WO2019056766A1 - Tête panoramique basculante, ensemble photographie et véhicule aérien sans pilote - Google Patents

Tête panoramique basculante, ensemble photographie et véhicule aérien sans pilote Download PDF

Info

Publication number
WO2019056766A1
WO2019056766A1 PCT/CN2018/086067 CN2018086067W WO2019056766A1 WO 2019056766 A1 WO2019056766 A1 WO 2019056766A1 CN 2018086067 W CN2018086067 W CN 2018086067W WO 2019056766 A1 WO2019056766 A1 WO 2019056766A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor assembly
pitch axis
rotating
transmission line
rotating shaft
Prior art date
Application number
PCT/CN2018/086067
Other languages
English (en)
Chinese (zh)
Inventor
余春
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
Priority claimed from CN201710855113.3A external-priority patent/CN107521714A/zh
Priority claimed from CN201711041677.XA external-priority patent/CN107719685B/zh
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 WO2019056766A1 publication Critical patent/WO2019056766A1/fr

Links

Images

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

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a pan/tilt head and a photographing assembly having the same, and an unmanned aerial vehicle having the photographing assembly.
  • Unmanned Aerial Vehicle UAV
  • Unmanned aerial vehicles can realize 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 unmanned aerial vehicles 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 compact pan and a photographing assembly having the pan and an unmanned aerial vehicle having the photographing assembly.
  • the embodiment of the present invention adopts the following technical solutions:
  • a pan/tilt that includes:
  • pitch axis motor assembly including a first shaft
  • a heading motor assembly one end of the connecting shaft arm is connected to the pitch axis motor assembly, and the other end of the connecting shaft arm away from the pitch axis motor assembly is connected to the heading motor assembly, and the pitch axis motor assembly is used
  • the transmission line portion is disposed in the pitch axis motor assembly and the connecting shaft arm, and is disposed around the first rotating shaft, and the number of windings of the transmission line around the first rotating shaft is satisfied: 1 ⁇ n ⁇ 3, where n is the number of windings around which the transmission line is wound around the first rotating shaft.
  • the number of turns of the transmission line around the first rotating shaft is one turn.
  • the transmission line is a very thin coaxial line.
  • the pitch axis motor assembly includes a first fixing portion, a first rotating portion and the first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, and the first rotating shaft is fixedly mounted on the first rotating shaft The first rotating portion, the first rotating shaft is disposed along the pitch axis;
  • One end of the connecting shaft arm is mounted on the first rotating portion
  • the transmission line portion is disposed in the first fixing portion.
  • the connecting shaft arm is provided with a receiving cavity
  • the transmission line passes through the accommodating cavity
  • a circuit board is disposed in the accommodating cavity, and the circuit board is electrically connected to the pitch axis motor component, the heading axis motor component and the transmission line, respectively.
  • the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, and one end of the first connecting portion is sleeved on the first rotating portion, the first One end of the two connecting portion is connected to the heading motor assembly;
  • the accommodating cavity is opened in the second connecting portion.
  • the pan/tilt head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted to the first fixing portion;
  • the mounting shaft arm is provided with a routing channel, and one end of the transmission line passes through the routing channel for electrically connecting the control module in the UAV body.
  • the transmission line includes a first connection portion, a pitch axis winding portion, a second connection portion, and a third connection portion;
  • the first connecting portion is disposed in the routing channel of the mounting shaft arm, and one end thereof is used for electrically connecting the control module in the UAV body, and the other end is connected to one end of the pitch axis winding portion. Electrical connection
  • the pitch axis winding portion is disposed in the first fixing portion and is wound around the first rotating shaft, and the number of windings of the pitch axis winding portion around the first rotating shaft is one turn.
  • the end of the pitch axis winding portion away from the first connecting portion is connected to the second connecting portion and the third connecting portion;
  • the second connecting portion is disposed in the second connecting portion, and the one end of the winding portion away from the pitch axis is connected to the circuit board;
  • the third connecting portion is disposed in the second connecting portion.
  • the pan/tilt includes a mount, the mount includes a shock absorbing plate and a damping component;
  • One end of the damping element is mounted on the damping plate, and the other end is mounted on the unmanned aerial vehicle;
  • One end of the mounting shaft arm away from the first fixing portion is mounted to the damper plate.
  • the damping component comprises a first mounting end, a second mounting end and a connecting post;
  • the connecting post is curved, at least three of the connecting posts are connected between the first mounting end and the second mounting end, and at least three of the connecting posts are substantially enclosed to form an elliptical shape;
  • the first mounting end is fixedly mounted to the damper plate, and the second mounting end is for mounting to the unmanned aerial vehicle.
  • the connecting shaft arm is of an “L” shape, and one end of the first connecting portion is perpendicularly connected to one end of the second connecting portion.
  • the heading axis motor assembly includes a second fixing portion, a second rotating portion and a second rotating shaft, the second rotating shaft is movably mounted on the second fixing portion, and the second rotating shaft is fixedly mounted on the Second rotating portion;
  • One end of the second connecting portion away from the first connecting portion is sleeved on the second fixing portion;
  • the second rotating portion is used to connect the imaging device.
  • the connecting shaft arm is provided with a receiving cavity
  • the transmission line passes through the accommodating cavity
  • a circuit board is disposed in the accommodating cavity, and the circuit board is electrically connected to the pitch axis motor component, the heading axis motor component and the transmission line, respectively.
  • the pan/tilt head includes a mounting axle arm and a mounting seat
  • One end of the mounting shaft arm is fixedly mounted on the pitch axis motor assembly, and the other end is fixedly mounted on the mounting seat;
  • the mount is for mounting to an unmanned aerial vehicle.
  • a photographing assembly includes an image pickup device and the pan/tilt head described above, and the heading axis motor assembly is coupled to the image pickup device.
  • the pan/tilt head comprises a roll motor assembly
  • the camera device includes a lens, a lens holder and a housing;
  • the lens is fixed to the lens holder, the roll motor assembly is mounted on the housing, the roll motor assembly is coupled to the lens mount, and the roll motor assembly can drive the lens And rotating the lens mount relative to the housing about a roll axis.
  • the roll motor assembly includes a third fixing portion, a third rotating portion and a third rotating shaft, wherein the third rotating shaft is movably mounted on the third fixing portion, and the third rotating shaft is fixedly mounted on the third rotating shaft The third rotating portion;
  • the third fixing portion is fixedly mounted to the housing
  • the lens holder is sleeved on the third rotating portion, and the third rotating portion can drive the lens holder and the lens to rotate relative to the housing.
  • a pan/tilt that includes:
  • pitch axis motor assembly including a first shaft
  • a roll axis motor assembly the pitch axis motor assembly and the roll axis motor assembly are rotatably coupled, the pitch axis motor assembly for driving the roll axis motor assembly to rotate about a pitch axis;
  • the transmission line portion is disposed in the pitch axis motor assembly, and is disposed around the first rotating shaft, and the number of windings of the transmission line around the first rotating shaft is required to satisfy: 1 ⁇ n ⁇ 3, Where n is the number of windings around which the transmission line is wound around the first rotating shaft.
  • the number of turns of the transmission line around the first rotating shaft is one turn.
  • the transmission line is a very thin coaxial line.
  • the pitch axis motor assembly includes a first fixing portion, a first rotating portion and a first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, and the first rotating shaft is fixedly mounted on the a first rotating portion, the first rotating shaft is disposed along the pitch axis;
  • the transmission line portion is disposed in the first fixing portion.
  • the pan/tilt head includes a connecting shaft arm, one end of the connecting shaft arm is connected to the first rotating portion, and the connecting shaft arm is away from the other end of the first rotating portion and the roll axis motor
  • the assembly is rotatably connected.
  • the connecting shaft arm is provided with a receiving cavity
  • the transmission line passes through the accommodating cavity
  • a circuit board is disposed in the accommodating cavity, and the circuit board is electrically connected to the pitch axis motor assembly, the roll axis motor assembly and the transmission line, respectively.
  • the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, and one end of the first connecting portion is sleeved on the first rotating portion, the first One end of the two connecting portions is rotatably connected to the roll motor assembly;
  • the accommodating cavity is opened in the second connecting portion.
  • the pan/tilt head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted to the first fixing portion;
  • the mounting shaft arm is provided with a routing channel, and one end of the transmission line passes through the routing channel for electrically connecting the control module in the UAV body.
  • the transmission line includes a first connection portion, a pitch axis winding portion, a second connection portion, and a third connection portion;
  • the first connecting portion is disposed in the routing channel of the mounting shaft arm, and one end thereof is used for electrically connecting the control module in the UAV body, and the other end is connected to one end of the pitch axis winding portion. Electrical connection
  • the pitch axis winding portion is disposed in the first fixing portion and is wound around the first rotating shaft, and the number of windings of the pitch axis winding portion around the first rotating shaft is one turn.
  • the end of the pitch axis winding portion away from the first connecting portion is connected to the second connecting portion and the third connecting portion;
  • the second connecting portion is disposed in the second connecting portion, and the one end of the winding portion away from the pitch axis is connected to the circuit board;
  • the third connecting portion is disposed in the second connecting portion.
  • the pan/tilt head includes a connecting shaft arm, one end of the connecting shaft arm is connected to the pitch axis motor assembly, and the other end is rotatably connected to the roll axis motor assembly;
  • the connecting shaft arm is provided with a receiving cavity
  • the transmission line passes through the accommodating cavity
  • a circuit board is disposed in the accommodating cavity, and the circuit board is electrically connected to the pitch axis motor assembly, the roll axis motor assembly and the transmission line, respectively.
  • the pan/tilt head includes a mounting axle arm and a mounting seat
  • One end of the mounting shaft arm is fixedly mounted on the pitch axis motor assembly, and the other end is fixedly mounted on the mounting seat;
  • the mount is for mounting to an unmanned aerial vehicle.
  • a photographing assembly comprising an image pickup device and a pan/tilt head as described above, the roll axis motor assembly being coupled to the camera device, the pitch axis motor assembly for driving the camera device and the roll axis motor assembly Rotate around the pitch axis.
  • the camera device includes a lens, a lens holder and a housing;
  • the lens is fixed to the lens mount, the roll motor assembly is mounted on the housing, and the roll motor assembly is coupled to the lens mount to drive the lens and the lens mount relative to The housing rotates about a roll axis.
  • the roll motor assembly includes a third fixing portion, a third rotating portion and a third rotating shaft, wherein the third rotating shaft is movably mounted on the third fixing portion, and the third rotating shaft is fixedly mounted on the third rotating shaft The third rotating portion;
  • the third fixing portion is fixedly mounted to the housing
  • the lens holder is sleeved on the third rotating portion, and the third rotating portion can drive the lens holder and the lens to rotate relative to the housing.
  • the transmission line is partially wound around the lens mount and electrically connected to a sensor of the camera.
  • the number of turns of the transmission line around the lens holder is one turn.
  • the pitch axis motor assembly includes a first fixing portion, a first rotating portion and a first rotating shaft, the first rotating shaft is movably mounted on the first fixing portion, and the first rotating shaft is fixedly mounted on the a first rotating portion, the first rotating shaft is disposed along the pitch axis;
  • the transmission line portion is disposed in the first fixing portion.
  • the pan/tilt head includes a connecting shaft arm and a heading shaft motor assembly, one end of the connecting shaft arm is connected to the first rotating portion, and the connecting shaft arm is away from the other end of the first rotating portion Said heading motor assembly;
  • the heading motor assembly is coupled to the housing for driving the camera device and the roll motor assembly to rotate about a heading axis;
  • the pitch axis motor assembly is configured to drive the connecting axle arm, the heading motor assembly, the camera assembly, and the roll motor assembly to rotate about the pitch axis.
  • the connecting shaft arm is provided with a receiving cavity
  • the transmission line passes through the accommodating cavity
  • a circuit board is disposed in the accommodating cavity, and the circuit board is electrically connected to the pitch axis motor assembly, the roll axis motor assembly and the transmission line, respectively.
  • the connecting shaft arm includes a first connecting portion and a second connecting portion connected to the first connecting portion, and one end of the first connecting portion is sleeved on the first rotating portion, the first One end of the two connecting portions is rotatably connected to the roll motor assembly;
  • the accommodating cavity is opened in the second connecting portion.
  • the pan/tilt head includes a mounting shaft arm, and one end of the mounting shaft arm is fixedly mounted to the first fixing portion;
  • the mounting shaft arm is provided with a routing channel, and one end of the transmission line passes through the routing channel for electrically connecting the control module in the UAV body.
  • the transmission line includes a first connection portion, a pitch axis winding portion, a second connection portion, a third connection portion, and a roll winding portion;
  • the first connecting portion is disposed in the routing channel of the mounting shaft arm, and one end thereof is used for electrically connecting the control module in the UAV body, and the other end is connected to one end of the pitch axis winding portion. Electrical connection
  • the pitch axis winding portion is disposed in the first fixing portion and is wound around the first rotating shaft, and the number of windings of the pitch axis winding portion around the first rotating shaft is one turn.
  • the end of the pitch axis winding portion away from the first connecting portion is connected to the second connecting portion and the third connecting portion;
  • the second connecting portion is disposed in the second connecting portion, and the one end of the winding portion away from the pitch axis is connected to the circuit board;
  • the third connecting portion is disposed in the second connecting portion, and one end of the third connecting portion away from the pitch axis winding portion is connected to one end of the roll winding portion;
  • the roller shaft winding portion is disposed in the housing and is wound around the lens holder.
  • the transmission line includes a sensor connection portion
  • the sensor connection portion is disposed in the housing, and the sensor connection portion is electrically connected to a sensor of the imaging device.
  • the heading axis motor assembly includes a second fixing portion, a second rotating portion and a second rotating shaft, the second rotating shaft is movably mounted on the second fixing portion, and the second rotating shaft is fixedly mounted on the Second rotating portion;
  • One end of the connecting shaft arm away from the first rotating portion is sleeved on the second fixing portion;
  • the second rotating portion is coupled to the housing.
  • An unmanned aerial vehicle comprising the imaging assembly described above.
  • the transmission line portion is disposed in the pitch axis motor assembly and is disposed around the first rotating shaft,
  • the number of windings of the transmission line around the first rotating shaft is 1 ⁇ n ⁇ 3, which makes the structure of the pan/tilt more compact.
  • FIG. 1 is a perspective view of a photographing assembly according to an embodiment of the present invention.
  • Figure 2 is a perspective view of another angle of the photographing assembly shown in Figure 1;
  • Figure 3 is a perspective view of still another angle of the photographing assembly shown in Figure 1;
  • Figure 4 is an exploded view of the photographing assembly shown in Figure 1;
  • Figure 5 is a perspective view of the photographing assembly shown in Figure 1, in which some of the elements are omitted;
  • FIG. 6 is a perspective view of the mounting shaft arm, the connecting shaft arm, the transmission line, the lens, and the lens holder of the imaging assembly shown in FIG. 1;
  • Figure 7 is an exploded view of the image pickup apparatus and the third motor assembly of the photographing assembly shown in Figure 1;
  • Figure 8 is an exploded perspective view showing another angle of the image pickup device and the third motor assembly of the image pickup assembly shown in Figure 1;
  • Figure 9 is a perspective view of the transmission line, lens and lens holder of the imaging assembly shown in Figure 1;
  • Figure 10 is a perspective view of a transmission line, a lens, and a lens mount in another embodiment.
  • a camera assembly 300 includes a pan/tilt head 100 and an image capturing device 200.
  • the pan/tilt head 100 carries the camera device 200 to implement the fixing of the camera device 200, or
  • the posture of the image pickup apparatus 200 is arbitrarily adjusted (for example, changing the height, inclination, and/or direction of the image pickup apparatus 200) and the image pickup apparatus 200 is stably held in the set posture.
  • the image capturing device 200 may be an image acquiring device, such as a camera, a camera, a lens, or the like, or other portable electronic device having a shooting function, such as a mobile phone, a tablet computer, 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, an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head 100 may be equipped with the image acquisition device and mounted on an unmanned aerial vehicle for aerial photography.
  • the pan/tilt head 100 can also mount the camera device 200 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 camera device 200.
  • the angle of shooting is a handheld photographing device, an unmanned ship, or an unmanned vehicle.
  • the imaging device 200 as a video camera and the pan/tilt 100 being applied to an unmanned aerial vehicle.
  • the platform 100 includes a mounting base 10, a mounting shaft arm 20, a first motor assembly 30, a connecting shaft arm 40, a second motor assembly 50, a third motor assembly 60 and a transmission line 70.
  • the mount 10 is used to mount the pan/tilt head 100 to the unmanned aerial vehicle.
  • the first motor assembly 30 is mounted to the mount 10 by the mounting axle arm 20.
  • the second motor assembly 50 is mounted to the first motor assembly 30 via the connecting axle arm 40.
  • the third motor assembly 60 is mounted to the second motor assembly 50 for mounting the camera device 200.
  • the transmission line 70 is disposed in the mounting shaft arm 20, the connecting shaft arm 40, and the imaging device 200 for transmitting a control signal to the imaging device 200.
  • the first motor assembly 30 is configured to drive the connecting shaft arm 40, and the second motor assembly 50, the third motor assembly 60, and the camera device 200 rotate about a first axis of rotation P.
  • the second motor assembly 50 is configured to drive the third motor assembly 60 and the camera device 200 to rotate about a second axis of rotation Y.
  • the third motor assembly 60 is configured to drive the camera device 200 to rotate about a third axis of rotation R.
  • the first axis of rotation P is perpendicular to the second axis of rotation Y and the third axis of rotation R
  • the second axis of rotation Y is perpendicular to the third axis of rotation R.
  • the first rotation axis P is a pitch axis
  • the second rotation axis Y is a heading axis
  • the third rotation axis R is a roll axis.
  • the mount 10 includes a damper plate 102 and a damper element 104.
  • the damper plate 102 is generally a rectangular frame including a hollowed out area.
  • the damper plate 102 may be made of an elastic material, such as a plastic material.
  • Four damper elements 104 are respectively mounted on the four corners of the damper plate 102, one end of each of the damper elements 104 is fixedly mounted on the damper plate 102, and the other end is fixedly mounted on the damper plate 102.
  • the damping element 104 includes a first mounting end 1042, a second mounting end 1044, and a connecting post 1046.
  • the connecting post 1046 is curved, and the three connecting posts 1046 are connected between the first mounting end 1042 and the second mounting end 1044.
  • the three connecting posts 1046 are evenly distributed. Set to form an ellipse.
  • the connecting post 1046 is made of an elastic material such as a plastic material or a metal material.
  • the first mounting end portion 1042 is fixedly mounted to the damper plate 102, and the second mounting end portion 1044 is for fixed installation on the unmanned aerial vehicle.
  • the connecting post 1046 is curved, and the three connecting posts 1046 are connected between the first mounting end 1042 and the second mounting end 1044.
  • the three connecting posts 1046 are evenly distributed. It is arranged to form an elliptical shape, which can effectively reduce the transmission of vibration generated by the UAV during flight to the platform 100.
  • the number and distribution of the damping elements 104 may be changed according to actual needs.
  • the number of the damping elements 104 may be eight, and the damping plate 102 may be Four of the damper elements 104 are disposed in each of the four corners, and the remaining four of the damper elements 104 are disposed in the middle of the four sides of the damper plate 102.
  • the shape of the damper plate 102 is not limited to being rectangular, and may be changed according to actual needs.
  • the damper plate 102 may have a circular plate shape.
  • the damping element 104 may be omitted and the damping plate 102 may be directly mounted to the UAV.
  • the number of the connecting posts 1046 can be increased according to actual needs, as long as at least three, for example, the number of the connecting posts 1046 is four, four
  • the connecting posts 1046 are evenly distributed, generally encircling to form an elliptical shape, and connected between the first mounting end portion 1042 and the second mounting end portion 1044.
  • the mounting shaft arm 20 is fixedly mounted to the damper plate 102, and the other end is fixedly mounted to the first motor assembly 30.
  • the mounting axle arm 20 includes a routing passage for setting the transmission line 70.
  • one end of the mounting shaft arm 20 is vertically connected to one end of the damper plate 102.
  • the first motor assembly 30 includes a first fixing portion 302, a first rotating portion 304 and a first rotating shaft 306.
  • the first rotating shaft 306 is movably mounted on the first fixing portion 302, and the first rotating shaft 306 is fixedly mounted. In the first rotating portion 304.
  • the first rotating shaft 306 is disposed along the first rotation axis P, and is rotatable relative to the fixing portion 302 about the first rotation axis P with the first rotating portion 304.
  • the first fixing portion 302 is fixedly mounted to the mounting shaft arm 20
  • the first rotating portion 304 is fixedly mounted to the connecting shaft arm 40 .
  • the first motor assembly 30 is a pitch axis motor assembly.
  • the first rotating shaft 306 and the first rotation axis P are all parallel to the damping plate 102.
  • One end of the mounting shaft arm 20 is fixed to the first fixing portion 302.
  • the connecting shaft arm 40 is fixedly mounted to the first rotating portion 304, and the other end is fixedly mounted to the second motor assembly 50.
  • the connecting shaft arm 40 is substantially "L" shaped and includes a first connecting portion 402 and a second connecting portion 404. One end of the first connecting portion 402 is vertically connected to one end of the second connecting portion 404.
  • the first connecting portion 402 is fixedly sleeved on the first rotating portion 304 , and one end of the second connecting portion 404 away from the first connecting portion 402 is fixedly mounted on the second motor assembly 50 .
  • the second connecting portion 404 has a flat shape parallel to the damper plate 102, the first rotating shaft 306 and the first rotation axis P.
  • the second connecting portion 404 is a hollow body, and is provided with a receiving cavity 4042 for allowing the transmission line 70 to pass through.
  • a circuit board 4044 is disposed in the accommodating cavity 4042, and the circuit board 4044 is electrically connected to the first motor component 30, the second motor component 50, and the third motor component 60.
  • the control units of the first motor assembly 30, the second motor assembly 50, and the third motor assembly 60 are integrated on the circuit board 4044, and the circuit board 4044 is provided with a plurality of connectors, and the circuit board 4044 passes A plurality of connectors are coupled to the first motor assembly 30, the second motor assembly 50, and the third motor assembly 60.
  • the circuit board 4044 is disposed in the connecting shaft arm 40, so that the structure of the platform 100 is compact, and the volume of the platform 100 is reduced.
  • the connecting shaft arm 40 is not limited to the "L" type, and may be other shapes.
  • the connecting shaft arm 40 is a linear hollow rod shape, and one end is fixedly mounted. The other end of the first rotating portion 304 is fixedly mounted to the second motor assembly 50.
  • circuit board 4044 can also be disposed in the mounting arm 20, as long as the space can be fully utilized, so that the compact structure of the platform 100 can be used, and the position of the circuit board 4044 is not strictly limited.
  • the second motor assembly 50 includes a second fixing portion 502 , a second rotating portion 504 and a second rotating shaft 506 .
  • the second rotating shaft 506 is movably mounted on the second fixing portion 502 .
  • the second rotating shaft 506 is fixedly mounted to the second rotating portion 504.
  • the second rotating shaft 506 is disposed along the second rotation axis Y, and is rotatable relative to the second fixing portion 502 about the second rotation axis R together with the second rotating portion 504.
  • the second fixing portion 502 is fixedly mounted on one end of the second connecting portion 404 away from the first connecting portion 402
  • the second rotating portion 504 is fixedly mounted on the imaging device 200 .
  • the second motor assembly 50 is a heading motor assembly.
  • the second rotating shaft 506 and the second rotating axis Y are perpendicular to the damping plate 102, the first rotating shaft 306, the first rotating axis P and the second connecting portion 404.
  • One end of the second connecting portion 404 away from the first connecting portion 402 is sleeved on the second fixing portion 502 .
  • the third motor assembly 60 includes a third fixing portion 602, a third rotating portion 604 and a third rotating shaft 606.
  • the third rotating shaft 606 is movably mounted on the third fixing portion. 602.
  • the third rotating shaft 606 is fixedly mounted to the third rotating portion 604.
  • the third rotating shaft 606 is disposed along the third rotation axis R, and is rotatable relative to the third fixing portion 602 about the third rotation axis R together with the third rotating portion 604.
  • the third fixing portion 602 is fixedly mounted to the imaging device 200.
  • the third motor assembly 60 is a roll motor assembly.
  • the first motor assembly 30, the second motor assembly 50, and the third motor assembly 60 may be any one of a brushless motor, a brush motor, or a pneumatic motor.
  • the image pickup apparatus 200 includes a lens 210, a lens mount 220, and a housing 230.
  • the lens 210 is fixed to the lens holder 220.
  • the lens 210 is fixedly connected to the third rotating portion 604, and the third fixing portion 602 is fixedly mounted to the housing 230.
  • the lens 210, the lens holder 220 and the third motor assembly 60 are all housed in the housing 230.
  • the optical axis of the lens 210 coincides with the third rotational axis R.
  • the third rotating portion 604 only drives the lens 210 and the lens holder 220 to rotate, and the housing 220 does not move, so that the roll motor assembly 60 works.
  • the load is small, and the roll motor assembly 60 having a small power and size can be used, and the volume of the platform 100 can be further reduced.
  • the housing 230 defines an opening 2300.
  • the second rotating portion 504 is inserted into the opening 2300 and is fixedly connected to the housing 230.
  • the second rotating portion 504 is configured to drive the lens 210, the lens holder 220, the housing 230 and the third motor assembly 60 to rotate about the second rotation axis Y.
  • the transmission line 70 extends through the mounting axle arm 20, connecting the axle arm 40 and the camera device 200 (see FIGS. 4 and 5).
  • the transmission line 70 includes a first connection portion 700, a pitch axis winding portion 701, a second connection portion 702, a third connection portion 704, a roll axis winding portion 706, and a sensor connection portion 708.
  • the first connecting portion 700 is disposed in the routing channel of the mounting axle arm 20, and one end thereof is electrically connected to the control module in the UAV fuselage, and the other end is connected to the pitch axis winding portion 701. One end is electrically connected.
  • the pitch axis winding portion 701 is disposed in the first fixing portion 302 and is disposed around the first rotating shaft 306 (see FIG. 3).
  • the pitch axis winding portion 701 is wound around the first rotating shaft 306 by one turn, and the pitch axis winding portion 701 is spaced apart from the first rotating shaft 306 at the first rotating shaft 306.
  • the pitch axis winding portion 701 does not rotate with the first rotating shaft 306.
  • the one end of the pitch axis winding portion 701 away from the first connecting portion 700 is connected to the second connecting portion 702 and the third connecting portion 704.
  • the pitch axis winding portion 701 is disposed in the first fixing portion 302 and is disposed around the first rotating shaft 306 without affecting the rotation of the first rotating shaft 306.
  • the number of turns of the pitch axis winding portion 701 around the first rotating shaft 306 may be less than or equal to 3 turns, for example, 2 turns or 3
  • the first rotating shaft 306 may be made one by one with respect to the first fixing portion 302.
  • the flexibility of the rotation of the first shaft 306 is not caused by the pitch axis
  • the length of the winding portion 701 is limited; at the same time, the pitch axis winding portion 701 is not broken by the rotation of the first rotating shaft 306, and does not accumulate in the first rotating shaft 306 or wrap.
  • the pitch axis winding portion 701 is wound around the first rotating shaft 306 by more than 3 turns, the length of the pitch axis winding portion 701 is too long, which may cause the first fixing portion 302 to The volume is too large.
  • the second connecting portion 702 is disposed in the connecting shaft arm 40 and located at the intersection of the first connecting portion 402 and the second connecting portion 404.
  • the second connecting portion 702 is connected to the circuit board 4044 at one end of the pitch axis winding portion 701 for passing through the first connecting portion 700 and the pitch axis winding portion 701.
  • a control module within the human aircraft fuselage receives control signals.
  • the third connecting portion 704 is disposed in the second connecting portion 404. One end of the third connecting portion 704 away from the pitch axis winding portion 701 is connected to one end of the roll winding portion 706.
  • the roller winding portion 706 is disposed in the housing 230 and is disposed on a lens mount 220 inside the imaging device 200.
  • the roller winding portion 706 surrounds the lens holder The number of turns of 220 is one turn.
  • One end of the roll winding portion 706 away from the third connecting portion 704 is connected to the sensor connecting portion 708.
  • the sensor connection portion 708 is disposed in the housing 230 and electrically connects the sensor of the imaging device 200.
  • the first connecting portion 700 is disposed in the routing channel of the mounting shaft arm 20, and the pitch axis winding portion 701 is disposed in the first fixing portion 302 and is disposed around the first rotating shaft 306, the second connecting portion 702 is disposed in the connecting shaft arm 40, the third connecting portion 704 is disposed in the second connecting portion 404, and the roll winding portion 706 is disposed on
  • the imaging device 200 is disposed around the lens mount 220 inside the imaging device 200, and the sensor connection portion 708 is disposed in the imaging device 200 such that the transmission line 70 is all disposed in the cloud. Inside the stage 100, the space occupied by the transmission line 70 within the platform 100 can be reduced, thereby making the structure of the platform 100 more compact.
  • the transmission line 70 is a very thin coaxial line. It can be understood that, in some other embodiments, the transmission line 70 can be a flexible printed circuit board (FPCB) cable, or a transmission line of the same material or different materials, such as a single core wire or other. A type of signal line and a combination of multiple signal lines.
  • FPCB flexible printed circuit board
  • FIG. 10 is a perspective view showing the structure of a transmission line, a camera, and a lens holder in another embodiment.
  • the transmission line in this embodiment is a flexible circuit board cable.
  • the structure of the flexible circuit board cable will be described below in conjunction with the previous embodiments.
  • the transmission line includes a pitch axis winding portion 211, a third connecting portion 212, and a roll winding portion 213.
  • the pitch axis winding portion 211 is disposed in the mounting shaft arm 20 and is disposed around the first On the shaft 306.
  • One end of the pitch axis winding portion 211 is electrically connected to the circuit board 4044, and the other end is used for electrical connection with a control module in the drone.
  • the number of turns of the pitch axis winding portion 211 corresponds to a maximum rotation angle of the first rotating portion 304 with respect to the first fixing portion 302 such that the first rotating portion 304 is opposite to the
  • the first rotating portion 304 is flexibly rotated during the process of rotating the first fixing portion 302 in the first direction to the maximum limit angle or in the opposite direction to the first direction to the maximum limit angle.
  • the property is not limited by the length of the pitch axis winding portion 211; at the same time, the transmission line does not break due to the rotation of the first rotating shaft 306, nor does it accumulate in the mounting shaft arm 20 or Winding occurs.
  • the third connecting portion 212 is disposed in the second connecting portion 404 of the connecting shaft arm 40 and is disposed on the second rotating shaft 506.
  • One end of the third connection portion 212 is electrically connected to the circuit board 4044.
  • the number of windings of the third connecting portion 212 corresponds to a maximum rotation angle of the second rotating portion 504 with respect to the second fixing portion 502, so that the second rotating portion 504 is opposite to the
  • the second rotating portion 502 is flexible in rotation during the process of rotating the first fixing portion 502 in the first direction to the maximum limit angle or in the opposite direction to the first direction to the maximum limit angle.
  • the property is not limited by the length of the third connecting portion 212; at the same time, the transmission line does not break due to the rotation of the second rotating shaft 506, nor does it accumulate in the connecting shaft arm 40 or Winding occurs.
  • the roll winding portion 213 is configured to be wound around a rotating shaft of the load 200 and used to transmit a signal to the load 200.
  • the roll winding portion 213 is configured to be wound around the lens holder 230, and one end of the roll winding portion 213 is electrically connected to the other end of the third connecting portion 212.
  • the other end of the roll winding portion 213 is electrically connected to the camera 210.
  • the roll winding portion 213 is disposed on the lens holder 230, which can greatly reduce the space occupied by the roll winding portion 213 in the platform 100 and the outer casing 230, thereby The structure of the load 200 and the pan/tilt 100 is more compact.
  • the second motor assembly 50 can be omitted, and the connecting shaft arm 40 is connected to the third fixing portion 602 through the housing 230, the first motor assembly 30 for driving the connecting shaft arm 40, the third motor assembly 60 and the camera device 200 are rotated about a first rotation axis P, and the third motor assembly 60 is for driving the lens 210 and the lens holder 220 to rotate around a third The axis R rotates.
  • the third motor assembly 60 can be omitted, and the first motor assembly 30 is used to drive the connecting shaft arm 40, the second motor assembly 50, and the camera device 200.
  • the second motor assembly 60 is configured to drive the camera unit 200 to rotate about the second axis of rotation Y.
  • the pitch axis motor assembly 30 is mounted on the mount 10 as a first motor component connected to the unmanned aerial vehicle, which can
  • the compact structure of the pan/tilt head 100 is advantageous for miniaturization of the pan/tilt head 100.
  • one end of the connecting shaft arm 40 is connected to the pitch axis motor assembly 30, and the other end of the connecting shaft arm 40 away from the pitch axis motor assembly 30 is connected to the heading motor assembly 50, the circuit board 4044 Provided in the accommodating cavity 4042 of the connecting shaft arm 40, the structure of the pan/tilt head 100 can be made more compact.
  • the roll motor assembly 60 is disposed in the housing 230 and only drives the lens 210 and the lens mount 220 in the camera device 200 to rotate, so that the work load of the roll motor assembly 60 is small.
  • a roll motor assembly 60 having a smaller power and size may be employed, which may further reduce the volume of the platform 100.
  • the transmission line 70 is inserted through the mounting shaft arm 20, connecting the shaft arm 40 and the imaging device 200, and the space occupied by the transmission line 70 in the platform 100 can be reduced, so that the volume of the platform 100 is reduced. smaller.
  • Another embodiment of the present invention further provides an unmanned aerial vehicle comprising the photographing assembly 300 provided by the above embodiment.

Landscapes

  • 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

La présente invention se rapporte au domaine technique des véhicules aériens et concerne une tête panoramique basculante, un ensemble photographie, et un véhicule aérien sans pilote. La tête panoramique basculante comprend un ensemble moteur d'axe de tangage, un bras d'arbre de liaison, un ensemble moteur d'axe de lacet et un câble de transmission. L'ensemble moteur d'axe de tangage comprend un premier arbre rotatif. Une extrémité du bras d'arbre de liaison est reliée à l'ensemble moteur d'axe de tangage, et l'autre extrémité du bras d'arbre de liaison située contre l'ensemble moteur d'axe de tangage est reliée à l'ensemble moteur d'axe de lacet. L'ensemble moteur d'axe de tangage est utilisé pour entraîner le bras d'arbre de liaison et l'ensemble moteur d'axe de lacet en rotation autour d'un axe de tangage. Le câble de transmission est partiellement disposé dans l'ensemble moteur d'axe de tangage et dans le bras d'arbre de liaison, et est enroulé sur le premier arbre rotatif. Le nombre de tours d'enroulement du câble de transmission enroulé sur le premier arbre rotatif doit satisfaire la condition 1 ≤ n ≤ 3, n étant le nombre de tours d'enroulement du câble de transmission enroulé sur le premier arbre rotatif. Dans la tête panoramique basculante de la présente invention, le câble de transmission est partiellement disposé dans l'ensemble moteur d'axe de tangage, et est enroulé sur le premier arbre rotatif ; le nombre de tours d'enroulement du câble de transmission enroulé sur le premier arbre rotatif est 1 ≤ n ≤ 3, de telle sorte que la structure de la tête panoramique basculante est plus compacte.
PCT/CN2018/086067 2017-09-20 2018-05-08 Tête panoramique basculante, ensemble photographie et véhicule aérien sans pilote WO2019056766A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201710855113.3 2017-09-20
CN201710855113.3A CN107521714A (zh) 2017-09-20 2017-09-20 云台及具有此云台的无人机
CN201711041677.XA CN107719685B (zh) 2017-10-30 2017-10-30 云台、拍摄组件及无人飞行器
CN201711041677.X 2017-10-30

Publications (1)

Publication Number Publication Date
WO2019056766A1 true WO2019056766A1 (fr) 2019-03-28

Family

ID=65810067

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/086067 WO2019056766A1 (fr) 2017-09-20 2018-05-08 Tête panoramique basculante, ensemble photographie et véhicule aérien sans pilote

Country Status (1)

Country Link
WO (1) WO2019056766A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080115611A1 (en) * 2006-11-20 2008-05-22 Honeywell International, Inc. Fully floating, self-aligning, self-adjusting gimbal assembly for an active human-machine interface
CN205311922U (zh) * 2015-12-10 2016-06-15 深圳市大疆创新科技有限公司 驱动装置及使用该驱动装置的云台、拍摄设备和飞行器
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
CN205938393U (zh) * 2016-06-29 2017-02-08 深圳市大疆创新科技有限公司 云台以及可移动装置
CN206012980U (zh) * 2016-07-29 2017-03-15 深圳市大疆创新科技有限公司 云台、拍摄设备和无人飞行器
CN206155810U (zh) * 2016-09-30 2017-05-10 重庆零度智控智能科技有限公司 极细同轴线绕线结构、云台、无人飞行器和手持设备
CN107521714A (zh) * 2017-09-20 2017-12-29 深圳市道通智能航空技术有限公司 云台及具有此云台的无人机
CN107719685A (zh) * 2017-10-30 2018-02-23 深圳市道通智能航空技术有限公司 云台、拍摄组件及无人飞行器

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080115611A1 (en) * 2006-11-20 2008-05-22 Honeywell International, Inc. Fully floating, self-aligning, self-adjusting gimbal assembly for an active human-machine interface
CN205311922U (zh) * 2015-12-10 2016-06-15 深圳市大疆创新科技有限公司 驱动装置及使用该驱动装置的云台、拍摄设备和飞行器
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
CN205938393U (zh) * 2016-06-29 2017-02-08 深圳市大疆创新科技有限公司 云台以及可移动装置
CN206012980U (zh) * 2016-07-29 2017-03-15 深圳市大疆创新科技有限公司 云台、拍摄设备和无人飞行器
CN206155810U (zh) * 2016-09-30 2017-05-10 重庆零度智控智能科技有限公司 极细同轴线绕线结构、云台、无人飞行器和手持设备
CN107521714A (zh) * 2017-09-20 2017-12-29 深圳市道通智能航空技术有限公司 云台及具有此云台的无人机
CN107719685A (zh) * 2017-10-30 2018-02-23 深圳市道通智能航空技术有限公司 云台、拍摄组件及无人飞行器

Similar Documents

Publication Publication Date Title
US11001395B2 (en) Payload mounting platform
US11343443B2 (en) Unmanned aerial vehicle and multi-ocular imaging system
WO2019153820A1 (fr) Tête panoramique basculante, ensemble photographique et véhicule aérien sans pilote
WO2019056865A1 (fr) Dispositif de panoramique-inclinaison et véhicule aérien sans pilote le comprenant
US10976647B2 (en) Method and system for motion camera with embedded gimbal
TWI530748B (zh) 具有捲繞的資料傳輸纜線之轉動傾斜式球形轉台相機
WO2019153821A1 (fr) Tête sphérique et véhicule aérien sans pilote
CN107719685B (zh) 云台、拍摄组件及无人飞行器
US10288988B2 (en) Apparatus and method for stabilizing virtual reality camera configurations
CN207876021U (zh) 云台、拍摄组件及无人飞行器
WO2021088693A1 (fr) Cardan, dispositif d'imagerie pour véhicule aérien sans pilote, et dispositif d'imagerie portatif
WO2019105117A1 (fr) Dispositif d'amortissement de vibrations, ensemble panoramique-inclinaison le comprenant, et aéronef sans pilote
WO2019072015A1 (fr) Tête de berceau et composant de capture d'image ayant une tête de berceau
US10809600B2 (en) Gimbal, photographing assembly and unmanned aerial vehicle (UAV) that have gimbal
US11254444B2 (en) Gimbal, photographing apparatus having same, and unmanned aerial vehicle
WO2019011024A1 (fr) Antenne et véhicule aérien sans pilote
CN207631490U (zh) 云台、拍摄组件及无人飞行器
CN207826582U (zh) 云台、拍摄组件及无人飞行器
WO2019134170A1 (fr) Panoramique horizontal-vertical, ensemble de photographie, véhicule aérien sans pilote, élément d'amortissement et siège de montage
WO2019056766A1 (fr) Tête panoramique basculante, ensemble photographie et véhicule aérien sans pilote
WO2019205131A1 (fr) Dispositif de caméra
WO2019105124A1 (fr) Plateforme, composant de capture et véhicule aérien sans pilote
WO2021218163A1 (fr) Tête de trépied, dispositif de capture d'image, et plateforme mobile
CN107878773A (zh) 云台、拍摄组件及无人飞行器
WO2019007128A1 (fr) Panoramique-inclinaison et véhicule aérien sans pilote le comprenant

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18858093

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18858093

Country of ref document: EP

Kind code of ref document: A1