WO2019085154A1 - Pan-tilt camera, pan-tilt device and unmanned aerial vehicle - Google Patents

Pan-tilt camera, pan-tilt device and unmanned aerial vehicle Download PDF

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Publication number
WO2019085154A1
WO2019085154A1 PCT/CN2017/115277 CN2017115277W WO2019085154A1 WO 2019085154 A1 WO2019085154 A1 WO 2019085154A1 CN 2017115277 W CN2017115277 W CN 2017115277W WO 2019085154 A1 WO2019085154 A1 WO 2019085154A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
image capturing
image acquisition
acquisition unit
Prior art date
Application number
PCT/CN2017/115277
Other languages
French (fr)
Chinese (zh)
Inventor
王婷
Original Assignee
深圳市大疆创新科技有限公司
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.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780003968.1A priority Critical patent/CN108401495B/en
Publication of WO2019085154A1 publication Critical patent/WO2019085154A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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 embodiments of the present invention belong to the field of cloud camera technology, and in particular, to a cloud camera and a cloud platform device and an unmanned aerial vehicle using the same.
  • the PTZ camera is installed on the unmanned aerial vehicle through the gimbal. It can be used for aerial photography of unmanned aerial vehicles or target tracking and monitoring under special scenes.
  • the PTZ camera can provide a stable and clear picture during the flight of the UAV; however, The PTZ camera has a single application scenario and a single type of acquired image, which can meet the limited user requirements and poor versatility.
  • the embodiment of the present invention provides a novel cloud camera to improve the multi-scene application capability of the cloud camera.
  • the requirements of the multi-scene application and the multi-type data collection are met by the user; in addition, the embodiment of the invention further provides a pan-tilt device and an unmanned aerial vehicle using the pan-tilt camera.
  • an embodiment of the present invention provides a pan-tilt camera, which is applied to an unmanned aerial vehicle.
  • the body of the pan-tilt camera includes a mounting surface and a connecting surface, and the connecting surface is provided with a pan-tilt connector for PTZ connection;
  • the pan/tilt camera includes a first image capturing unit and a second image capturing unit, and the first image capturing unit and the second image capturing unit are disposed on the mounting surface, the first image capturing unit and the first
  • the image acquisition unit performs image acquisition with the corresponding image sensor inside the body of the pan/tilt camera to output two images.
  • the pan/tilt camera provided by the embodiment of the present invention is provided with two image capturing sections, and the two image capturing sections may be configured to work independently or in combination with components, by giving different structures and functions of the two image capturing sections.
  • the pan/tilt camera can perform image acquisition in different scenes, which greatly enhances the application range of the pan/tilt camera, and at the same time, the collected image content is richer and more comprehensive, and can satisfy the user's needs to a greater extent.
  • an embodiment of the present invention further provides a pan/tilt head device, including a pan/tilt head and a pan/tilt head camera, wherein the pan/tilt head includes a first axle arm, a second axle arm, a pitch component, and a roll assembly;
  • one end of the first axle arm is connected to the second axle arm through the roll assembly, and one end of the second axle arm is connected to the pan/tilt connector of the pan/tilt camera through the pitch component ;
  • the pitching assembly includes a pitch motor for driving the pan/tilt camera to rotate;
  • the roll assembly includes a roll motor for driving the second axle arm, the pitching component, and the pan/tilt camera to rotate integrally .
  • an embodiment of the present invention further provides an unmanned aerial vehicle including an unmanned aerial vehicle body and a cloud platform device, the cloud platform device including a cloud platform and the above-described pan/tilt camera, wherein the cloud platform includes a first axle arm , a second axle arm, a pitching assembly and a roll assembly;
  • first axle arm is connected to the second axle arm through the roll assembly, and one end of the second axle arm is connected to the pan/tilt connector of the pan/tilt camera through the pitch component
  • first axle arm is fixed on the unmanned aircraft body
  • the pitching assembly includes a pitch motor for driving the pan/tilt camera to rotate;
  • the roll assembly includes a roll motor for driving the second axle arm, the pitching component, and the pan/tilt camera to rotate integrally .
  • a pan-tilt device and an unmanned aerial vehicle are provided.
  • the pan-tilt camera is provided with two image capturing portions, and the two image capturing portions can be configured to work independently or in combination with components.
  • the pan/tilt camera can perform image acquisition in different scenes, which greatly improves the application range.
  • the image content collected at the same time is richer and more comprehensive, which can meet the needs of users to a greater extent.
  • the pan/tilt head adopts the biaxial arm and the pitch component and the roll component alternately connected, and the structure is simple, and the structure is simple. Achieve multi-level motion control with higher stability.
  • FIG. 1 is a schematic structural diagram of a pan-tilt camera according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a fuselage camera of the pan/tilt camera provided in FIG. 1;
  • FIG. 3 is a schematic diagram of a first image acquisition unit and a second image collection unit disposed on a body of a PTZ camera according to an embodiment of the present invention
  • FIG. 4 is a schematic structural diagram of a PTZ connector according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a cloud platform device according to an embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • references to "an embodiment” herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention. In each position in the manual The phrase is not necessarily referring to the same embodiment, and is not a separate or alternative embodiment that is mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
  • FIG. 1 is a PTZ camera according to an embodiment of the present invention.
  • the PTZ camera is applicable to an unmanned aerial vehicle, and the PTZ camera includes a body 10 and a first image disposed on the body 10.
  • the pan/tilt camera is connected to the pan/tilt head through the pan-tilt connector 40, and the first image capturing unit 20 and the second image capturing unit 30 are disposed on the mounting surface 11, and the first image capturing unit 20 and the second image capturing unit 30 respectively Image acquisition is performed with the corresponding image sensor inside the body 10 of the pan-tilt camera to output two images.
  • the first image capturing unit 20 and the second image capturing unit 30 are disposed on the same mounting surface 11 of the body 10 of the pan-tilt camera, wherein the first image capturing unit 20 and the second image capturing unit 30 It may be arranged in parallel or separately.
  • the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side on the same mounting surface 11 of the body 10 of the pan-tilt camera.
  • the first image capturing unit 20 and the second image capturing unit 30 may be disposed laterally within the same mounting surface 11 or may be longitudinally disposed within the same mounting surface 11 or may be inclined within the same mounting surface 11 Referring to FIG.
  • FIG. 3 are a case where the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same mounting surface 11.
  • FIG. 3 are cases in which the first image capturing unit 20 and the second image capturing unit 30 are separately and independently disposed in the same mounting surface 11, wherein (a) is the first A schematic diagram in which the image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same mounting surface 11 and (c) is The first image capturing unit 20 and the second image capturing unit 30 are vertically arranged side by side in the same mounting surface 11, and (e) and (g) are the same mounting surface of the first image capturing unit 20 and the second image capturing unit 30.
  • 11 is a schematic view of the diagonally arranged side by side, and (b) is the same installation of the first image capturing section 20 and the second image capturing section 30.
  • FIG. (d) is a schematic diagram in which the first image capturing portion 20 and the second image capturing portion 30 are vertically and independently disposed in the same mounting surface 11 in the lateral direction, and (f) and (h) are first.
  • the image acquisition unit 20 and the second image acquisition unit 30 are independently arranged obliquely apart in the same mounting surface 11 .
  • the first image capturing unit 20 and the second image capturing unit 30 are disposed on different mounting surfaces 11 of the body 10 of the pan-tilt camera.
  • the body 10 of the pan-tilt camera Including two adjacent mounting faces 11, the first image capturing portion 20 and the second image capturing portion 30 can be respectively mounted on the two adjacent mounting faces 11, of course, in other embodiments, the pan/tilt camera
  • the body 10 can include two opposing mounting faces 11, and the first image capture portion 20 and the second image capture portion 30 can be mounted on two opposing mounting faces 11, respectively.
  • the first image capturing unit 20 and the second image capturing unit 30 can be separately detached. In other embodiments, the first image capturing unit 20 and the second image capturing unit 30 can also be integrated.
  • the first image capturing unit 20 and the second image capturing unit 30 are detachably provided as a whole on the mounting surface 11 of the body 10 of the pan-tilt camera.
  • the mounting surface 11 of the body 10 of the pan/tilt camera provided with the first image capturing unit 20 and the second image capturing unit 30 is further provided with a lens fixing member 50.
  • the first The image capturing unit 20 and the second image capturing unit 30 respectively correspond to the independent lens fixing members 50 to meet the requirements of the first image capturing unit 20 and the second image capturing unit 30 being independently fixed; in other embodiments, the lens fixing members
  • the lens fixing portion 50 is provided with two lens fixing portions (not shown), and the two lens fixing portions respectively fix the first image capturing portion 20 and the second image capturing portion 30.
  • the lens fixing member 50 further includes a fixing position (not shown), by which the lens fixing member 50 can be fixed on the mounting surface 11 of the body 10 of the pan/tilt camera.
  • the fixing position may be The screw hole or the buckle structure enables the lens fixing member 50 to be fixed on the mounting surface 11 of the body 10 of the pan/tilt camera by screwing or snapping, correspondingly, in the body 10 of the pan/tilt camera
  • the mounting surface 11 is provided with a fixing hole matched thereto or
  • the buckle structure is provided with a first fixing hole 111 for mounting the lens fixing member 50 on the mounting surface 11 of the body 10 of the pan/tilt camera as shown in FIG. 2.
  • the number of the first fixing holes 111 can be freely set as needed.
  • the mounting surface 11 of the body 10 of the pan-tilt camera is further provided with a memory card mounting slot 112, and the memory card mounting slot 112 can be combined with the first image capturing unit 20 and the second
  • the image capturing unit 30 is disposed on the same mounting surface 11, and may be mounted on a different mounting surface 11 than the first image capturing unit 20 and the second image capturing unit 30, such as the first image capturing unit 20 shown in FIG.
  • the mounting surface 11 where the second image capturing unit 30 is located is adjacent to the mounting surface 11 where the memory card mounting slot 112 shown in FIG. 2 is located.
  • the shape of the body 10 of the pan-tilt camera may be a square or a cylinder or a sphere-like body.
  • the pan-tilt connector 40 and the body 10 of the pan-tilt camera are of a unitary structure.
  • the pan-tilt connector 40 is detachably fixed to the connecting surface 12, as shown in FIG. 4, the pan-tilt connector 40 includes a horseshoe-shaped connecting frame 41, and is disposed on the connecting frame 41.
  • the fixing portion 411 and the limiting portion 412 are used for mounting and fixing the PTZ connector 40 on the connecting surface 12 of the body 10 of the PTZ camera.
  • the fixing portion 411 may be a screw hole or a buckle.
  • the structure allows the pan-tilt connector 40 to be fixed to the connecting surface 12 of the body 10 of the pan-tilt camera by screwing or snapping, correspondingly on the connecting surface 12 of the body 10 of the pan-tilt camera.
  • a fixing hole or a snap structure is provided.
  • the second fixing hole 121 for mounting the pan/tilt connector 40 is disposed on the connecting surface 12 of the body 10 of the pan/tilt camera as shown in FIG. 2, and the second fixing hole is provided.
  • the number of 121 can be freely set as needed; and the limiting portion 412 is used for the connection limit of the PTZ and PTZ connector 40 to ensure the stability of the connection between the PTZ and the PTZ camera.
  • the connecting surface 12 of the body 10 of the pan/tilt camera includes an opposite first connecting surface and a second connecting surface.
  • the first connecting surface and the second connecting surface are respectively provided with a pan/tilt connection member 40, and the pan/tilt head Simultaneously connecting with the PTZ connector 40 on the first connection surface and the second connection surface, it can be understood that
  • the same connecting platform and the second connecting surface may be provided with the same PTZ connecting member 40, or a PTZ connecting member 40 of different structure may be disposed, for example, the PTZ connecting member 40 shown in FIG. 4 is disposed on the first connecting surface, Only a shaft hole is provided on the second connecting surface, and the like, and the description will not be repeated here.
  • connection surface 12 of the body 10 of the pan-tilt camera is further provided with a data interface 122.
  • the data interface 122 corresponds to the pan-tilt.
  • the interface is connected to transmit image data collected by the pan/tilt camera to the unmanned aerial vehicle connected to the pan/tilt.
  • the first image capturing unit 20 and the second image capturing unit 30 may be one or both of an infrared thermal imaging lens and a visible light lens, that is, the first image capturing unit 20 may be an infrared thermal imaging lens.
  • the second image capturing unit 30 is a visible light lens, or the first image capturing unit 20 and the second image capturing unit 30 are both visible light lenses, or the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses.
  • the unmanned aerial vehicle using the pan/tilt camera can be used for aerial photography during the daytime or at night.
  • the aircraft performs aerial photography to meet the needs of multi-scene shooting, and can also collect different types of images to meet the collection requirements of diverse images.
  • the visible light lens is in the light.
  • image acquisition can be performed in different directions, or only one of them can be enabled for single-direction image acquisition.
  • the requirements of multi-scene shooting and diverse image acquisition can be realized; for the case where the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses, in a poor light environment, the directions can be performed in different directions.
  • Infrared image acquisition it is also possible to enable only one of them to perform single-direction infrared image acquisition, which also realizes the requirements of multi-scene shooting and diverse image acquisition; in other embodiments, the first image acquisition unit 20 and the The two image images acquired by the two image acquisition units 30 are subjected to image fusion or picture-in-picture display to provide a novel image display content.
  • the pan/tilt camera provided by the embodiment of the invention has the following advantages over the existing pan/tilt camera:
  • the pan/tilt camera provided by the embodiment of the invention is provided with two image acquisition parts, and the two images are collected.
  • the assembly can be configured to work independently or in combination with the component.
  • the embodiment of the present invention further provides a pan-tilt device.
  • the pan-tilt device includes a pan-tilt camera 100 and a pan-tilt head 200.
  • the pan-tilt head 200 includes a first axle arm 210, a second axle arm 220, and a roll.
  • the assembly 230 and the pitch assembly 240, one end of the first axle arm 210 is coupled by the roll assembly 230 and the second axle arm 220, and one end of the second axle arm 220 is coupled to the pan/tilt connector 40 of the pan/tilt camera 100 via the pitch assembly 240. ;
  • the pitching assembly 240 includes a pitch motor 241 for driving the pan-tilt camera 100 to rotate; the roll assembly 230 includes a roll motor 231 for driving the second axle arm 220, the pitching assembly 240, and the pan-tilt camera 100 to rotate integrally.
  • the pan-tilt device further includes a yaw assembly 250, the other end of the first axle arm 210 is coupled to the yaw assembly 250, and the yaw assembly 250 includes a yaw motor (not labeled) for driving the first axle arm 210 and the roll assembly 230.
  • the second axle arm 220, the pitching assembly 240, and the pan/tilt camera 100 rotate integrally.
  • the pan-tilt camera 100 is the pan-tilt camera 100 described in the above embodiment.
  • the pan-tilt camera 100 includes a body 10 and a first image capturing unit 20 disposed on the body 10.
  • the first image capturing unit 20 and the second image capturing unit 30 are disposed on the mounting surface 11 through the pan/tilt 200 connector 40, and the first image capturing unit 20 and the second image capturing unit 30 respectively cooperate with the cloud.
  • the image sensor corresponding to the inside of the body 10 of the camera 100 completes image acquisition to output two images.
  • the first image capturing unit 20 and the second image capturing unit 30 are disposed on the same mounting surface 11 of the body 10 of the pan-tilt camera 100, wherein the first image capturing unit 20 and The second image capturing unit 30 may be arranged in parallel or separately.
  • the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same installation of the body 10 of the pan-tilt camera 100 .
  • the first image capturing unit 20 and the second image capturing unit 30 may be disposed laterally within the same mounting surface 11 or may be vertically disposed within the same mounting surface 11 or may be Slanted in the same mounting surface 11;
  • the first image capturing unit 20 and the second image capturing unit 30 are disposed on different mounting surfaces 11 of the body 10 of the pan-tilt camera 100.
  • the camera of the pan-tilt camera 100 The body 10 includes two adjacent mounting faces 11, and the first image capturing portion 20 and the second image capturing portion 30 can be respectively mounted on the two adjacent mounting faces 11, although in other embodiments, the cloud
  • the body 10 of the stage camera 100 may include two opposite mounting faces 11, and the first image capturing portion 20 and the second image capturing portion 30 may be respectively mounted on two opposite mounting faces 11, in which case
  • the pan-tilt device drives the pan-tilt camera 100 to rotate by the tilting unit 240, so that the position of the first image capturing unit 20 and the second image capturing unit 30 in the heading of the unmanned aerial vehicle can be switched.
  • the first image capturing unit 20 and the second image capturing unit 30 can be separately detached. In other embodiments, the first image capturing unit 20 and the second image capturing unit 30 can also be integrated.
  • the first image capturing unit 20 and the second image capturing unit 30 are detachably provided as a whole on the mounting surface 11 of the body 10 of the pan-tilt camera 100.
  • the mounting surface 11 of the body 10 of the pan-tilt camera 100 which is provided with the first image capturing unit 20 and the second image capturing unit 30, is further provided with a lens fixing member 50.
  • An image capturing unit 20 and a second image capturing unit 30 respectively correspond to the independent lens fixing members 50 to meet the requirement that the first image capturing unit 20 and the second image capturing unit 30 are independently fixed; in other embodiments, the lens is fixed.
  • the member 50 is provided with two lens fixing portions (not shown) which fix the first image capturing portion 20 and the second image capturing portion 30, respectively.
  • the lens holder 50 further includes a fixing position by which the lens is fixed
  • the fixing member 50 can be fixed on the mounting surface 11 of the body 10 of the pan-tilt camera 100.
  • the fixing position can be a screw hole or a snap structure, so that the lens fixing member 50 can be screwed or buckled.
  • the method is fixed on the mounting surface 11 of the body 10 of the pan-tilt camera 100.
  • a mounting hole or a snap-fit structure is provided on the mounting surface 11 of the body 10 of the pan-tilt camera 100, as shown in FIG.
  • the first fixing hole 111 to which the lens fixing member 50 is attached is provided on the mounting surface 11 of the body 10 of the pan-tilt camera 100, and the number of the first fixing holes 111 can be freely set as needed.
  • the mounting surface 11 of the body 10 of the pan-tilt camera 100 is further provided with a memory card mounting slot 112, and the memory card mounting slot 112 and the first image capturing unit 20,
  • the image capturing unit 30 is disposed on the same mounting surface 11 , and may be mounted on a different mounting surface 11 than the first image capturing unit 20 and the second image capturing unit 30 , such as the first image capturing unit 20 shown in FIG. 1 .
  • the mounting surface 11 where the second image capturing unit 30 is located is adjacent to the mounting surface 11 where the memory card mounting groove 112 shown in FIG. 2 is located.
  • the shape of the body 10 of the pan-tilt camera 100 may be a square or a cylinder or a sphere-like body.
  • the platform 200 connector 40 and the body 10 of the pan-tilt camera 100 are of a unitary structure.
  • the platform 200 connector 40 is detachably fixed to the connection surface 12, as shown in FIG. 4, the platform 200 connector 40 includes a horseshoe-shaped connector 41, and is disposed on the connector 41.
  • the upper fixing portion 411 and the limiting portion 412 are used for mounting and fixing the platform 200 connector 40 on the connecting surface 12 of the body 10 of the pan-tilt camera 100.
  • the fixing portion 411 may be a screw hole.
  • the platform 200 connector 40 can be fixed on the connecting surface 12 of the body 10 of the pan-tilt camera 100 by screwing or snapping, and correspondingly, the body of the pan-tilt camera 100
  • the connecting surface 12 of the 10 is provided with a fixing hole or a snapping structure.
  • the second surface of the connecting body 12 of the pan/tilt camera 100 is provided with a second mounting unit 40 of the platform 200 as shown in FIG.
  • the fixing hole 121, the number of the second fixing holes 121 can be freely set as needed; and the limiting portion 412 is used for the cloud platform 200 and the cloud
  • the connection limit of the connector 200 of the table 200 is to ensure the stability of the connection between the pan/tilt head 200 and the pan-tilt camera 100, wherein the connecting member of the rotary shaft of the pitch motor 200 is embedded in the middle portion of the connecting frame, and the upper limit thereof
  • the bit portion 412 is abutted into the limiting portion 412.
  • the connecting surface 12 of the body 10 of the pan-tilt camera 100 includes an opposite first connecting surface and a second connecting surface, and a pan-tilt 200 connecting member 40 is disposed on the first connecting surface and the second connecting surface.
  • the pan/tilt 200 is simultaneously connected to the pan/tilt 200 connector 40 on the first connection surface and the second connection surface, so that the stability of the connection between the pan/tilt head 200 and the pan/tilt camera 100 can be improved, and it can be understood that the first connection surface and the first connection surface
  • the same PTZ 200 connecting member 40 may be disposed on the two connecting surfaces, and the PTZ 200 connecting member 40 of different structures may be disposed.
  • connection surface 12 of the body 10 of the pan-tilt camera 100 is further provided with a data interface 122.
  • the data interface 122 and the pan/tilt The corresponding interface on 200 is connected to transmit the image data collected by the pan/tilt camera 100 to the unmanned aerial vehicle connected to the pan/tilt 200.
  • the first image capturing unit 20 and the second image capturing unit 30 may be one or both of an infrared thermal imaging lens and a visible light lens, that is, the first image capturing unit 20 may be an infrared thermal imaging lens.
  • the second image capturing unit 30 is a visible light lens, or the first image capturing unit 20 and the second image capturing unit 30 are both visible light lenses, or the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses.
  • the unmanned aerial vehicle using the pan/tilt camera 100 can perform aerial photography during daytime flight, or Night flight for aerial photography to meet the needs of multi-scene shooting, while also collecting different types of images to meet the needs of diverse image collection; for the first image acquisition unit 20 and the second image acquisition unit 30 is a visible light lens.
  • image acquisition can be performed in different directions, or only one of them can be used for single-direction image acquisition, which can achieve multi-scene shooting and diverse image acquisition.
  • the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses.
  • infrared image capturing can be performed in different directions, or only one of them can be activated.
  • the unidirectional infrared image acquisition is performed, and the requirements for multi-scene shooting and diversified image acquisition are also realized.
  • the two image images captured by the first image capturing unit 20 and the second image capturing unit 30 are also available.
  • Image fusion or picture-in-picture display provides a new type of image display content.
  • pan/tilt camera 100 For the pan/tilt camera 100 described in this embodiment, reference may also be made to the related art content of the pan/tilt camera described in the foregoing embodiments.
  • the pan-tilt camera 100 is provided with two image capturing sections, and the two image capturing sections can be configured to work independently or in combination with components.
  • the different structures and functions of the two image acquisition units enable the pan/tilt camera 100 to perform image acquisition in different scenes, which greatly enhances the application range, and at the same time, the collected image content is more abundant and comprehensive, and can satisfy the image to a greater extent.
  • the pan/tilt head 200 adopts a biaxial arm and pitch assembly 240, a roll assembly 230, and a yaw assembly 250 to form a two-axis or three-axis stabilization pan/tilt 200, which can be realized.
  • the pan-tilt camera 100 has a stabilizing function and expands the shooting space range.
  • the pan-tilt 200 provided by the present invention has a simple structure and can realize multi-level motion control, and the stability thereof is higher.
  • the embodiment of the present invention further provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle includes an unmanned aerial vehicle body 1 and a pan/tilt device 2, wherein the pan-tilt device 2 includes a pan-tilt camera 100 and a pan-tilt head 200, and the pan/tilt head
  • the 200 includes a first axle arm 210, a second axle arm 220, a pitching assembly 240, and a roll assembly 230.
  • One end of the first axle arm 210 is coupled to the second axle arm 220 by a roll assembly 230, and one end of the second axle arm 220 Connected to the pan/tilt connector 40 of the pan-tilt camera 100 by the tilting assembly 240, the other end of the first axle arm 210 is fixed on the unmanned aerial vehicle body 1;
  • the tilt assembly 240 includes a pitch motor for driving the pan-tilt camera 100 to rotate;
  • the roll assembly 230 includes a roll motor for driving the second axle arm 220, the pitch assembly 240, and the pan-tilt camera 100 to rotate integrally.
  • the pan-tilt device 2 further includes a yaw assembly 250, the other end of the first axle arm 210 is coupled to the yaw assembly 250, the yaw assembly 250 is fixed to the unmanned aircraft body 1; and the yaw assembly 250 includes a yaw motor. It is used to drive the first shaft arm 210, the roll assembly 230, the second axle arm 220, the pitch assembly 240, and the pan/tilt camera 100 to rotate integrally.
  • the connection of the yaw component 250 and the UAV body 1 adopts a quick release interface.
  • a seal is further disposed at the quick release interface to improve the waterproof performance of the pan/tilt device 2, so that The pan/tilt unit 2 can be used in rain or in a humid environment.
  • the related art content of the PTZ camera 100 and the PTZ device 2 can refer to the PTZ camera and the PTZ device provided in the foregoing embodiments, and details are not described herein again.
  • the pan/tilt camera 100 is provided with two image capturing sections, and the two image capturing sections can be configured to work independently or in combination with components.
  • the different structures and functions of the two image acquisition units enable the pan/tilt camera 100 to perform image acquisition in different scenes, which greatly enhances the application range, and at the same time, the collected image content is more abundant and comprehensive, and can satisfy the image to a greater extent.
  • the pan/tilt head 200 adopts a biaxial arm and pitch assembly 240, a roll assembly 230, and a yaw assembly 250 to form a two-axis or three-axis stabilization pan/tilt 200, which can be realized.
  • the pan-tilt camera 100 has a stabilizing function and expands the shooting space range.
  • the pan-tilt 200 provided by the present invention has a simple structure and can realize multi-level motion control, and the stability thereof is higher.

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  • Accessories Of Cameras (AREA)

Abstract

Embodiments of the present invention belong to the technical field of pan-tilt cameras, relate to a pan-tilt camera, and are applied to an unmanned aerial vehicle, a camera body (10) of the pan-tilt camera (100) comprising a mounting surface (11) and a connecting surface (12), the connecting surface (12) being provided with a pan-tilt connection (40) which is used to be connected to a pan-tilt (200); the pan-tilt camera (100) comprises a first image acquisition portion (20) and a second image acquisition portion (30), the first image acquisition portion (20) and the second image acquisition portion (30) being provided on the mounting surface (11), the first image acquisition portion (20) and the second image acquisition portion (30) respectively cooperating with corresponding image sensors inside the camera body (10) of the pan-tilt camera (100) to conduct image acquisition so as to output images via two paths. The pan-tilt camera provided in the embodiments of the present invention can perform image acquisition in different scenes, greatly improving the application range of the pan-tilt camera, and meanwhile the acquired image content is more abundant and comprehensive; in addition, the embodiments of the present invention further provide a pan-tilt device and an unmanned aerial vehicle using the pan-tilt camera.

Description

一种云台相机、云台装置及无人飞行器PTZ camera, gimbal device and unmanned aerial vehicle 技术领域Technical field
本发明实施例属于云台相机技术领域，尤其涉及一种云台相机以及采用该云台相机的云台装置和无人飞行器。The embodiments of the present invention belong to the field of cloud camera technology, and in particular, to a cloud camera and a cloud platform device and an unmanned aerial vehicle using the same.
背景技术Background technique
云台相机通过云台安装在无人飞行器上，可用于无人飞行器航拍或者特殊场景下的目标追踪和监控等，在无人飞行器飞行过程中云台相机能够提供稳定清晰的画面；然而现有的云台相机存在应用场景单一、采集的图像类型单一的问题，其能满足的用户需求有限，通用性差。The PTZ camera is installed on the unmanned aerial vehicle through the gimbal. It can be used for aerial photography of unmanned aerial vehicles or target tracking and monitoring under special scenes. The PTZ camera can provide a stable and clear picture during the flight of the UAV; however, The PTZ camera has a single application scenario and a single type of acquired image, which can meet the limited user requirements and poor versatility.
发明内容Summary of the invention
为了解决现有的云台相机存在的应用场景单一、采集的图像类型单一的问题，本发明实施例提供一种新型的云台相机，以提高云台相机多场景应用的能力，更大限度地满足用户对多场景应用和多类型数据采集的需求；此外，本发明实施例还提供采用该云台相机的云台装置和无人飞行器。In order to solve the problem that the existing cloud platform camera has a single application scene and a single image type, the embodiment of the present invention provides a novel cloud camera to improve the multi-scene application capability of the cloud camera. The requirements of the multi-scene application and the multi-type data collection are met by the user; in addition, the embodiment of the invention further provides a pan-tilt device and an unmanned aerial vehicle using the pan-tilt camera.
一方面，本发明实施例提供一种云台相机，应用于无人飞行器，所述云台相机的机身包括安装面和连接面，所述连接面上设置有云台连接件，用于与云台连接；In one aspect, an embodiment of the present invention provides a pan-tilt camera, which is applied to an unmanned aerial vehicle. The body of the pan-tilt camera includes a mounting surface and a connecting surface, and the connecting surface is provided with a pan-tilt connector for PTZ connection;
所述云台相机包括第一图像采集部和第二图像采集部，所述第一图像采集部和第二图像采集部设置在所述安装面上，所述第一图像采集部和所述第二图像采集部分别配合所述云台相机的机身内部相对应的图像传感器完成图像采集，以输出两路图像。 The pan/tilt camera includes a first image capturing unit and a second image capturing unit, and the first image capturing unit and the second image capturing unit are disposed on the mounting surface, the first image capturing unit and the first The image acquisition unit performs image acquisition with the corresponding image sensor inside the body of the pan/tilt camera to output two images.
本发明实施例提供的云台相机设置有两个图像采集部，这两个图像采集部可以配置成独立工作也可以配置成分工合作，通过赋予这两个图像采集部不同的结构和功能，使得所述云台相机可以在不同的场景下进行图像采集，大大提升了云台相机的应用范围，同时采集的图像内容更加丰富和全面，能够更大程度上满足用户的需求。The pan/tilt camera provided by the embodiment of the present invention is provided with two image capturing sections, and the two image capturing sections may be configured to work independently or in combination with components, by giving different structures and functions of the two image capturing sections. The pan/tilt camera can perform image acquisition in different scenes, which greatly enhances the application range of the pan/tilt camera, and at the same time, the collected image content is richer and more comprehensive, and can satisfy the user's needs to a greater extent.
另一方面，本发明实施例还提供一种云台装置，包括云台和上述的云台相机，所述云台包括第一轴臂、第二轴臂、俯仰组件和横滚组件；In another aspect, an embodiment of the present invention further provides a pan/tilt head device, including a pan/tilt head and a pan/tilt head camera, wherein the pan/tilt head includes a first axle arm, a second axle arm, a pitch component, and a roll assembly;
其中，所述第一轴臂的一端通过所述横滚组件和所述第二轴臂连接，所述第二轴臂的一端通过所述俯仰组件连接至所述云台相机的云台连接件；Wherein one end of the first axle arm is connected to the second axle arm through the roll assembly, and one end of the second axle arm is connected to the pan/tilt connector of the pan/tilt camera through the pitch component ;
所述俯仰组件包括俯仰电机，用于驱动所述云台相机转动；所述横滚组件包括横滚电机，用于驱动所述第二轴臂、所述俯仰组件和所述云台相机整体转动。The pitching assembly includes a pitch motor for driving the pan/tilt camera to rotate; the roll assembly includes a roll motor for driving the second axle arm, the pitching component, and the pan/tilt camera to rotate integrally .
另一方面，本发明实施例还提供一种无人飞行器，包括无人飞行器机体和云台装置，所述云台装置包括云台和上述的云台相机，所述云台包括第一轴臂、第二轴臂、俯仰组件和横滚组件；In another aspect, an embodiment of the present invention further provides an unmanned aerial vehicle including an unmanned aerial vehicle body and a cloud platform device, the cloud platform device including a cloud platform and the above-described pan/tilt camera, wherein the cloud platform includes a first axle arm , a second axle arm, a pitching assembly and a roll assembly;
其中，所述第一轴臂的一端通过所述横滚组件和所述第二轴臂连接，所述第二轴臂的一端通过所述俯仰组件连接至所述云台相机的云台连接件，所述第一轴臂的另一端固定在所述无人飞行器机体上；Wherein one end of the first axle arm is connected to the second axle arm through the roll assembly, and one end of the second axle arm is connected to the pan/tilt connector of the pan/tilt camera through the pitch component The other end of the first axle arm is fixed on the unmanned aircraft body;
所述俯仰组件包括俯仰电机，用于驱动所述云台相机转动；所述横滚组件包括横滚电机，用于驱动所述第二轴臂、所述俯仰组件和所述云台相机整体转动。The pitching assembly includes a pitch motor for driving the pan/tilt camera to rotate; the roll assembly includes a roll motor for driving the second axle arm, the pitching component, and the pan/tilt camera to rotate integrally .
根据本发明实施例提供的云台装置和无人飞行器，一方面，其采用的云台相机设置有两个图像采集部，这两个图像采集部可以配置成独立工作也可以配置成分工合作，通过赋予这两个图像采集部不同的结构和功能，使得所述云台相机可以在不同的场景下进行图像采集，大大提升了应用范 围，同时采集的图像内容更加丰富和全面，能够更大程度上满足用户的需求，另一方面，其采用的云台采用双轴臂与俯仰组件、横滚组件交替连接形式，结构简单，可实现多级运动控制，其稳定性更高。According to an embodiment of the present invention, a pan-tilt device and an unmanned aerial vehicle are provided. On one hand, the pan-tilt camera is provided with two image capturing portions, and the two image capturing portions can be configured to work independently or in combination with components. By giving the two image acquisition sections different structures and functions, the pan/tilt camera can perform image acquisition in different scenes, which greatly improves the application range. The image content collected at the same time is richer and more comprehensive, which can meet the needs of users to a greater extent. On the other hand, the pan/tilt head adopts the biaxial arm and the pitch component and the roll component alternately connected, and the structure is simple, and the structure is simple. Achieve multi-level motion control with higher stability.
附图说明DRAWINGS
为了更清楚地说明本发明或现有技术中的方案，下面将对实施例或现有技术描述中所需要使用的附图作一个简单介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the present invention or the prior art, a brief description of the drawings used in the embodiments or the description of the prior art will be briefly made. Obviously, the drawings in the following description are the present invention. For some embodiments, other drawings may be obtained from those of ordinary skill in the art without departing from the drawings.
图1为本发明实施例提供的云台相机的结构示意图；1 is a schematic structural diagram of a pan-tilt camera according to an embodiment of the present invention;
图2为图1提供的云台相机的机身结构示意图；2 is a schematic structural view of a fuselage camera of the pan/tilt camera provided in FIG. 1;
图3为本发明实施例提供的第一图像采集部和第二图像采集部设置在云台相机的机身上的示意图；3 is a schematic diagram of a first image acquisition unit and a second image collection unit disposed on a body of a PTZ camera according to an embodiment of the present invention;
图4为本发明实施例提供的云台连接件的结构示意图；4 is a schematic structural diagram of a PTZ connector according to an embodiment of the present invention;
图5为本发明实施例提供的云台装置的结构示意图；FIG. 5 is a schematic structural diagram of a cloud platform device according to an embodiment of the present disclosure;
图6为本发明实施例提供的云台的结构示意图；FIG. 6 is a schematic structural diagram of a cloud platform according to an embodiment of the present invention;
图7为本发明实施例提供的无人飞行器的结构示意图。FIG. 7 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
附图标记说明：Description of the reference signs:
10          机身10 body
11          安装面11 mounting surface
111         第一固定孔111 first fixing hole
112         存储卡安装槽112 memory card installation slot
12          连接面12 connection surface
121         第二固定孔121 second fixing hole
122         数据接口122 data interface
20          第一图像采集部 20 First image acquisition department
30          第二图像采集部30 second image acquisition department
40          云台连接件40 PTZ connector
41          连接架41 connecting frame
411         固定部411 fixed part
412         限位部412 Limit Department
50          镜头固定件50 lens mount
1           无人飞行器机体1 unmanned aircraft body
2           云台装置2 cloud platform device
100         云台相机100 cloud camera
200         云台200 Yuntai
210         第一轴臂210 first axle arm
220         第二轴臂220 second axle arm
230         横滚组件230 roll assembly
231         横滚电机231 roll motor
240         俯仰组件240 pitch component
241         俯仰电机241 pitch motor
250         偏航组件250 yaw component
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明方案，下面对本发明实施例中的技术方案进行清楚、完整地描述。除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。The technical solutions in the embodiments of the present invention are clearly and completely described below in order to enable a person skilled in the art to better understand the solution of the present invention. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention.
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出 现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。References to "an embodiment" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the invention. In each position in the manual The phrase is not necessarily referring to the same embodiment, and is not a separate or alternative embodiment that is mutually exclusive. Those skilled in the art will understand and implicitly understand that the embodiments described herein can be combined with other embodiments.
请参阅图1，图1为本发明实施例提供的一种云台相机，该云台相机可应用于无人飞行器，该云台相机包括机身10和设置在机身10上的第一图像采集部20、第二图像采集部30和云台连接件40；进一步参阅图2，其中云台相机的机身10包括安装面11和连接面12，云台连接件40设置在连接面12上，云台相机通过云台连接件40连接至云台，而第一图像采集部20和第二图像采集部30设置在安装面11上，第一图像采集部20和第二图像采集部30分别配合云台相机的机身10内部相对应的图像传感器完成图像采集，以输出两路图像。Please refer to FIG. 1. FIG. 1 is a PTZ camera according to an embodiment of the present invention. The PTZ camera is applicable to an unmanned aerial vehicle, and the PTZ camera includes a body 10 and a first image disposed on the body 10. The collecting unit 20, the second image collecting unit 30 and the pan/tilt connector 40; further referring to FIG. 2, the body 10 of the pan-tilt camera includes a mounting surface 11 and a connecting surface 12, and the pan-tilt connector 40 is disposed on the connecting surface 12. The pan/tilt camera is connected to the pan/tilt head through the pan-tilt connector 40, and the first image capturing unit 20 and the second image capturing unit 30 are disposed on the mounting surface 11, and the first image capturing unit 20 and the second image capturing unit 30 respectively Image acquisition is performed with the corresponding image sensor inside the body 10 of the pan-tilt camera to output two images.
在本发明实施例中，第一图像采集部20和第二图像采集部30设置于云台相机的机身10的同一安装面11上，其中第一图像采集部20和第二图像采集部30可以并列设置，也可以分开独立设置，比如图1所示即为第一图像采集部20和第二图像采集部30并列设置于云台相机的机身10的同一安装面11上的情形，在具体的实施例中，第一图像采集部20和第二图像采集部30可以在同一安装面11内横向设置，也可以在同一安装面11内纵向设置，或者还可以在同一安装面11内斜向设置；参阅图3，图3中(a)、(c)、(e)、(g)为第一图像采集部20和第二图像采集部30在同一安装面11内并列设置的情形，图3中(b)、(d)、(f)、(h)为第一图像采集部20和第二图像采集部30在同一安装面11内分开独立设置的情形，其中(a)为第一图像采集部20和第二图像采集部30在同一安装面11内横向并列设置的示意图，(c)为第一图像采集部20和第二图像采集部30在同一安装面11内纵向并列设置的示意图，(e)和(g)为第一图像采集部20和第二图像采集部30在同一安装面11内斜向并列设置的示意图，而(b)为第一图像采集部20和第二图像采集部30在同一安装 面11内横向分开独立设置的示意图，(d)为第一图像采集部20和第二图像采集部30在同一安装面11内纵向分开独立设置的示意图，(f)和(h)为第一图像采集部20和第二图像采集部30在同一安装面11内斜向分开独立设置的示意图。In the embodiment of the present invention, the first image capturing unit 20 and the second image capturing unit 30 are disposed on the same mounting surface 11 of the body 10 of the pan-tilt camera, wherein the first image capturing unit 20 and the second image capturing unit 30 It may be arranged in parallel or separately. For example, as shown in FIG. 1 , the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side on the same mounting surface 11 of the body 10 of the pan-tilt camera. In a specific embodiment, the first image capturing unit 20 and the second image capturing unit 30 may be disposed laterally within the same mounting surface 11 or may be longitudinally disposed within the same mounting surface 11 or may be inclined within the same mounting surface 11 Referring to FIG. 3, (a), (c), (e), and (g) of FIG. 3 are a case where the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same mounting surface 11. (b), (d), (f), and (h) of FIG. 3 are cases in which the first image capturing unit 20 and the second image capturing unit 30 are separately and independently disposed in the same mounting surface 11, wherein (a) is the first A schematic diagram in which the image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same mounting surface 11 and (c) is The first image capturing unit 20 and the second image capturing unit 30 are vertically arranged side by side in the same mounting surface 11, and (e) and (g) are the same mounting surface of the first image capturing unit 20 and the second image capturing unit 30. 11 is a schematic view of the diagonally arranged side by side, and (b) is the same installation of the first image capturing section 20 and the second image capturing section 30. (d) is a schematic diagram in which the first image capturing portion 20 and the second image capturing portion 30 are vertically and independently disposed in the same mounting surface 11 in the lateral direction, and (f) and (h) are first. The image acquisition unit 20 and the second image acquisition unit 30 are independently arranged obliquely apart in the same mounting surface 11 .
在本发明另一实施例中，第一图像采集部20和第二图像采集部30设置于云台相机的机身10不同的安装面11上，重新参阅图2，云台相机的机身10包括两个相邻的安装面11，第一图像采集部20和第二图像采集部30可以分别装设在这两个相邻的安装面11上，当然，在其他实施例中，云台相机的机身10可以包括两个相对的安装面11，第一图像采集部20和第二图像采集部30可以分别装设在两个相对的安装面11上。In another embodiment of the present invention, the first image capturing unit 20 and the second image capturing unit 30 are disposed on different mounting surfaces 11 of the body 10 of the pan-tilt camera. Referring back to FIG. 2, the body 10 of the pan-tilt camera Including two adjacent mounting faces 11, the first image capturing portion 20 and the second image capturing portion 30 can be respectively mounted on the two adjacent mounting faces 11, of course, in other embodiments, the pan/tilt camera The body 10 can include two opposing mounting faces 11, and the first image capture portion 20 and the second image capture portion 30 can be mounted on two opposing mounting faces 11, respectively.
在上述实施例中，第一图像采集部20和第二图像采集部30可分别独立拆卸；在另一些实施例中，第一图像采集部20和第二图像采集部30也可以为一体结构，第一图像采集部20和第二图像采集部30作为一个整体可拆卸地设置于云台相机的机身10的安装面11上。In the above embodiment, the first image capturing unit 20 and the second image capturing unit 30 can be separately detached. In other embodiments, the first image capturing unit 20 and the second image capturing unit 30 can also be integrated. The first image capturing unit 20 and the second image capturing unit 30 are detachably provided as a whole on the mounting surface 11 of the body 10 of the pan-tilt camera.
在本发明实施例中，云台相机的机身10设置有第一图像采集部20和第二图像采集部30的安装面11上还设置有镜头固定件50，在一些实施例中，第一图像采集部20和第二图像采集部30分别对应独立的镜头固定件50，以满足第一图像采集部20和第二图像采集部30独立固定的需求；在另一些实施例中，镜头固定件50设置有两个镜头固定部(图未标识)，该两个镜头固定部分别固定第一图像采集部20和第二图像采集部30。In the embodiment of the present invention, the mounting surface 11 of the body 10 of the pan/tilt camera provided with the first image capturing unit 20 and the second image capturing unit 30 is further provided with a lens fixing member 50. In some embodiments, the first The image capturing unit 20 and the second image capturing unit 30 respectively correspond to the independent lens fixing members 50 to meet the requirements of the first image capturing unit 20 and the second image capturing unit 30 being independently fixed; in other embodiments, the lens fixing members The lens fixing portion 50 is provided with two lens fixing portions (not shown), and the two lens fixing portions respectively fix the first image capturing portion 20 and the second image capturing portion 30.
进一步地，镜头固定件50还包括固定位(图未标识)，通过该固定位使得镜头固定件50能够固定在云台相机的机身10的安装面11上，具体的，该固定位可以是螺孔或者卡扣结构，使得镜头固定件50可通过螺丝固定的方式或者卡扣的方式固定在云台相机的机身10的安装面11上，相应的，在云台相机的机身10的安装面11上设置有与之配合的固定孔或者 卡扣结构，如图2所示在云台相机的机身10的安装面11上设置有安装镜头固定件50的第一固定孔111，第一固定孔111的数量可根据需要自由设定。Further, the lens fixing member 50 further includes a fixing position (not shown), by which the lens fixing member 50 can be fixed on the mounting surface 11 of the body 10 of the pan/tilt camera. Specifically, the fixing position may be The screw hole or the buckle structure enables the lens fixing member 50 to be fixed on the mounting surface 11 of the body 10 of the pan/tilt camera by screwing or snapping, correspondingly, in the body 10 of the pan/tilt camera The mounting surface 11 is provided with a fixing hole matched thereto or The buckle structure is provided with a first fixing hole 111 for mounting the lens fixing member 50 on the mounting surface 11 of the body 10 of the pan/tilt camera as shown in FIG. 2. The number of the first fixing holes 111 can be freely set as needed.
在本发明实施例中，重新参阅图2，云台相机的机身10的安装面11上还设置有存储卡安装槽112，该存储卡安装槽112可以和第一图像采集部20、第二图像采集部30设置在同一个安装面11上，也可以和第一图像采集部20、第二图像采集部30安装在不同的安装面11上，比如图1所示第一图像采集部20和第二图像采集部30所在的安装面11与图2所示存储卡安装槽112所在的安装面11相邻。In the embodiment of the present invention, referring back to FIG. 2, the mounting surface 11 of the body 10 of the pan-tilt camera is further provided with a memory card mounting slot 112, and the memory card mounting slot 112 can be combined with the first image capturing unit 20 and the second The image capturing unit 30 is disposed on the same mounting surface 11, and may be mounted on a different mounting surface 11 than the first image capturing unit 20 and the second image capturing unit 30, such as the first image capturing unit 20 shown in FIG. The mounting surface 11 where the second image capturing unit 30 is located is adjacent to the mounting surface 11 where the memory card mounting slot 112 shown in FIG. 2 is located.
在本发明实施例中，云台相机的机身10的形状可以是方体或者柱体或者类球体。In the embodiment of the present invention, the shape of the body 10 of the pan-tilt camera may be a square or a cylinder or a sphere-like body.
在本发明实施例中，云台连接件40与云台相机的机身10为一体结构。In the embodiment of the present invention, the pan-tilt connector 40 and the body 10 of the pan-tilt camera are of a unitary structure.
在本发明的另一些实施例中，云台连接件40可拆卸地固定在连接面12上，如图4所示，云台连接件40包括马蹄形的连接架41，以及设置在连接架41上的固定部411以及限位部412，固定部411用于云台连接件40在云台相机的机身10的连接面12的安装固定，同样的，该固定部411可以是螺孔或者卡扣结构，使得云台连接件40可通过螺丝固定的方式或者卡扣的方式固定在云台相机的机身10的连接面12上，相应的，在云台相机的机身10的连接面12上设置有与之配合的固定孔或者卡扣结构，如图2所示在云台相机的机身10的连接面12上设置有安装云台连接件40的第二固定孔121，第二固定孔121的数量可根据需要自由设定；而限位部412用于云台与云台连接件40的连接限位，以保证云台与云台相机连接的稳定性。In other embodiments of the present invention, the pan-tilt connector 40 is detachably fixed to the connecting surface 12, as shown in FIG. 4, the pan-tilt connector 40 includes a horseshoe-shaped connecting frame 41, and is disposed on the connecting frame 41. The fixing portion 411 and the limiting portion 412 are used for mounting and fixing the PTZ connector 40 on the connecting surface 12 of the body 10 of the PTZ camera. Similarly, the fixing portion 411 may be a screw hole or a buckle. The structure allows the pan-tilt connector 40 to be fixed to the connecting surface 12 of the body 10 of the pan-tilt camera by screwing or snapping, correspondingly on the connecting surface 12 of the body 10 of the pan-tilt camera. A fixing hole or a snap structure is provided. The second fixing hole 121 for mounting the pan/tilt connector 40 is disposed on the connecting surface 12 of the body 10 of the pan/tilt camera as shown in FIG. 2, and the second fixing hole is provided. The number of 121 can be freely set as needed; and the limiting portion 412 is used for the connection limit of the PTZ and PTZ connector 40 to ensure the stability of the connection between the PTZ and the PTZ camera.
可选的，云台相机的机身10的连接面12包括相对的第一连接面和第二连接面，在第一连接面和第二连接面上均设置有云台连接件40，云台同时与第一连接面和第二连接面上的云台连接件40连接，可以理解，在 第一连接面和第二连接面上可设置同样的云台连接件40，也可以设置不同结构的云台连接件40，比如在第一连接面设置图4所示的云台连接件40，而在第二连接面上仅设置一轴孔，诸如此类，在此不再展开说明。Optionally, the connecting surface 12 of the body 10 of the pan/tilt camera includes an opposite first connecting surface and a second connecting surface. The first connecting surface and the second connecting surface are respectively provided with a pan/tilt connection member 40, and the pan/tilt head Simultaneously connecting with the PTZ connector 40 on the first connection surface and the second connection surface, it can be understood that The same connecting platform and the second connecting surface may be provided with the same PTZ connecting member 40, or a PTZ connecting member 40 of different structure may be disposed, for example, the PTZ connecting member 40 shown in FIG. 4 is disposed on the first connecting surface, Only a shaft hole is provided on the second connecting surface, and the like, and the description will not be repeated here.
在本发明实施例中，重新参阅图2，云台相机的机身10的连接面12上还设置有数据接口122，云台相机安装在云台上时，数据接口122与云台上对应的接口连接，以向与云台连接的无人飞行器传输云台相机采集的图像数据。In the embodiment of the present invention, referring back to FIG. 2, the connection surface 12 of the body 10 of the pan-tilt camera is further provided with a data interface 122. When the pan-tilt camera is mounted on the pan-tilt, the data interface 122 corresponds to the pan-tilt. The interface is connected to transmit image data collected by the pan/tilt camera to the unmanned aerial vehicle connected to the pan/tilt.
在上述实施例中，第一图像采集部20和第二图像采集部30可以是红外热成像镜头和可见光镜头中的一种或者两种，即可以是第一图像采集部20为红外热成像镜头，第二图像采集部30为可见光镜头，或者第一图像采集部20和第二图像采集部30均为可见光镜头，或者第一图像采集部20和第二图像采集部30均为红外热成像镜头；其中，对于第一图像采集部20为红外热成像镜头，第二图像采集部30为可见光镜头的情形，采用该云台相机的无人飞行器既可以在日间飞行进行航拍，也可以在夜间飞行进行航拍，满足多场景拍摄需求，同时还可以采集不同类型的图像，满足多样化图像的采集需求；对于第一图像采集部20和第二图像采集部30均为可见光镜头的情形，在光线良好的环境下，可以在不同方向上进行图像采集，也可以只启用其中一个而进行单方向的图像采集，这样可实现多场景拍摄和多样化图像采集的需求；对于第一图像采集部20和第二图像采集部30均为红外热成像镜头的情形，在光线较差的环境下，可以在不同方向上进行红外图像采集，也可以只启用其中一个而进行单方向的红外图像采集，同样实现了多场景拍摄和多样化图像采集的需求；在其他实施例中，还可将第一图像采集部20和第二图像采集部30采集的两路图像视频进行图像融合或者进行画中画显示，提供新型的图像显示内容。In the above embodiment, the first image capturing unit 20 and the second image capturing unit 30 may be one or both of an infrared thermal imaging lens and a visible light lens, that is, the first image capturing unit 20 may be an infrared thermal imaging lens. The second image capturing unit 30 is a visible light lens, or the first image capturing unit 20 and the second image capturing unit 30 are both visible light lenses, or the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses. In the case where the first image capturing unit 20 is an infrared thermal imaging lens and the second image capturing unit 30 is a visible light lens, the unmanned aerial vehicle using the pan/tilt camera can be used for aerial photography during the daytime or at night. The aircraft performs aerial photography to meet the needs of multi-scene shooting, and can also collect different types of images to meet the collection requirements of diverse images. For the first image capturing unit 20 and the second image capturing unit 30, the visible light lens is in the light. In a good environment, image acquisition can be performed in different directions, or only one of them can be enabled for single-direction image acquisition. The requirements of multi-scene shooting and diverse image acquisition can be realized; for the case where the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses, in a poor light environment, the directions can be performed in different directions. Infrared image acquisition, it is also possible to enable only one of them to perform single-direction infrared image acquisition, which also realizes the requirements of multi-scene shooting and diverse image acquisition; in other embodiments, the first image acquisition unit 20 and the The two image images acquired by the two image acquisition units 30 are subjected to image fusion or picture-in-picture display to provide a novel image display content.
本发明实施例提供的云台相机相对于现有的云台相机存在如下优点：The pan/tilt camera provided by the embodiment of the invention has the following advantages over the existing pan/tilt camera:
本发明实施例提供的云台相机设置有两个图像采集部，这两个图像采 集部可以配置成独立工作也可以配置成分工合作，通过赋予这两个图像采集部不同的结构和功能，使得所述云台相机可以在不同的场景下进行图像采集，大大提升了云台相机的应用范围，同时采集的图像内容更加丰富和全面，能够更大程度上满足用户的需求。The pan/tilt camera provided by the embodiment of the invention is provided with two image acquisition parts, and the two images are collected. The assembly can be configured to work independently or in combination with the component. By giving the two image acquisition departments different structures and functions, the PTZ camera can perform image acquisition in different scenes, greatly improving the PTZ camera. The scope of application, while the image content collected is more abundant and comprehensive, can meet the needs of users to a greater extent.
本发明实施例还提供一种云台装置，参阅图5和图6，云台装置包括云台相机100和云台200，云台200包括第一轴臂210、第二轴臂220、横滚组件230和俯仰组件240，第一轴臂210的一端通过横滚组件230和第二轴臂220连接，第二轴臂220的一端通过俯仰组件240连接至云台相机100的云台连接件40；The embodiment of the present invention further provides a pan-tilt device. Referring to FIG. 5 and FIG. 6, the pan-tilt device includes a pan-tilt camera 100 and a pan-tilt head 200. The pan-tilt head 200 includes a first axle arm 210, a second axle arm 220, and a roll. The assembly 230 and the pitch assembly 240, one end of the first axle arm 210 is coupled by the roll assembly 230 and the second axle arm 220, and one end of the second axle arm 220 is coupled to the pan/tilt connector 40 of the pan/tilt camera 100 via the pitch assembly 240. ;
俯仰组件240包括俯仰电机241，用于驱动云台相机100转动；横滚组件230包括横滚电机231，用于驱动第二轴臂220、俯仰组件240和云台相机100整体转动。The pitching assembly 240 includes a pitch motor 241 for driving the pan-tilt camera 100 to rotate; the roll assembly 230 includes a roll motor 231 for driving the second axle arm 220, the pitching assembly 240, and the pan-tilt camera 100 to rotate integrally.
云台装置还包括偏航组件250，第一轴臂210的另一端连接偏航组件250，偏航组件250包括偏航电机(图未标识)，用于驱动第一轴臂210、横滚组件230、第二轴臂220、俯仰组件240和云台相机100整体转动。The pan-tilt device further includes a yaw assembly 250, the other end of the first axle arm 210 is coupled to the yaw assembly 250, and the yaw assembly 250 includes a yaw motor (not labeled) for driving the first axle arm 210 and the roll assembly 230. The second axle arm 220, the pitching assembly 240, and the pan/tilt camera 100 rotate integrally.
其中，云台相机100为上述实施例所述的云台相机100，重新参阅图1至图4，云台相机100包括机身10和设置在机身10上的第一图像采集部20、第二图像采集部30和云台200连接件40；进一步地，云台相机100的机身10包括安装面11和连接面12，云台200连接件40设置在连接面12上，云台相机100通过云台200连接件40连接至云台200，而第一图像采集部20和第二图像采集部30设置在安装面11上，第一图像采集部20和第二图像采集部30分别配合云台相机100的机身10内部相对应的图像传感器完成图像采集，以输出两路图像。The pan-tilt camera 100 is the pan-tilt camera 100 described in the above embodiment. Referring back to FIG. 1 to FIG. 4, the pan-tilt camera 100 includes a body 10 and a first image capturing unit 20 disposed on the body 10. The image capturing unit 30 and the pan/tilt 200 connector 40; further, the body 10 of the pan-tilt camera 100 includes a mounting surface 11 and a connecting surface 12, and the platform 200 connector 40 is disposed on the connecting surface 12, the pan-tilt camera 100 The first image capturing unit 20 and the second image capturing unit 30 are disposed on the mounting surface 11 through the pan/tilt 200 connector 40, and the first image capturing unit 20 and the second image capturing unit 30 respectively cooperate with the cloud. The image sensor corresponding to the inside of the body 10 of the camera 100 completes image acquisition to output two images.
在本发明实施例中，第一图像采集部20和第二图像采集部30设置于云台相机100的机身10的同一安装面11上，其中第一图像采集部20和 第二图像采集部30可以并列设置，也可以分开独立设置，比如图1所示即为第一图像采集部20和第二图像采集部30并列设置于云台相机100的机身10的同一安装面11上的情形，在具体的实施例中，第一图像采集部20和第二图像采集部30可以在同一安装面11内横向设置，也可以在同一安装面11内纵向设置，或者还可以在同一安装面11内斜向设置；In the embodiment of the present invention, the first image capturing unit 20 and the second image capturing unit 30 are disposed on the same mounting surface 11 of the body 10 of the pan-tilt camera 100, wherein the first image capturing unit 20 and The second image capturing unit 30 may be arranged in parallel or separately. For example, as shown in FIG. 1 , the first image capturing unit 20 and the second image capturing unit 30 are arranged side by side in the same installation of the body 10 of the pan-tilt camera 100 . In the specific embodiment, the first image capturing unit 20 and the second image capturing unit 30 may be disposed laterally within the same mounting surface 11 or may be vertically disposed within the same mounting surface 11 or may be Slanted in the same mounting surface 11;
在本发明另一实施例中，第一图像采集部20和第二图像采集部30设置于云台相机100的机身10不同的安装面11上，重新参阅图2，云台相机100的机身10包括两个相邻的安装面11，第一图像采集部20和第二图像采集部30可以分别装设在这两个相邻的安装面11上，当然，在其他实施例中，云台相机100的机身10可以包括两个相对的安装面11，第一图像采集部20和第二图像采集部30可以分别装设在两个相对的安装面11上，在这种情形下，云台装置通过俯仰组件240驱动云台相机100转动，可实现第一图像采集部20和第二图像采集部30在无人飞行器航向上的位置切换。In another embodiment of the present invention, the first image capturing unit 20 and the second image capturing unit 30 are disposed on different mounting surfaces 11 of the body 10 of the pan-tilt camera 100. Referring back to FIG. 2, the camera of the pan-tilt camera 100 The body 10 includes two adjacent mounting faces 11, and the first image capturing portion 20 and the second image capturing portion 30 can be respectively mounted on the two adjacent mounting faces 11, although in other embodiments, the cloud The body 10 of the stage camera 100 may include two opposite mounting faces 11, and the first image capturing portion 20 and the second image capturing portion 30 may be respectively mounted on two opposite mounting faces 11, in which case The pan-tilt device drives the pan-tilt camera 100 to rotate by the tilting unit 240, so that the position of the first image capturing unit 20 and the second image capturing unit 30 in the heading of the unmanned aerial vehicle can be switched.
在上述实施例中，第一图像采集部20和第二图像采集部30可分别独立拆卸；在另一些实施例中，第一图像采集部20和第二图像采集部30也可以为一体结构，第一图像采集部20和第二图像采集部30作为一个整体可拆卸地设置于云台相机100的机身10的安装面11上。In the above embodiment, the first image capturing unit 20 and the second image capturing unit 30 can be separately detached. In other embodiments, the first image capturing unit 20 and the second image capturing unit 30 can also be integrated. The first image capturing unit 20 and the second image capturing unit 30 are detachably provided as a whole on the mounting surface 11 of the body 10 of the pan-tilt camera 100.
在本发明实施例中，云台相机100的机身10设置有第一图像采集部20和第二图像采集部30的安装面11上还设置有镜头固定件50，在一些实施例中，第一图像采集部20和第二图像采集部30分别对应独立的镜头固定件50，以满足第一图像采集部20和第二图像采集部30独立固定的需求；在另一些实施例中，镜头固定件50设置有两个镜头固定部(图未标识)，该两个镜头固定部分别固定第一图像采集部20和第二图像采集部30。In the embodiment of the present invention, the mounting surface 11 of the body 10 of the pan-tilt camera 100, which is provided with the first image capturing unit 20 and the second image capturing unit 30, is further provided with a lens fixing member 50. In some embodiments, An image capturing unit 20 and a second image capturing unit 30 respectively correspond to the independent lens fixing members 50 to meet the requirement that the first image capturing unit 20 and the second image capturing unit 30 are independently fixed; in other embodiments, the lens is fixed. The member 50 is provided with two lens fixing portions (not shown) which fix the first image capturing portion 20 and the second image capturing portion 30, respectively.
进一步地，镜头固定件50还包括固定位，通过该固定位使得镜头固 定件50能够固定在云台相机100的机身10的安装面11上，具体的，该固定位可以是螺孔或者卡扣结构，使得镜头固定件50可通过螺丝固定的方式或者卡扣的方式固定在云台相机100的机身10的安装面11上，相应的，在云台相机100的机身10的安装面11上设置有与之配合的固定孔或者卡扣结构，如图2所示在云台相机100的机身10的安装面11上设置有安装镜头固定件50的第一固定孔111，第一固定孔111的数量可根据需要自由设定。Further, the lens holder 50 further includes a fixing position by which the lens is fixed The fixing member 50 can be fixed on the mounting surface 11 of the body 10 of the pan-tilt camera 100. Specifically, the fixing position can be a screw hole or a snap structure, so that the lens fixing member 50 can be screwed or buckled. The method is fixed on the mounting surface 11 of the body 10 of the pan-tilt camera 100. Correspondingly, a mounting hole or a snap-fit structure is provided on the mounting surface 11 of the body 10 of the pan-tilt camera 100, as shown in FIG. The first fixing hole 111 to which the lens fixing member 50 is attached is provided on the mounting surface 11 of the body 10 of the pan-tilt camera 100, and the number of the first fixing holes 111 can be freely set as needed.
在本发明实施例中，重新参阅图2，云台相机100的机身10的安装面11上还设置有存储卡安装槽112，该存储卡安装槽112可以和第一图像采集部20、第二图像采集部30设置在同一个安装面11上，也可以和第一图像采集部20、第二图像采集部30安装在不同的安装面11上，比如图1所示第一图像采集部20和第二图像采集部30所在的安装面11与图2所示存储卡安装槽112所在的安装面11相邻。In the embodiment of the present invention, referring back to FIG. 2, the mounting surface 11 of the body 10 of the pan-tilt camera 100 is further provided with a memory card mounting slot 112, and the memory card mounting slot 112 and the first image capturing unit 20, The image capturing unit 30 is disposed on the same mounting surface 11 , and may be mounted on a different mounting surface 11 than the first image capturing unit 20 and the second image capturing unit 30 , such as the first image capturing unit 20 shown in FIG. 1 . The mounting surface 11 where the second image capturing unit 30 is located is adjacent to the mounting surface 11 where the memory card mounting groove 112 shown in FIG. 2 is located.
在本发明实施例中，云台相机100的机身10的形状可以是方体或者柱体或者类球体。In the embodiment of the present invention, the shape of the body 10 of the pan-tilt camera 100 may be a square or a cylinder or a sphere-like body.
在本发明实施例中，云台200连接件40与云台相机100的机身10为一体结构。在本发明的一些实施例中，云台200连接件40可拆卸地固定在连接面12上，如图4所示，云台200连接件40包括马蹄形的连接架41，以及设置在连接架41上的固定部411以及限位部412，固定部411用于云台200连接件40在云台相机100的机身10的连接面12的安装固定，同样的，该固定部411可以是螺孔或者卡扣结构，使得云台200连接件40可通过螺丝固定的方式或者卡扣的方式固定在云台相机100的机身10的连接面12上，相应的，在云台相机100的机身10的连接面12上设置有与之配合的固定孔或者卡扣结构，如图2所示在云台相机100的机身10的连接面12上设置有安装云台200连接件40的第二固定孔121，第二固定孔121的数量可根据需要自由设定；而限位部412用于云台200与云 台200连接件40的连接限位，以保证云台200与云台相机100连接的稳定性，其中云台200的俯仰电机的旋转轴连接的连接部件嵌入连接架的中间区域，其上的限位部412件抵顶至限位部412内。In the embodiment of the present invention, the platform 200 connector 40 and the body 10 of the pan-tilt camera 100 are of a unitary structure. In some embodiments of the present invention, the platform 200 connector 40 is detachably fixed to the connection surface 12, as shown in FIG. 4, the platform 200 connector 40 includes a horseshoe-shaped connector 41, and is disposed on the connector 41. The upper fixing portion 411 and the limiting portion 412 are used for mounting and fixing the platform 200 connector 40 on the connecting surface 12 of the body 10 of the pan-tilt camera 100. Similarly, the fixing portion 411 may be a screw hole. Or the buckle structure, so that the platform 200 connector 40 can be fixed on the connecting surface 12 of the body 10 of the pan-tilt camera 100 by screwing or snapping, and correspondingly, the body of the pan-tilt camera 100 The connecting surface 12 of the 10 is provided with a fixing hole or a snapping structure. The second surface of the connecting body 12 of the pan/tilt camera 100 is provided with a second mounting unit 40 of the platform 200 as shown in FIG. The fixing hole 121, the number of the second fixing holes 121 can be freely set as needed; and the limiting portion 412 is used for the cloud platform 200 and the cloud The connection limit of the connector 200 of the table 200 is to ensure the stability of the connection between the pan/tilt head 200 and the pan-tilt camera 100, wherein the connecting member of the rotary shaft of the pitch motor 200 is embedded in the middle portion of the connecting frame, and the upper limit thereof The bit portion 412 is abutted into the limiting portion 412.
可选的，云台相机100的机身10的连接面12包括相对的第一连接面和第二连接面，在第一连接面和第二连接面上均设置有云台200连接件40，云台200同时与第一连接面和第二连接面上的云台200连接件40连接，如此可以提高云台200与云台相机100连接的稳定性，可以理解，在第一连接面和第二连接面上可设置同样的云台200连接件40，也可以设置不同结构的云台200连接件40，比如在第一连接面设置图4所示的云台200连接件40，而在第二连接面上仅设置一轴孔，云台200的第二轴臂220的一端通过俯仰组件240连接至图4所示的云台200连接件40，而另一端通过端部设置的旋转轴直接插入该轴孔，完成连接，诸如此类，在此不再展开说明。Optionally, the connecting surface 12 of the body 10 of the pan-tilt camera 100 includes an opposite first connecting surface and a second connecting surface, and a pan-tilt 200 connecting member 40 is disposed on the first connecting surface and the second connecting surface. The pan/tilt 200 is simultaneously connected to the pan/tilt 200 connector 40 on the first connection surface and the second connection surface, so that the stability of the connection between the pan/tilt head 200 and the pan/tilt camera 100 can be improved, and it can be understood that the first connection surface and the first connection surface The same PTZ 200 connecting member 40 may be disposed on the two connecting surfaces, and the PTZ 200 connecting member 40 of different structures may be disposed. For example, the PTZ 200 connecting member 40 shown in FIG. 4 is disposed on the first connecting surface, and the Only one shaft hole is disposed on the two connecting surfaces, and one end of the second shaft arm 220 of the platform 200 is connected to the platform 200 connecting member 40 shown in FIG. 4 through the pitching assembly 240, and the other end is directly connected to the rotating shaft provided at the end. The shaft hole is inserted, the connection is completed, and the like, and the description will not be repeated here.
在本发明实施例中，重新参阅图2，云台相机100的机身10的连接面12上还设置有数据接口122，云台相机100安装在云台200上时，数据接口122与云台200上对应的接口连接，以向与云台200连接的无人飞行器传输云台相机100采集的图像数据。In the embodiment of the present invention, referring back to FIG. 2, the connection surface 12 of the body 10 of the pan-tilt camera 100 is further provided with a data interface 122. When the pan-tilt camera 100 is mounted on the platform 200, the data interface 122 and the pan/tilt The corresponding interface on 200 is connected to transmit the image data collected by the pan/tilt camera 100 to the unmanned aerial vehicle connected to the pan/tilt 200.
在上述实施例中，第一图像采集部20和第二图像采集部30可以是红外热成像镜头和可见光镜头中的一种或者两种，即可以是第一图像采集部20为红外热成像镜头，第二图像采集部30为可见光镜头，或者第一图像采集部20和第二图像采集部30均为可见光镜头，或者第一图像采集部20和第二图像采集部30均为红外热成像镜头；其中，对于第一图像采集部20为红外热成像镜头，第二图像采集部30为可见光镜头的情形，采用该云台相机100的无人飞行器既可以在日间飞行进行航拍，也可以在夜间飞行进行航拍，满足多场景拍摄需求，同时还可以采集不同类型的图像，满足多样化图像的采集需求；对于第一图像采集部20和第二图像采集部 30均为可见光镜头的情形，在光线良好的环境下，可以在不同方向上进行图像采集，也可以只启用其中一个而进行单方向的图像采集，这样可实现多场景拍摄和多样化图像采集的需求；对于第一图像采集部20和第二图像采集部30均为红外热成像镜头的情形，在光线较差的环境下，可以在不同方向上进行红外图像采集，也可以只启用其中一个而进行单方向的红外图像采集，同样实现了多场景拍摄和多样化图像采集的需求；在其他实施例中，还可将第一图像采集部20和第二图像采集部30采集的两路图像视频进行图像融合或者进行画中画显示，提供新型的图像显示内容。In the above embodiment, the first image capturing unit 20 and the second image capturing unit 30 may be one or both of an infrared thermal imaging lens and a visible light lens, that is, the first image capturing unit 20 may be an infrared thermal imaging lens. The second image capturing unit 30 is a visible light lens, or the first image capturing unit 20 and the second image capturing unit 30 are both visible light lenses, or the first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses. In the case where the first image capturing unit 20 is an infrared thermal imaging lens and the second image capturing unit 30 is a visible light lens, the unmanned aerial vehicle using the pan/tilt camera 100 can perform aerial photography during daytime flight, or Night flight for aerial photography to meet the needs of multi-scene shooting, while also collecting different types of images to meet the needs of diverse image collection; for the first image acquisition unit 20 and the second image acquisition unit 30 is a visible light lens. In a good light environment, image acquisition can be performed in different directions, or only one of them can be used for single-direction image acquisition, which can achieve multi-scene shooting and diverse image acquisition. The first image capturing unit 20 and the second image capturing unit 30 are both infrared thermal imaging lenses. In a poor light environment, infrared image capturing can be performed in different directions, or only one of them can be activated. The unidirectional infrared image acquisition is performed, and the requirements for multi-scene shooting and diversified image acquisition are also realized. In other embodiments, the two image images captured by the first image capturing unit 20 and the second image capturing unit 30 are also available. Image fusion or picture-in-picture display provides a new type of image display content.
本实施例中所述的云台相机100的还可参阅前述实施例中所述的云台相机的相关技术内容。For the pan/tilt camera 100 described in this embodiment, reference may also be made to the related art content of the pan/tilt camera described in the foregoing embodiments.
根据本发明实施例提供的云台装置，一方面，其采用的云台相机100设置有两个图像采集部，这两个图像采集部可以配置成独立工作也可以配置成分工合作，通过赋予这两个图像采集部不同的结构和功能，使得所述云台相机100可以在不同的场景下进行图像采集，大大提升了应用范围，同时采集的图像内容更加丰富和全面，能够更大程度上满足用户的需求，另一方面，其采用的云台200采用双轴臂与俯仰组件240、横滚组件230、偏航组件250交替连接形式形成二轴或者三轴的增稳云台200，可实现云台相机100的增稳功能，扩展拍摄空间范围，本发明提供的云台200结构简单，可实现多级运动控制，其稳定性更高。According to the pan-tilt device provided by the embodiment of the present invention, on one hand, the pan-tilt camera 100 is provided with two image capturing sections, and the two image capturing sections can be configured to work independently or in combination with components. The different structures and functions of the two image acquisition units enable the pan/tilt camera 100 to perform image acquisition in different scenes, which greatly enhances the application range, and at the same time, the collected image content is more abundant and comprehensive, and can satisfy the image to a greater extent. The user's demand, on the other hand, the pan/tilt head 200 adopts a biaxial arm and pitch assembly 240, a roll assembly 230, and a yaw assembly 250 to form a two-axis or three-axis stabilization pan/tilt 200, which can be realized. The pan-tilt camera 100 has a stabilizing function and expands the shooting space range. The pan-tilt 200 provided by the present invention has a simple structure and can realize multi-level motion control, and the stability thereof is higher.
本发明实施例还提供一种无人飞行器，如图7所示，无人飞行器包括无人飞行器机体1和云台装置2，其中云台装置2包括云台相机100和云台200，云台200包括第一轴臂210、第二轴臂220、俯仰组件240和横滚组件230，第一轴臂210的一端通过横滚组件230和第二轴臂220连接，第二轴臂220的一端通过俯仰组件240连接至云台相机100的云台连接件40，第一轴臂210的另一端固定在无人飞行器机体1上； The embodiment of the present invention further provides an unmanned aerial vehicle. As shown in FIG. 7, the unmanned aerial vehicle includes an unmanned aerial vehicle body 1 and a pan/tilt device 2, wherein the pan-tilt device 2 includes a pan-tilt camera 100 and a pan-tilt head 200, and the pan/tilt head The 200 includes a first axle arm 210, a second axle arm 220, a pitching assembly 240, and a roll assembly 230. One end of the first axle arm 210 is coupled to the second axle arm 220 by a roll assembly 230, and one end of the second axle arm 220 Connected to the pan/tilt connector 40 of the pan-tilt camera 100 by the tilting assembly 240, the other end of the first axle arm 210 is fixed on the unmanned aerial vehicle body 1;
俯仰组件240包括俯仰电机，用于驱动云台相机100转动；横滚组件230包括横滚电机，用于驱动第二轴臂220、俯仰组件240和云台相机100整体转动。The tilt assembly 240 includes a pitch motor for driving the pan-tilt camera 100 to rotate; the roll assembly 230 includes a roll motor for driving the second axle arm 220, the pitch assembly 240, and the pan-tilt camera 100 to rotate integrally.
进一步地，云台装置2还包括偏航组件250，第一轴臂210的另一端连接偏航组件250，偏航组件250固定在无人飞行器机体1上；偏航组件250包括偏航电机，用于驱动第一轴臂210、横滚组件230、第二轴臂220、俯仰组件240和云台相机100整体转动。在一些实施例中，偏航组件250与无人飞行器机体1的连接处采用快拆接口，可选的，在该快拆接口处还设置有密封件，提高云台装置2的防水性能，使得云台装置2在雨中或者潮湿环境中均能使用。Further, the pan-tilt device 2 further includes a yaw assembly 250, the other end of the first axle arm 210 is coupled to the yaw assembly 250, the yaw assembly 250 is fixed to the unmanned aircraft body 1; and the yaw assembly 250 includes a yaw motor. It is used to drive the first shaft arm 210, the roll assembly 230, the second axle arm 220, the pitch assembly 240, and the pan/tilt camera 100 to rotate integrally. In some embodiments, the connection of the yaw component 250 and the UAV body 1 adopts a quick release interface. Optionally, a seal is further disposed at the quick release interface to improve the waterproof performance of the pan/tilt device 2, so that The pan/tilt unit 2 can be used in rain or in a humid environment.
在本实施例中，所述云台相机100和所述云台装置2的相关技术内容可参阅前述实施例提供的云台相机和云台装置，在此不再赘述。In this embodiment, the related art content of the PTZ camera 100 and the PTZ device 2 can refer to the PTZ camera and the PTZ device provided in the foregoing embodiments, and details are not described herein again.
根据本发明实施例提供的无人飞行器，一方面，其采用的云台相机100设置有两个图像采集部，这两个图像采集部可以配置成独立工作也可以配置成分工合作，通过赋予这两个图像采集部不同的结构和功能，使得所述云台相机100可以在不同的场景下进行图像采集，大大提升了应用范围，同时采集的图像内容更加丰富和全面，能够更大程度上满足用户的需求，另一方面，其采用的云台200采用双轴臂与俯仰组件240、横滚组件230、偏航组件250交替连接形式形成二轴或者三轴的增稳云台200，可实现云台相机100的增稳功能，扩展拍摄空间范围，本发明提供的云台200结构简单，可实现多级运动控制，其稳定性更高。According to the unmanned aerial vehicle provided by the embodiment of the present invention, on the one hand, the pan/tilt camera 100 is provided with two image capturing sections, and the two image capturing sections can be configured to work independently or in combination with components. The different structures and functions of the two image acquisition units enable the pan/tilt camera 100 to perform image acquisition in different scenes, which greatly enhances the application range, and at the same time, the collected image content is more abundant and comprehensive, and can satisfy the image to a greater extent. The user's demand, on the other hand, the pan/tilt head 200 adopts a biaxial arm and pitch assembly 240, a roll assembly 230, and a yaw assembly 250 to form a two-axis or three-axis stabilization pan/tilt 200, which can be realized. The pan-tilt camera 100 has a stabilizing function and expands the shooting space range. The pan-tilt 200 provided by the present invention has a simple structure and can realize multi-level motion control, and the stability thereof is higher.
显然，以上所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，附图中给出了本发明的较佳实施例，但并不限制本发明的专利范围。本发明可以以许多不同的形式来实现，相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来而言，其依然可以 对前述各具体实施方式所记载的技术方案进行修改，或者对其中部分技术特征进行等效替换。凡是利用本发明说明书及附图内容所做的等效结构，直接或间接运用在其他相关的技术领域，均同理在本发明专利保护范围之内。 It is apparent that the above-described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments, and the preferred embodiments of the present invention are shown in the drawings, but do not limit the scope of the invention. The present invention may be embodied in many different forms and, <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; Although the present invention has been described in detail with reference to the foregoing embodiments, it will still be apparent to those skilled in the art The technical solutions described in the foregoing specific embodiments are modified, or some of the technical features are equivalently replaced. The equivalent structures made by using the description of the present invention and the contents of the drawings are directly or indirectly applied to other related technical fields, and are equally within the scope of the patent protection of the present invention.

Claims (36)

  1. 一种云台相机，应用于无人飞行器，其特征在于，所述云台相机的机身包括安装面和连接面，所述连接面上设置有云台连接件，用于与云台连接；A pan-tilt camera is applied to an unmanned aerial vehicle, wherein the body of the pan-tilt camera comprises a mounting surface and a connecting surface, and the connecting surface is provided with a pan-tilt connection for connecting with the pan-tilt;
    所述云台相机包括第一图像采集部和第二图像采集部，所述第一图像采集部和第二图像采集部设置在所述安装面上，所述第一图像采集部和所述第二图像采集部分别配合所述云台相机的机身内部相对应的图像传感器完成图像采集，以输出两路图像。The pan/tilt camera includes a first image capturing unit and a second image capturing unit, and the first image capturing unit and the second image capturing unit are disposed on the mounting surface, the first image capturing unit and the first The image acquisition unit performs image acquisition with the corresponding image sensor inside the body of the pan/tilt camera to output two images.
  2. 根据权利要求1所述的云台相机，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身的同一安装面上。The pan/tilt camera according to claim 1, wherein the first image capturing unit and the second image capturing unit are disposed on a same mounting surface of the body of the pan/tilt camera.
  3. 根据权利要求2所述的云台相机，其特征在于，所述第一图像采集部和第二图像采集部在所述安装面内横向并列设置；或者The pan/tilt camera according to claim 2, wherein the first image capturing portion and the second image capturing portion are laterally arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内纵向并列设置；或者The first image capturing portion and the second image capturing portion are vertically arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内斜向并列设置。The first image acquisition unit and the second image acquisition unit are arranged side by side obliquely in the mounting surface.
  4. 根据权利要求2所述的云台相机，其特征在于，所述云台相机的机身设置有所述第一图像采集部和第二图像采集部的安装面上还设置有镜头固定件。The pan-tilt camera according to claim 2, wherein a lens mount is further provided on a mounting surface of the body of the pan-tilt camera on which the first image capturing portion and the second image capturing portion are disposed.
  5. 根据权利要求2所述的云台相机，其特征在于，所述第一图像采集部和第二图像采集部可分别独立拆卸。The pan/tilt camera according to claim 2, wherein the first image capturing portion and the second image capturing portion are separately detachable.
  6. 根据权利要求1所述的云台相机，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身上不同的安装面。The pan/tilt camera according to claim 1, wherein the first image capturing unit and the second image capturing unit are disposed on different mounting faces of the body of the pan/tilt camera.
  7. 根据权利要求1所述的云台相机，其特征在于，所述第一图像采集部和第二图像采集部为一体结构，所述第一图像采集部和第二图像采集 部整体可拆卸地设置于所述云台相机的机身的安装面上。The pan/tilt camera according to claim 1, wherein the first image acquisition unit and the second image acquisition unit are integrated, the first image acquisition unit and the second image collection unit. The portion is integrally detachably disposed on a mounting surface of the body of the pan/tilt camera.
  8. 根据权利要求1所述的云台相机，其特征在于，所述连接面包括相对的第一连接面和第二连接面。The pan/tilt camera according to claim 1, wherein the connecting surface comprises an opposite first connecting surface and a second connecting surface.
  9. 根据权利要求1所述的云台相机，其特征在于，所述云台连接件与所述云台相机的机身为一体结构；或者The pan/tilt camera according to claim 1, wherein the pan-tilt connector is integral with a body of the pan-tilt camera; or
    所述云台连接件可拆卸地固定在所述连接面上。The pan/tilt connection is detachably fixed to the connecting surface.
  10. 根据权利要求1所述的云台相机，其特征在于，所述连接面上还设置有数据接口，所述云台相机安装在云台上时，所述数据接口与云台上对应的接口连接。The pan/tilt camera according to claim 1, wherein the connection surface is further provided with a data interface, and when the pan/tilt camera is mounted on the pan/tilt, the data interface is connected with a corresponding interface on the pan/tilt .
  11. 根据权利要求1所述的云台相机，其特征在于，所述第一图像采集部为红外热成像镜头，所述第二图像采集部为可见光镜头；或者The pan/tilt camera according to claim 1, wherein the first image acquisition unit is an infrared thermal imaging lens, and the second image acquisition unit is a visible light lens; or
    所述第一图像采集部和所述第二图像采集部均为可见光镜头；或者The first image acquisition unit and the second image acquisition unit are both visible light lenses; or
    所述第一图像采集部和所述第二图像采集部均为红外热成像镜头。The first image acquisition unit and the second image acquisition unit are both infrared thermal imaging lenses.
  12. 一种云台装置，其特征在于，包括云台和云台相机，A pan-tilt device, comprising a pan/tilt head and a pan-tilt camera,
    所述云台包括第一轴臂、第二轴臂、俯仰组件和横滚组件；其中，所述第一轴臂的一端通过所述横滚组件和所述第二轴臂连接，所述第二轴臂的一端通过所述俯仰组件连接至所述云台相机的云台连接件；所述俯仰组件包括俯仰电机，用于驱动所述云台相机转动；所述横滚组件包括横滚电机，用于驱动所述第二轴臂、所述俯仰组件和所述云台相机整体转动；The pan/tilt includes a first axle arm, a second axle arm, a pitch assembly, and a roll assembly; wherein one end of the first axle arm is coupled through the roll assembly and the second axle arm, the first One end of the two-axis arm is coupled to the pan-tilt connector of the pan-tilt camera through the pitching assembly; the pitching assembly includes a pitch motor for driving the pan-tilt camera to rotate; the roll assembly includes a roll-to-roll motor For driving the second axle arm, the pitching component and the pan/tilt camera to rotate integrally;
    所述云台相机的机身包括安装面和连接面，所述连接面上设置有云台连接件，用于与云台连接；所述云台相机包括第一图像采集部和第二图像采集部，所述第一图像采集部和第二图像采集部设置在所述安装面上，所述第一图像采集部和所述第二图像采集部分别配合所述云台相机的机身内部相对应的图像传感器完成图像采集，以输出两路图像。The body of the pan-tilt camera includes a mounting surface and a connecting surface, and the connecting surface is provided with a pan-tilt connection for connecting with the pan-tilt; the pan-tilt camera includes a first image capturing unit and a second image capturing unit The first image acquisition unit and the second image acquisition unit are disposed on the mounting surface, and the first image acquisition unit and the second image acquisition unit respectively cooperate with the internal phase of the camera of the pan/tilt camera. The corresponding image sensor completes image acquisition to output two images.
  13. 根据权利要求12所述的云台装置，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身的同一安装面上。 The pan-tilt device according to claim 12, wherein the first image capturing portion and the second image capturing portion are disposed on a same mounting surface of the body of the pan-tilt camera.
  14. 根据权利要求13所述的云台装置，其特征在于，所述第一图像采集部和第二图像采集部在所述安装面内横向并列设置；或者The pan/tilt head device according to claim 13, wherein the first image capturing portion and the second image capturing portion are laterally arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内纵向并列设置；或者The first image capturing portion and the second image capturing portion are vertically arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内斜向并列设置。The first image acquisition unit and the second image acquisition unit are arranged side by side obliquely in the mounting surface.
  15. 根据权利要求13所述的云台装置，其特征在于，所述云台相机的机身设置有所述第一图像采集部和第二图像采集部的安装面上还设置有镜头固定件。The pan-tilt device according to claim 13, wherein a lens mount is further provided on a mounting surface of the body of the pan-tilt camera on which the first image capturing portion and the second image capturing portion are disposed.
  16. 根据权利要求13所述的云台装置，其特征在于，所述第一图像采集部和第二图像采集部可分别独立拆卸。The pan-tilt device according to claim 13, wherein the first image capturing portion and the second image capturing portion are separately detachable.
  17. 根据权利要求12所述的云台装置，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身上不同的安装面。The pan-tilt device according to claim 12, wherein the first image capturing portion and the second image capturing portion are disposed on different mounting faces of the body of the pan-tilt camera.
  18. 根据权利要求12所述的云台装置，其特征在于，所述第一图像采集部和第二图像采集部为一体结构，所述第一图像采集部和第二图像采集部整体可拆卸地设置于所述云台相机的机身的安装面上。The pan/tilt head device according to claim 12, wherein the first image capturing portion and the second image capturing portion are integrated, and the first image capturing portion and the second image capturing portion are integrally detachably disposed On the mounting surface of the body of the pan/tilt camera.
  19. 根据权利要求12所述的云台装置，其特征在于，所述连接面包括相对的第一连接面和第二连接面。The pan/tilt head according to claim 12, wherein the connecting surface comprises an opposite first connecting surface and a second connecting surface.
  20. 根据权利要求12所述的云台装置，其特征在于，所述云台连接件与所述云台相机的机身为一体结构；或者The pan/tilt head device according to claim 12, wherein the pan-tilt connector is integral with a body of the pan-tilt camera; or
    所述云台连接件可拆卸地固定在所述连接面上。The pan/tilt connection is detachably fixed to the connecting surface.
  21. 根据权利要求12所述的云台装置，其特征在于，所述连接面上还设置有数据接口，所述云台相机安装在云台上时，所述数据接口与云台上对应的接口连接。The PTZ device according to claim 12, wherein the connection surface is further provided with a data interface, and when the PTZ camera is installed on the PTZ, the data interface is connected with a corresponding interface on the PTZ .
  22. 根据权利要求12所述的云台装置，其特征在于，所述第一图像采集部为红外热成像镜头，所述第二图像采集部为可见光镜头；或者 The pan/tilt head device according to claim 12, wherein the first image capturing portion is an infrared thermal imaging lens, and the second image capturing portion is a visible light lens; or
    所述第一图像采集部和所述第二图像采集部均为可见光镜头；或者The first image acquisition unit and the second image acquisition unit are both visible light lenses; or
    所述第一图像采集部和所述第二图像采集部均为红外热成像镜头。The first image acquisition unit and the second image acquisition unit are both infrared thermal imaging lenses.
  23. 根据权利要求12-22任一项所述的云台装置，所述云台装置还包括偏航组件，所述第一轴臂的另一端连接所述偏航组件。A pan-tilt device according to any one of claims 12-22, further comprising a yaw assembly, the other end of the first axle arm being coupled to the yaw assembly.
  24. 一种无人飞行器，其特征在于，所述无人飞行器包括无人飞行器机体和云台装置，所述云台装置包括云台和云台相机，An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a pan-tilt device, and the pan-tilt device comprises a pan/tilt head and a pan-tilt camera.
    所述云台包括第一轴臂、第二轴臂、俯仰组件和横滚组件；其中，所述第一轴臂的一端通过所述横滚组件和所述第二轴臂连接，所述第二轴臂的一端通过所述俯仰组件连接至所述云台相机的云台连接件，所述第一轴臂的另一端固定在所述无人飞行器机体上；所述俯仰组件包括俯仰电机，用于驱动所述云台相机转动；所述横滚组件包括横滚电机，用于驱动所述第二轴臂、所述俯仰组件和所述云台相机整体转动The pan/tilt includes a first axle arm, a second axle arm, a pitch assembly, and a roll assembly; wherein one end of the first axle arm is coupled through the roll assembly and the second axle arm, the first One end of the two-axis arm is connected to the pan-tilt connector of the pan-tilt camera through the pitching component, and the other end of the first-axis arm is fixed on the unmanned aerial vehicle body; the pitching component includes a pitch motor, Driving the pan/tilt camera to rotate; the roll assembly includes a roll motor for driving the second axle arm, the pitch component, and the pan/tilt camera to rotate integrally
    所述云台相机的机身包括安装面和连接面，所述连接面上设置有云台连接件，用于与云台连接；所述云台相机包括第一图像采集部和第二图像采集部，所述第一图像采集部和第二图像采集部设置在所述安装面上，所述第一图像采集部和所述第二图像采集部分别配合所述云台相机的机身内部相对应的图像传感器完成图像采集，以输出两路图像。The body of the pan-tilt camera includes a mounting surface and a connecting surface, and the connecting surface is provided with a pan-tilt connection for connecting with the pan-tilt; the pan-tilt camera includes a first image capturing unit and a second image capturing unit The first image acquisition unit and the second image acquisition unit are disposed on the mounting surface, and the first image acquisition unit and the second image acquisition unit respectively cooperate with the internal phase of the camera of the pan/tilt camera. The corresponding image sensor completes image acquisition to output two images.
  25. 根据权利要求24所述的无人飞行器，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身的同一安装面上。The UAV according to claim 24, wherein the first image capturing portion and the second image capturing portion are disposed on a same mounting surface of the body of the pan-tilt camera.
  26. 根据权利要求25所述的无人飞行器，其特征在于，所述第一图像采集部和第二图像采集部在所述安装面内横向并列设置；或者The UAV according to claim 25, wherein the first image capturing portion and the second image capturing portion are laterally arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内纵向并列设置；或者The first image capturing portion and the second image capturing portion are vertically arranged side by side in the mounting surface; or
    所述第一图像采集部和第二图像采集部在所述安装面内斜向并列设置。The first image acquisition unit and the second image acquisition unit are arranged side by side obliquely in the mounting surface.
  27. 根据权利要求25所述的无人飞行器，其特征在于，所述云台相 机的机身设置有所述第一图像采集部和第二图像采集部的安装面上还设置有镜头固定件。The UAV according to claim 25, wherein said cloud platform A lens fixing member is further disposed on a mounting surface of the machine body on which the first image capturing portion and the second image capturing portion are disposed.
  28. 根据权利要求25所述的无人飞行器，其特征在于，所述第一图像采集部和第二图像采集部可分别独立拆卸。The UAV according to claim 25, wherein the first image capturing portion and the second image capturing portion are separately detachable.
  29. 根据权利要求24所述的无人飞行器，其特征在于，所述第一图像采集部和第二图像采集部设置于所述云台相机的机身上不同的安装面。The UAV according to claim 24, wherein the first image capturing portion and the second image capturing portion are disposed on different mounting faces of the body of the pan/tilt camera.
  30. 根据权利要求24所述的无人飞行器，其特征在于，所述第一图像采集部和第二图像采集部为一体结构，所述第一图像采集部和第二图像采集部整体可拆卸地设置于所述云台相机的机身的安装面上。The UAV according to claim 24, wherein the first image acquisition unit and the second image acquisition unit are integrated, and the first image acquisition unit and the second image acquisition unit are integrally detachably disposed. On the mounting surface of the body of the pan/tilt camera.
  31. 根据权利要求24所述的无人飞行器，其特征在于，所述连接面包括相对的第一连接面和第二连接面。The UAV according to claim 24, wherein said connecting surface comprises opposing first connecting faces and second joining faces.
  32. 根据权利要求24所述的无人飞行器，其特征在于，所述云台连接件与所述云台相机的机身为一体结构；或者The UAV according to claim 24, wherein said pan-tilt connector is integral with a body of said pan-tilt camera; or
    所述云台连接件可拆卸地固定在所述连接面上。The pan/tilt connection is detachably fixed to the connecting surface.
  33. 根据权利要求24所述的无人飞行器，其特征在于，所述连接面上还设置有数据接口，所述云台相机安装在云台上时，所述数据接口与云台上对应的接口连接。The UAV according to claim 24, wherein the connection surface is further provided with a data interface, and when the PTZ camera is installed on the PTZ, the data interface is connected with a corresponding interface on the PTZ. .
  34. 根据权利要求24所述的无人飞行器，其特征在于，所述第一图像采集部为红外热成像镜头，所述第二图像采集部为可见光镜头；或者The UAV according to claim 24, wherein the first image acquisition unit is an infrared thermal imaging lens, and the second image acquisition unit is a visible light lens; or
    所述第一图像采集部和所述第二图像采集部均为可见光镜头；或者The first image acquisition unit and the second image acquisition unit are both visible light lenses; or
    所述第一图像采集部和所述第二图像采集部均为红外热成像镜头。The first image acquisition unit and the second image acquisition unit are both infrared thermal imaging lenses.
  35. 根据权利要求24-34任一项所述的无人飞行器，所述云台装置还包括偏航组件，所述第一轴臂的另一端连接所述偏航组件。An unmanned aerial vehicle according to any one of claims 24 to 34, further comprising a yaw assembly, the other end of the first axle arm being coupled to the yaw assembly.
  36. 根据权利要求24-35任一项所述的无人飞行器，其特征在于，所述云台装置还包括偏航组件，所述第一轴臂的另一端连接所述偏航组件，所述偏航组件固定在所述无人飞行器机体上； An unmanned aerial vehicle according to any one of claims 24 to 35, wherein said pan/tilt device further comprises a yaw assembly, and the other end of said first axle arm is connected to said yaw assembly, said bias The navigation component is fixed on the unmanned aerial vehicle body;
    所述偏航组件包括偏航电机，用于驱动所述第一轴臂、所述横滚组件、所述第二轴臂、所述俯仰组件和所述云台相机整体转动。 The yaw assembly includes a yaw motor for driving the first axle arm, the roll assembly, the second axle arm, the pitch assembly, and the pan/tilt camera to rotate integrally.
PCT/CN2017/115277 2017-10-31 2017-12-08 Pan-tilt camera, pan-tilt device and unmanned aerial vehicle WO2019085154A1 (en)

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