及一种云台、云台系统、无人机和无人机系统。
背景技术
通常可以在无人飞行器中搭载云台，再通过在云台上搭载相机以使得无人飞行器可以执行航拍等任务，然而，当无人飞行器降落后，云台不上电时，相机的镜头在重力作用下可能会朝下而碰触到地面，镜头容易损坏。
发明内容
本发明实施方式提供一种云台、云台系统、无人机和无人机系统。
本发明实施方式的云台包括：
转动臂，所述转动臂与镜头模组转动连接，所述镜头模组可相对于所述云台的载体或所述转动臂转动；和
连接组件，所述连接组件与所述转动臂连接，所述连接组件包括弹性元件，所述弹性元件能够给所述镜头模组提供一个回复力，所述回复力使所述镜头模组在不工作时回复到预定的保护姿态以保护所述镜头模组。
在某些实施方式中，所述镜头模组可相对于所述转动臂绕所述云台的俯仰轴转动，所述连接组件连接所述镜头模组与所述转动臂，所述预定的保护姿态为所述镜头模组的入光孔高于所述俯仰轴的姿态。
在某些实施方式中，所述弹性元件包括活动端和固定端，所述固定端与所述转动臂固定连接，所述活动端与所述镜头模组同步转动，以使所述镜头模组转动时带动所述活动端相对于所述固定端运动。
在某些实施方式中，所述弹性元件为涡卷弹簧，所述活动端位于所述涡卷弹簧的中心位置，所述固定端位于所述涡卷弹簧的周缘位置。
在某些实施方式中，所述转动臂包括固定凸台，所述固定凸台形成有固定孔，所述固定端形成有安装孔，所述连接组件还包括紧固件，所述紧固件穿过所述安装孔和所述固定孔，以将所述固定端固定在所述固定凸台上。
在某些实施方式中，所述转动臂包括本体，所述本体形成有安装空间，所述固定凸台自所述本体向外凸出，所述固定凸台、所述弹性元件和所述紧固件均设置在所述安装空间内。
在某些实施方式中，所述转动臂开设有轴孔，所述连接组件包括转轴，所述转轴包括第一连接轴和第二连接轴，所述第一连接轴与所述第二连接轴同步转动，所述第一连接轴穿过所述轴孔以与所述镜头模组固定连接，所述第二连接轴与所述活动端连接。
在某些实施方式中，所述第二连接轴形成有固定部，所述固定部与所述活动端固定连接，以使所述活动端与所述固定部同步转动。
在某些实施方式中，所述固定部为开设在所述第二连接轴上的固定槽，所述活动端伸入所述固定槽内，以使所述活动端与所述固定槽同步转动。
在某些实施方式中，所述转轴包括位于所述第一连接轴和所述第二连接轴之间的限位板，在垂直于所述转轴的轴向的方向上，所述限位板的尺寸大于所述轴孔的尺寸。
在某些实施方式中，所述转动臂包括安装凸台，所述轴孔穿过所述安装凸台，所述安装凸台形成有环绕所述轴孔的收容槽，所述弹性元件部分收容在所述收容槽内。
在某些实施方式中，所述收容槽的深度沿从所述轴孔的中心向所述轴孔的内壁的方向上逐渐减小。
在某些实施方式中，所述转动臂包括两个相对的转动端，所述镜头模组连接在两个所述转动端之间，所述云台还包括俯仰电机，所述连接组件设置在一个所述转动端，所述俯仰电机设置在另一个所述转动端以驱动所述镜头模组转动。
本发明实施方式的云台系统包括：
镜头模组；和
上述任一实施方式所述的云台，所述镜头模组与所述云台的所述转动臂转动连接。
本发明实施方式的无人机包括：
机身；和
上述任一实施方式所述的云台，所述云台与所述机身连接。
本发明实施方式的无人机系统包括：
机身；
上述任一实施方式所述的云台，所述云台与所述机身连接；和
镜头模组，所述镜头模组与所述云台的所述转动臂转动连接。
本发明实施方式提供的云台的弹性元件能够给镜头模组提供回复力，以使得镜头模组在不工作时回复到预定的保护姿态，以保护镜头模组，避免镜头模组损坏。
本发明的实施方式的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实施方式的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的无人机系统的结构示意图；
图2是图1中II部分的放大示意图；
图3是本发明实施方式的云台系统的立体分解示意图；
图4是图3中IV部分的放大示意图。
主要元件符号说明：
无人机系统300、无人机200、云台系统100、云台10、转动臂12、上臂121、下臂123、固定凸台122、固定孔1222、本体124、安装空间1242、轴孔126、安装凸台128、收容槽1282、转动端129、连接组件14、弹性元件142、活动端1422、固定端1424、安装孔1426、紧固件144、转轴146、第一连接轴1462、限位板1464、第二连接轴1466、固定部1468、镜头模组20、镜头22、镜座24、机身30、主体32、底面322、顶面324、侧面326、机臂34。
具体实施方式
以下结合附图对本发明的实施方式作进一步说明。附图中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。
另外，下面结合附图描述的本发明的实施方式是示例性的，仅用于解释本发明的实施方式，而不能理解为对本发明的限制。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
请参阅图1，本发明实施方式的无人机200包括机身30和云台10，云台10与机身30连接。
请参阅图3和图4，云台10包括转动臂12和连接组件14。转动臂12与镜头模组 20转动连接，镜头模组20可相对于云台10的载体或转动臂12转动。连接组件14与转动臂20连接，连接组件14包括弹性元件142，弹性元件142能够给镜头模组20提供一个回复力，回复力使镜头模组20在不工作时回复到预定的保护姿态以保护镜头模组20。
本发明实施方式提供的云台10的弹性元件142能够给镜头模组20提供回复力，以使得镜头模组20在不工作时回复到预定的保护姿态，以保护镜头模组20，避免镜头模组20损坏。
在本发明实施例中，云台10的载体可以是无人机200的机身30，镜头模组20可相对于云台10的载体绕云台10的偏航轴(如图3中的Z轴)转动，镜头模组20也可以相对于转动臂12绕云台10的横滚轴(如图3中的Y轴)转动，镜头模组20还可以绕转动臂12绕云台10的俯仰轴(如图3中的X轴)转动。
依据连接组件14与转动臂12的连接位置的不同，预定的保护姿态可以不同，例如当连接组件14连接转动臂12和云台10的载体时，预定的保护姿态可以是镜头模组20的镜头22朝向机身30的一侧以受到机身30的保护；当连接组件14连接转动臂12与镜头模组20时，预定的保护姿态可以是镜头模组20的镜头22位于俯仰轴(如图3中的X轴)。
请参阅图3和图4，在本发明实施例中，镜头模组20可相对于转动臂12绕云台10的俯仰轴(如图3中的X轴)转动，连接组件14连接镜头模组20与转动臂12，预定的保护姿态为镜头模组20的入光孔高于俯仰轴(如图3中的X轴)的姿态。
如此，云台10可使得镜头模组20在不工作时，镜头模组20的入光孔高于俯仰轴，使得镜头模组20的入光孔不会朝下而碰触到地面等承载平台，镜头模组20不易损坏。
请参阅图1-3，本发明实施方式的无人机200包括机身30和云台10，云台10与机身30连接。云台10包括转动臂12和连接组件14。
无人机200可以是无人飞行器、无人车或无人船等，在本发明实施例中，以无人机200为无人飞行器为例进行说明，可以理解，无人机200的具体形式可以是其他，在此不作限制。
机身30包括主体32和从主体32向外延伸的机臂34。在本发明实施例中，机臂34的数量为四个，每个机臂34上均设置有动力装置，动力装置能够为无人机200提供动力，动力装置可以是旋翼组件，旋翼组件包括螺旋桨和用于驱动螺旋桨转动的电机。机臂34的数量不限于四个，也可以是六个、八个、十二个等数量。
主体32包括相背的底面322、顶面324和侧面326。在无人机200处于正常的飞行悬停、或者落地停飞的状态时，底面322为机身30靠近地面的一侧表面，顶面324为机身30的远离地面的一侧表面。侧面326连接在底面322和顶面324之间，机臂34从 侧面326向外延伸。底面322、顶面324和侧面326均可以是平面或者曲面。
请参阅图1和图3，云台10与机身30连接。云台10可以与主体32连接，具体地，云台10与主体32的底面322或顶面324连接，使得当无人机200移动时带动云台10移动，并进一步通过镜头模组20获取影像，影像可以是照片或者视频。
请参阅图3和图4，云台10包括转动臂12。转动臂12包括上臂121和下臂123。在本发明实施例中，云台10连接在主体32的底面322，云台10通过上臂121与主体32连接，上臂121可相对于主体32绕云台10的偏航轴(如图3中的Z轴)转动。具体地，上臂121与主体32连接的一端内设置有偏航电机(图未示)，偏航电机用于驱动上臂121相对于主体32转动。下臂123与上臂121转动连接，下臂123可相对于上臂121绕云台10的横滚轴(如图3中的Y轴)转动。具体地，上臂121与下臂123连接的一端内设置有横滚电机(图未示)，横滚电机用于驱动下臂123相对于上臂121转动。下臂123与镜头模组20转动连接，在本发明实施例中，下臂123整体呈“C”状，上臂121可以连接在下臂123的中间位置，下臂123包括两个相对的转动端129，镜头模组20与两个转动端129均转动连接且位于两个转动端129之间，镜头模组20可相对于下臂123绕云台10的俯仰轴(如图3中的X轴)转动。
请参阅图1和图3，连接组件14包括弹性元件142，弹性元件142用于连接转动臂12和镜头模组20，弹性元件142给镜头模组20提供回复力，回复力使镜头模组20在不工作时回复到镜头模组20的入光孔高于云台10的俯仰轴的姿态。具体地，镜头模组20包括镜头22和镜座24，镜头22内包括有一组或多组镜片，镜座24内设置有感光元件、处理器等功能组件，光线穿过入光孔后再穿过镜片以被镜座24内的感光元件接收并被处理器处理后形成影像。
可以理解，当无人机200降落，云台10不上电的情况下，镜头22在重力的作用下有转动至镜头22位于俯仰轴下方的姿态的趋势，或者说镜头22有朝向下方或朝向斜下方的趋势，而镜头22可能会碰触到无人机200的降落平台(如地面、中转平台等)，而导致镜头22被损坏，例如镜片被刮花。而通过弹性元件142使得镜头模组20在不工作时回复到镜头模组20的入光孔高于云台10的俯仰轴的姿态，或者说使得镜头22朝向上方或者朝向斜上方的姿态，镜头22不会碰触到无人机200的降落平台，不会被损坏。需要说明的是，镜头模组20工作包括：镜头模组20保持在所需的拍摄角度进行拍照、镜头模组20没有拍摄但正处在向所需的所述拍摄角度转动的过程中、镜头模组20边拍摄边向所需的所述拍摄角度转动中的任意一种情况。相反地，镜头模组20不工作指的是镜头模组20未用于成像，且云台10未上电时。换言之，镜头模组20不工作是指：镜头模组20既没有保持在所需要的拍摄角度进行拍摄、也没有边转动边拍摄、还 没有单纯的向所需要的拍摄角度转动。
请参阅图3和图4，在某些实施方式中，弹性元件142包括活动端1422和固定端1424。固定端1424与转动臂12固定连接。活动端1422与镜头模组20同步转动，以使镜头模组20转动时带动活动端1422相对于固定端1424运动。
镜头模组20转动时带动活动端1422相对于固定端1424运动，活动端1422可以是相对于固定端1424转动，也可以是相对于固定端1424移动。当镜头模组20不工作时，弹性元件142通过活动端1422对镜头模组20施加回复力，具体地，回复力可以抵消镜头模组20的重力使镜头22朝下的作用，以使得镜头22朝向上方或斜上方。当镜头模组20转动时，活动端1422与固定端1424的相对位置关系不同，也就是弹性元件142的形变量不同，弹性元件142对镜头模组20的回复力的大小也不同。在一个实施例中，当镜头22处于竖直朝下的姿态时，或者说镜头模组20的入光孔位于俯仰轴的下方且与俯仰轴的距离最远时，回复力达到最大值。
弹性元件142可以是涡卷弹簧、圆柱弹簧、扭杆弹簧、橡皮筋等。在本发明实施例中，以弹性元件142为涡卷弹簧为例进行说明，当然，弹性元件142的具体种类可以是其他，在此不作限制。请参阅图3，在某些实施方式中，弹性元件142为涡卷弹簧，活动端1422位于涡卷弹簧的中心位置，固定端1424位于涡卷弹簧的周缘位置。镜头模组20转动时可带动活动端1422相对于固定端1424转动，活动端1422位于中心位置，使得活动端1422便于与镜头模组20转动连接，固定端1424位于周缘位置，使得固定端1424便于与转动臂12固定连接。
请参阅图3和图4，在某些实施方式中，转动臂12包括固定凸台122，固定凸台122形成有固定孔1222，固定端1424形成有安装孔1426。连接组件14还包括紧固件144，紧固件144穿过安装孔1426和固定孔1222，以将固定端1424固定在固定凸台122上。
具体地，在本发明实施例中，固定端1424呈中空的筒状，中空部分形成安装孔1426，固定端1424套设在固定凸台122上，固定孔1222的内壁可以形成有内螺纹，紧固件144可以是螺钉，紧固件144穿过安装孔1426后穿入固定孔1222，并与固定凸台122固定连接，以将固定端1424固定在固定凸台122上。如此，固定端1424与固定凸台122容易连接和拆卸，固定效果较好。
当然，固定凸台122与固定端1424的连接方式还可以有其他，不仅限于上述的讨论，例如紧固件144为插销，固定端1424套设在固定凸台122上后，插销依次穿过开设在固定端1424的周壁和固定凸台122周壁上的穿孔后被锁紧以将固定端1424与固定凸台122固定连接。
请参阅图3和图4，在某些实施方式中，转动臂12包括本体124，本体124形成有 安装空间1242，固定凸台122自本体124向外凸出。固定凸台122、弹性元件142和紧固件144均设置在安装空间1242内。
具体地，转动臂12还可以包括盖体(图未示)，盖体能够与本体124配合以使安装空间1242与外界隔开。在安装连接组件14时，可先将盖体与本体124分离，将连接组件14安装在安装空间1242内后，再将盖体与本体124配合安装。固定凸台122、弹性元件142和紧固件144均设置在安装空间1242内，不会影响云台10的外观，且安装空间1242的盖体能够阻隔水汽、灰尘等的侵蚀，连接组件14工作的可靠性较高，使用寿命较长。
请参阅图3和图4，在某些实施方式中，转动臂12开设有轴孔126。连接组件14包括转轴146。转轴146包括第一连接轴1462和第二连接轴1466。第一连接轴1462与第二连接轴1466同步转动，第一连接轴1462穿过轴孔126以与镜头模组20固定连接，第二连接轴1466与活动端1422连接。
轴孔126开设在转动臂12上，具体地，轴孔126开设在转动臂12的转动端129的中心位置，轴孔126的轴线可以与云台10的俯仰轴重合。第一连接轴1462穿过轴孔126与镜头模组20固定连接，第一连接轴1462可以形成有外螺纹，在安装转轴146时，可将第一连接轴1462穿过轴孔126并与镜头模组20螺合以固定连接转轴146与镜头模组20，以使第一连接轴1462与镜头模组20同步转动。
镜头模组20转动时带动第一连接轴1462同步转动，第一连接轴1462带动第二连接轴1466同步转动，以使第二连接轴1466与镜头模组20同步转动。同理，由于第二连接轴1466与活动端1422连接，活动端1422向第二连接轴1466施加回复力，回复力从第二连接轴1466传递给第一连接轴1462后再传递给镜头模组20，当第二连接轴1466转动时，第一连接轴1462与镜头模组20也同步转动。
请参阅图3和图4，在某些实施方式中，第二连接轴1466形成有固定部1468，固定部1468与活动端1422固定连接以使活动端1422与固定部1468同步转动。
可以理解，活动端1422与第二连接轴1466连接，活动端1422与第二连接轴1466可以通过螺合、卡合、胶粘等方式固定连接。故固定部1468的具体形态可以依据活动端1422与第二连接轴1466的具体连接方式不同而有所不同，例如活动端1422与第二连接轴1466通过螺合方式连接时，固定部1468可以是形成在第二连接轴1466上的安装孔，以便于螺钉穿入固定部1468并固定连接活动端1422与第二连接轴1466。
请参阅图2-图4，在本发明实施例中，固定部1468为开设在第二连接轴1466上的固定槽，活动端1422伸入固定槽内，以使活动端1422与固定槽同步转动。
具体地，固定槽可以穿过第二连接轴1466的端部且同时穿过第二连接轴1466的侧 壁，在本发明实施例中，固定槽呈“十”字形。活动端1422从第二连接轴1466的端部沿第二连接轴1466的轴向伸入固定槽内，较佳地，活动端1422还形成有卡勾，卡勾勾住第二连接轴1466的侧壁，卡勾的宽度大于固定槽的宽度，使得活动端1422不会沿第二连接轴1466的径向从固定槽内脱出。当第二连接轴1466转动时，固定槽的侧壁与活动端1422相互作用以带动活动端1422转动，同理，活动端1422通过对固定槽的侧壁施加回复力，以进一步将回复力传递给镜头模组20。
请参阅图3和图4，在某些实施方式中，转轴146包括位于第一连接轴1462和第二连接轴1466之间的限位板1464，在垂直于转轴146的轴向的方向上，限位板1464的尺寸大于轴孔126的尺寸。
在安装转轴146时，第一连接轴1462穿过轴孔126以与镜头模组20连接，而由于在垂直于转轴146的轴向的方向上，限位板1464的尺寸大于轴孔126的尺寸，限位板1464可起到限位的作用，避免用户将转轴146穿入轴孔126的部分太多而损坏转动臂12或镜头模组20。另一方面，限位板1464阻挡了其他元件从第二连接轴1466向第一连接轴1462的方向进入轴孔126，例如可以避免在使用过程中与固定部1468连接的活动端1422卡入到轴孔126内。
请参阅图3和图4，在某些实施方式中，转动臂12包括安装凸台128，轴孔126穿过安装凸台128。安装凸台128形成有环绕轴孔126的收容槽1282，弹性元件142部分收容在收容槽1282内。
收容槽1282可以与轴孔126相连通，收容槽1282可以是连续的环形的槽。弹性元件142部分收容在收容槽1282内，收容槽1282的侧壁对弹性元件142有限位作用，弹性元件142不容易沿转轴146的轴向上发生跳动而导致镜头模组20发生抖动。
请参阅图3和图4，在某些实施方式中，收容槽1282的深度沿轴孔126的中心向轴孔126的内壁的方向上逐渐减小。
在本发明实施例中，当弹性元件142部分收容在收容槽1282内时，活动端1422与轴孔126的中心对应，固定端1424位于收容槽1282外与固定凸台122固定连接，活动端1422与固定端1424之间的部分收容在收容槽1282内，且在从固定端1424到活动端1422的方向上，弹性元件142逐渐深入收容槽1282。如此，收容槽1282的内壁与弹性元件142的接触面积较大，进一步防止弹性元件142沿转轴146的轴向上发生跳动。
请参阅图3和图4，在某些实施方式中，转动臂12包括两个相对的转动端129，镜头模组20连接在两个转动端129之间。云台10还包括俯仰电机(图未示)，连接组件14设置在一个转动端129，俯仰电机设置在另一个转动端129以驱动镜头模组20转动。
俯仰电机可用于驱动镜头模组20转动，具体地，俯仰电机驱动镜头模组20克服弹性元 件142的回复力的作用绕云台10的俯仰轴转动。俯仰电机可以通过电调控制，俯仰电机可以是无刷电机，以精确地控制镜头模组20转动的角度。俯仰电机也可以是其他电机，电调依据镜头模组20的需要精准地控制镜头模组20的转动角度。
请参阅图3，本发明实施方式的云台系统100包括镜头模组20和云台10。镜头模组20与云台10的转动臂12转动连接。镜头模组20和云台10可以是上述任一实施方式的镜头模组20和云台10。
请再参阅图1，本发明实施方式的无人机系统300包括机身30、云台10和镜头模组20。云台10与机身30连接，镜头模组20与云台10的转动臂12转动连接。机身30、云台10和镜头模组20可以是上述任一实施方式的机身30、云台10和镜头模组20。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个所述特征。在本发明的描述中，“多个”的含义是至少两个，例如两个，三个，除非另有明确具体的限定。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。

Claims (52)

  1. 一种云台，其特征在于，包括：
    转动臂，所述转动臂与镜头模组转动连接，所述镜头模组可相对于所述云台的载体或所述转动臂转动；和
    连接组件，所述连接组件与所述转动臂连接，所述连接组件包括弹性元件，所述弹性元件能够给所述镜头模组提供一个回复力，所述回复力使所述镜头模组在不工作时回复到预定的保护姿态以保护所述镜头模组。
  2. 根据权利要求1所述的云台，其特征在于，所述镜头模组可相对于所述转动臂绕所述云台的俯仰轴转动，所述连接组件连接所述镜头模组与所述转动臂，所述预定的保护姿态为所述镜头模组的入光孔高于所述俯仰轴的姿态。
  3. 根据权利要求2所述的云台，其特征在于，所述弹性元件包括活动端和固定端，所述固定端与所述转动臂固定连接，所述活动端与所述镜头模组同步转动，以使所述镜头模组转动时带动所述活动端相对于所述固定端运动。
  4. 根据权利要求3所述的云台，其特征在于，所述弹性元件为涡卷弹簧，所述活动端位于所述涡卷弹簧的中心位置，所述固定端位于所述涡卷弹簧的周缘位置。
  5. 根据权利要求3或4所述的云台，其特征在于，所述转动臂包括固定凸台，所述固定凸台形成有固定孔，所述固定端形成有安装孔，所述连接组件还包括紧固件，所述紧固件穿过所述安装孔和所述固定孔，以将所述固定端固定在所述固定凸台上。
  6. 根据权利要求5所述的云台，其特征在于，所述转动臂包括本体，所述本体形成有安装空间，所述固定凸台自所述本体向外凸出，所述固定凸台、所述弹性元件和所述紧固件均设置在所述安装空间内。
  7. 根据权利要求3或4所述的云台，其特征在于，所述转动臂开设有轴孔，所述连接组件包括转轴，所述转轴包括第一连接轴和第二连接轴，所述第一连接轴与所述第二连接轴同步转动，所述第一连接轴穿过所述轴孔以与所述镜头模组固定连接，所述第二连接轴与所述活动端连接。
  8. 根据权利要求7所述的云台，其特征在于，所述第二连接轴形成有固定部，所述固定部与所述活动端固定连接，以使所述活动端与所述固定部同步转动。
  9. 根据权利要求8所述的云台，其特征在于，所述固定部为开设在所述第二连接轴上的固定槽，所述活动端伸入所述固定槽内，以使所述活动端与所述固定槽同步转动。
  10. 根据权利要求7所述的云台，其特征在于，所述转轴包括位于所述第一连接轴和所述第二连接轴之间的限位板，在垂直于所述转轴的轴向的方向上，所述限位板的尺寸大于所述轴孔的尺寸。
  11. 根据权利要求7所述的云台，其特征在于，所述转动臂包括安装凸台，所述轴孔穿过所述安装凸台，所述安装凸台形成有环绕所述轴孔的收容槽，所述弹性元件部分收容在所述收容槽内。
  12. 根据权利要求11所述的云台，其特征在于，所述收容槽的深度沿从所述轴孔的中心向所述轴孔的内壁的方向上逐渐减小。
  13. 根据权利要求3或4所述的云台，其特征在于，所述转动臂包括两个相对的转动端，所述镜头模组连接在两个所述转动端之间，所述云台还包括俯仰电机，所述连接组件设置在一个所述转动端，所述俯仰电机设置在另一个所述转动端以驱动所述镜头模组转动。
  14. 一种云台系统，其特征在于，包括镜头模组和云台，所述云台包括：
    转动臂，所述转动臂与所述镜头模组转动连接，所述镜头模组可相对于所述云台的载体或所述转动臂转动；和
    连接组件，所述连接组件与所述转动臂连接，所述连接组件包括弹性元件，所述弹性元件能够给所述镜头模组提供一个回复力，所述回复力使所述镜头模组在不工作时回复到预定的保护姿态以保护所述镜头模组。
  15. 根据权利要求14所述的云台系统，其特征在于，所述镜头模组可相对于所述转动臂绕所述云台的俯仰轴转动，所述连接组件连接所述镜头模组与所述转动臂，所述预定的保护姿态为所述镜头模组的入光孔高于所述俯仰轴的姿态。
  16. 根据权利要求15所述的云台系统，其特征在于，所述弹性元件包括活动端和固定端，所述固定端与所述转动臂固定连接，所述活动端与所述镜头模组同步转动，以使所述镜头模组转动时带动所述活动端相对于所述固定端运动。
  17. 根据权利要求16所述的云台系统，其特征在于，所述弹性元件为涡卷弹簧，所述活动端位于所述涡卷弹簧的中心位置，所述固定端位于所述涡卷弹簧的周缘位置。
  18. 根据权利要求16或17所述的云台系统，其特征在于，所述转动臂包括固定凸台，所述固定凸台形成有固定孔，所述固定端形成有安装孔，所述连接组件还包括紧固件，所述紧固件穿过所述安装孔和所述固定孔，以将所述固定端固定在所述固定凸台上。
  19. 根据权利要求18所述的云台系统，其特征在于，所述转动臂包括本体，所述本体形成有安装空间，所述固定凸台自所述本体向外凸出，所述固定凸台、所述弹性元件和所述紧固件均设置在所述安装空间内。
  20. 根据权利要求16或17所述的云台系统，其特征在于，所述转动臂开设有轴孔，所述连接组件包括转轴，所述转轴包括第一连接轴和第二连接轴，所述第一连接轴与所述第二连接轴同步转动，所述第一连接轴穿过所述轴孔以与所述镜头模组固定连接，所述第二连接轴与所述活动端连接。
  21. 根据权利要求20所述的云台系统，其特征在于，所述第二连接轴形成有固定部，所述固定部与所述活动端固定连接，以使所述活动端与所述固定部同步转动。
  22. 根据权利要求21所述的云台系统，其特征在于，所述固定部为开设在所述第二连接轴上的固定槽，所述活动端伸入所述固定槽内，以使所述活动端与所述固定槽同步转动。
  23. 根据权利要求20所述的云台系统，其特征在于，所述转轴包括位于所述第一连接轴和所述第二连接轴之间的限位板，在垂直于所述转轴的轴向的方向上，所述限位板的尺寸大于所述轴孔的尺寸。
  24. 根据权利要求20所述的云台系统，其特征在于，所述转动臂包括安装凸台，所述 轴孔穿过所述安装凸台，所述安装凸台形成有环绕所述轴孔的收容槽，所述弹性元件部分收容在所述收容槽内。
  25. 根据权利要求24所述的云台系统，其特征在于，所述收容槽的深度沿从所述轴孔的中心向所述轴孔的内壁的方向上逐渐减小。
  26. 根据权利要求16或17所述的云台系统，其特征在于，所述转动臂包括两个相对的转动端，所述镜头模组连接在两个所述转动端之间，所述云台还包括俯仰电机，所述连接组件设置在一个所述转动端，所述俯仰电机设置在另一个所述转动端以驱动所述镜头模组转动。
  27. 一种无人机，其特征在于，包括机身和云台，所述云台与所述机身连接，所述云台包括：
    转动臂，所述转动臂与镜头模组转动连接，所述镜头模组可相对于所述云台的载体或所述转动臂转动；和
    连接组件，所述连接组件与所述转动臂连接，所述连接组件包括弹性元件，所述弹性元件能够给所述镜头模组提供一个回复力，所述回复力使所述镜头模组在不工作时回复到预定的保护姿态以保护所述镜头模组。
  28. 根据权利要求27所述的无人机，其特征在于，所述镜头模组可相对于所述转动臂绕所述云台的俯仰轴转动，所述连接组件连接所述镜头模组与所述转动臂，所述预定的保护姿态为所述镜头模组的入光孔高于所述俯仰轴的姿态。
  29. 根据权利要求28所述的无人机，其特征在于，所述弹性元件包括活动端和固定端，所述固定端与所述转动臂固定连接，所述活动端与所述镜头模组同步转动，以使所述镜头模组转动时带动所述活动端相对于所述固定端运动。
  30. 根据权利要求29所述的无人机，其特征在于，所述弹性元件为涡卷弹簧，所述活动端位于所述涡卷弹簧的中心位置，所述固定端位于所述涡卷弹簧的周缘位置。
  31. 根据权利要求29或30所述的无人机，其特征在于，所述转动臂包括固定凸台，所述固定凸台形成有固定孔，所述固定端形成有安装孔，所述连接组件还包括紧固件，所述紧 固件穿过所述安装孔和所述固定孔，以将所述固定端固定在所述固定凸台上。
  32. 根据权利要求31所述的无人机，其特征在于，所述转动臂包括本体，所述本体形成有安装空间，所述固定凸台自所述本体向外凸出，所述固定凸台、所述弹性元件和所述紧固件均设置在所述安装空间内。
  33. 根据权利要求29或30所述的无人机，其特征在于，所述转动臂开设有轴孔，所述连接组件包括转轴，所述转轴包括第一连接轴和第二连接轴，所述第一连接轴与所述第二连接轴同步转动，所述第一连接轴穿过所述轴孔以与所述镜头模组固定连接，所述第二连接轴与所述活动端连接。
  34. 根据权利要求33所述的无人机，其特征在于，所述第二连接轴形成有固定部，所述固定部与所述活动端固定连接，以使所述活动端与所述固定部同步转动。
  35. 根据权利要求34所述的无人机，其特征在于，所述固定部为开设在所述第二连接轴上的固定槽，所述活动端伸入所述固定槽内，以使所述活动端与所述固定槽同步转动。
  36. 根据权利要求33所述的无人机，其特征在于，所述转轴包括位于所述第一连接轴和所述第二连接轴之间的限位板，在垂直于所述转轴的轴向的方向上，所述限位板的尺寸大于所述轴孔的尺寸。
  37. 根据权利要求33所述的无人机，其特征在于，所述转动臂包括安装凸台，所述轴孔穿过所述安装凸台，所述安装凸台形成有环绕所述轴孔的收容槽，所述弹性元件部分收容在所述收容槽内。
  38. 根据权利要求37所述的无人机，其特征在于，所述收容槽的深度沿从所述轴孔的中心向所述轴孔的内壁的方向上逐渐减小。
  39. 根据权利要求29或30所述的无人机，其特征在于，所述转动臂包括两个相对的转动端，所述镜头模组连接在两个所述转动端之间，所述云台还包括俯仰电机，所述连接组件设置在一个所述转动端，所述俯仰电机设置在另一个所述转动端以驱动所述镜头模组转动。
  40. 一种无人机系统，其特征在于，包括机身，云台和镜头模组，所述云台与所述机身连接，所述云台包括：
    转动臂，所述转动臂与所述镜头模组转动连接，所述镜头模组可相对于所述云台的载体或所述转动臂转动；和
    连接组件，所述连接组件与所述转动臂连接，所述连接组件包括弹性元件，所述弹性元件能够给所述镜头模组提供一个回复力，所述回复力使所述镜头模组在不工作时回复到预定的保护姿态以保护所述镜头模组。
  41. 根据权利要求40所述的无人机系统，其特征在于，所述镜头模组可相对于所述转动臂绕所述云台的俯仰轴转动，所述连接组件连接所述镜头模组与所述转动臂，所述预定的保护姿态为所述镜头模组的入光孔高于所述俯仰轴的姿态。
  42. 根据权利要求41所述的无人机系统，其特征在于，所述弹性元件包括活动端和固定端，所述固定端与所述转动臂固定连接，所述活动端与所述镜头模组同步转动，以使所述镜头模组转动时带动所述活动端相对于所述固定端运动。
  43. 根据权利要求42所述的无人机系统，其特征在于，所述弹性元件为涡卷弹簧，所述活动端位于所述涡卷弹簧的中心位置，所述固定端位于所述涡卷弹簧的周缘位置。
  44. 根据权利要求42或43所述的无人机系统，其特征在于，所述转动臂包括固定凸台，所述固定凸台形成有固定孔，所述固定端形成有安装孔，所述连接组件还包括紧固件，所述紧固件穿过所述安装孔和所述固定孔，以将所述固定端固定在所述固定凸台上。
  45. 根据权利要求44所述的无人机系统，其特征在于，所述转动臂包括本体，所述本体形成有安装空间，所述固定凸台自所述本体向外凸出，所述固定凸台、所述弹性元件和所述紧固件均设置在所述安装空间内。
  46. 根据权利要求42或43所述的无人机系统，其特征在于，所述转动臂开设有轴孔，所述连接组件包括转轴，所述转轴包括第一连接轴和第二连接轴，所述第一连接轴与所述第二连接轴同步转动，所述第一连接轴穿过所述轴孔以与所述镜头模组固定连接，所述第二连接轴与所述活动端连接。
  47. 根据权利要求46所述的无人机系统，其特征在于，所述第二连接轴形成有固定部，所述固定部与所述活动端固定连接，以使所述活动端与所述固定部同步转动。
  48. 根据权利要求47所述的无人机系统，其特征在于，所述固定部为开设在所述第二连接轴上的固定槽，所述活动端伸入所述固定槽内，以使所述活动端与所述固定槽同步转动。
  49. 根据权利要求48所述的无人机系统，其特征在于，所述转轴包括位于所述第一连接轴和所述第二连接轴之间的限位板，在垂直于所述转轴的轴向的方向上，所述限位板的尺寸大于所述轴孔的尺寸。
  50. 根据权利要求46所述的无人机系统，其特征在于，所述转动臂包括安装凸台，所述轴孔穿过所述安装凸台，所述安装凸台形成有环绕所述轴孔的收容槽，所述弹性元件部分收容在所述收容槽内。
  51. 根据权利要求50所述的无人机系统，其特征在于，所述收容槽的深度沿从所述轴孔的中心向所述轴孔的内壁的方向上逐渐减小。
  52. 根据权利要求42或43所述的无人机系统，其特征在于，所述转动臂包括两个相对的转动端，所述镜头模组连接在两个所述转动端之间，所述云台还包括俯仰电机，所述连接组件设置在一个所述转动端，所述俯仰电机设置在另一个所述转动端以驱动所述镜头模组转动。
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