WO2021081805A1 - Cardan et véhicule aérien sans pilote - Google Patents

Cardan et véhicule aérien sans pilote Download PDF

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Publication number
WO2021081805A1
WO2021081805A1 PCT/CN2019/114343 CN2019114343W WO2021081805A1 WO 2021081805 A1 WO2021081805 A1 WO 2021081805A1 CN 2019114343 W CN2019114343 W CN 2019114343W WO 2021081805 A1 WO2021081805 A1 WO 2021081805A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
axis
drive module
motor
Prior art date
Application number
PCT/CN2019/114343
Other languages
English (en)
Chinese (zh)
Inventor
马举猛
王鹏
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.)
Filing date
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 CN201980040278.2A priority Critical patent/CN112739621A/zh
Priority to PCT/CN2019/114343 priority patent/WO2021081805A1/fr
Publication of WO2021081805A1 publication Critical patent/WO2021081805A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters

Definitions

  • the embodiment of the present invention relates to the technical field of unmanned aerial vehicles, in particular to a pan/tilt and an unmanned aerial vehicle.
  • the gimbal is generally driven by a small motor with a diameter of 13mm, and an integrated motor drive chip is used to drive the motor.
  • the joint angle detection of the gimbal uses a small The volume and low-cost linear Hall sensor are used for detection, which greatly reduces the volume of the pan/tilt control circuit board, which is beneficial to the miniaturization of the pan/tilt.
  • coaxial cables must be used for the transmission of high-speed signals such as high-definition images.
  • IMU inertial measurement unit
  • motor drive signal motor drive signal
  • position detection signal on the pan/tilt Etc. are also transmitted via coaxial cable.
  • the coaxial wiring harness generally includes two insulating layers, the coaxial cable will be much harder than the electronic wire under certain flow conditions.
  • the use of coaxial cable for the PTZ cable will cause great interference problems. , If too many coaxial cables are used, it will seriously affect the control of the PTZ.
  • embodiments of the present invention provide a pan-tilt and an unmanned aerial vehicle.
  • the first aspect of the embodiments of the present invention provides a pan/tilt head for a movable platform, the pan/tilt head has at least one pan/tilt motor for driving the pan/tilt head to rotate, and the pan/tilt head further includes:
  • At least one pan/tilt motor drive module is electrically connected to the pan/tilt motor, and is used to control the operation of the pan/tilt motor;
  • At least one of the pan/tilt motor drive modules is configured to be electrically connected to a main controller on the movable platform through an electronic wire, so as to transmit a low-speed signal through the electronic wire;
  • the pan-tilt is also used for carrying a load, and the load is used for electrically connecting with the main controller through a coaxial line to transmit a high-speed signal through the coaxial line.
  • a second aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a fuselage, a pan/tilt, and a load mounted on the pan/tilt.
  • the fuselage is provided with a main controller, and the pan/tilt has at least one A pan-tilt motor for driving the rotation of the pan-tilt, the pan-tilt further includes:
  • At least one pan/tilt motor drive module is electrically connected to the pan/tilt motor, and is used to control the operation of the pan/tilt motor;
  • At least one of the pan/tilt motor drive modules is electrically connected to the main controller through an electronic wire, so as to transmit a low-speed signal through the electronic wire;
  • the load is electrically connected with the main controller through a coaxial line to transmit a high-speed signal through the coaxial line.
  • the pan/tilt motor drive module is used to control the operation of the pan/tilt motor, and the pan/tilt motor drive module is used to electrically connect with a main controller on a movable platform through an electronic wire to
  • the low-speed signal is transmitted through the electronic line, and the pan/tilt is used to carry the load.
  • the load is used to connect with the main controller through the coaxial line to transmit the high-speed signal through the coaxial line.
  • the low-speed signal involved on the pan/tilt is transmitted through the electronic line.
  • the high-speed signals involved are transmitted through coaxial lines. Compared with the transmission method of all coaxial lines in the prior art, this technical solution can make the wiring of the entire pan/tilt softer, and can effectively reduce the interference of the pan/tilt. force.
  • FIG. 1 is a schematic diagram of the cabling of a pan/tilt provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a pan-tilt provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a pan/tilt motor provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the hybrid wiring harness of the pan/tilt and the FPC board connected with the hybrid wiring harness according to the embodiment of the present invention
  • FIG. 5 is a schematic diagram of the front structure of the FPC board connected to the yaw axis drive module on the pan/tilt provided by the embodiment of the present invention
  • FIG. 6 is a schematic diagram of the back structure of the FPC board connected to the yaw axis driving module on the pan/tilt provided by the embodiment of the present invention
  • FIG. 7 is a schematic structural diagram of a yaw axis support of a gimbal according to an embodiment of the present invention.
  • Fig. 8 is a schematic structural diagram of the roll axis support of the pan/tilt provided by the embodiment of the present invention.
  • connection herein includes any direct and indirect means of connection. Therefore, if it is described that a first device is connected to a second device, it means that the first device can be directly connected to the second device, or indirectly connected to the second device through other devices.
  • FIG. 1 is a schematic diagram of the cabling of a pan/tilt provided by an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a pan/tilt provided by an embodiment of the present invention
  • this embodiment provides a pan/tilt
  • the pan/tilt 100 has at least one pan/tilt motor 10 for driving the rotation of the pan/tilt, and the pan/tilt 100 further includes: at least one pan/tilt motor driving module 20.
  • the movable platform in this embodiment may be, for example, but not limited to, an unmanned aerial vehicle.
  • the gimbal 100 is used to control the angle of the camera module during the aerial photography of the unmanned aerial vehicle to prevent image shake caused by the unmanned aerial vehicle vibration or other external disturbance factors, which affects the quality of aerial photography, or It is to control the camera module to turn to a certain angle to complete the corresponding shooting function.
  • the wiring of the pan/tilt itself is unreasonable, it will also affect the control accuracy of the pan/tilt, and thus affect the quality of the shooting picture.
  • pan/tilt motor drive module 20 is electrically connected to the pan/tilt motor 10 for controlling the operation of the pan/tilt motor 10.
  • the pan-tilt motor drive module 20 can be understood as a printed circuit board, on which various functional modules can be provided to at least control the pan-tilt motor 10.
  • the pan/tilt motor drive module 20 may be used to control the operation of the pan/tilt motor 10 according to one or more work instructions, for example, control the start and stop of the pan/tilt motor 10 and the operating speed.
  • At least one pan/tilt motor drive module 20 is used to electrically connect with a main controller 200 on the movable platform through an electronic wire, so as to transmit a low-speed signal through the electronic wire.
  • the main controller 200 is used for communication and connection with various components on the unmanned aerial vehicle to control the flight of the entire unmanned aerial vehicle.
  • the main controller 200 may include a circuit board and various functional modules arranged on the circuit board for realizing predetermined functions.
  • the pan/tilt head 100 is also used to carry a load 300, and the load 300 is used to electrically connect with the main controller 200 through a coaxial line to transmit high-speed signals through the coaxial line.
  • the load 300 carried on the pan/tilt 100 may include a camera module, the camera module may be fixed by the front shell 301, and images are captured by the camera module, and the load (camera module) 300 is connected to the main controller through a coaxial cable. 200 electrical connections can realize the transmission of high-definition images and improve the aerial photography effects of unmanned aerial vehicles.
  • the pan/tilt head provided by the embodiment of the present invention includes a pan/tilt motor and at least one pan/tilt motor drive module.
  • the pan/tilt motor drive module is used to control the operation of the pan/tilt motor, and the pan/tilt motor drive module is used to connect to a movable platform through an electronic wire.
  • One of the main controllers is electrically connected to transmit low-speed signals through electronic lines.
  • the pan/tilt is used to carry loads.
  • the load is used to connect with the main controller through coaxial lines to transmit high-speed signals through the coaxial line.
  • the low-speed signals involved are transmitted through electronic lines, and the high-speed signals involved are transmitted through coaxial lines.
  • this technical solution can make the entire pan/tilt's wiring become It is soft and can effectively reduce the disturbance of the pan-tilt and improve the control accuracy of the pan-tilt.
  • the pan/tilt head 100 may also be provided with an inertial measurement unit (IMU, Inertial Measurement Unit), and the inertial measurement unit 30 and the main controller 200 are electrically connected through a coaxial line.
  • IMU Inertial Measurement Unit
  • the inertial measurement unit 30 can be used to detect the posture of the camera module and feed back the spatial posture information of the camera module to the main controller 200.
  • the main controller 200 can control each pan/tilt motor 10 according to the posture information of the camera module. In order to make the unmanned aerial vehicle maintain the stability of the camera module under different working conditions, and ensure the quality of aerial images.
  • the load (camera module) and the inertial measurement unit 30 can be integrated on the same circuit board.
  • the size of the pan/tilt may be reduced as much as possible.
  • the pan/tilt motor 10 in this embodiment may include a stator and a rotor rotatably arranged outside the stator.
  • FIG. 3 is a schematic structural diagram of a rotor of the pan/tilt motor according to an embodiment of the present invention.
  • the rotor 11 includes a yoke 111 and a magnet 112 arranged in the yoke 111.
  • the yoke 111 can be cylindrical with a bottom cover as a whole, and the peripheral wall of the yoke 111 is substantially cylindrical.
  • the yoke 111 may be made of 10 gauge steel or SPCC or SPEC.
  • the shape of the peripheral wall of the yoke 111 can also be set according to the load interface, for example, it can be set to any suitable shape such as a circle, a rectangle, a polygon, etc., which is not limited herein.
  • the peripheral wall of the yoke 111 is cylindrical as an example.
  • the magnet 112 may include a sinusoidal magnetized magnet.
  • the magnet 112 may be a bonded magnetic ring.
  • the magnet 112 includes an inner magnetized magnet, and more specifically, the magnet 112 is a sinusoidal inner magnetized magnet.
  • the yoke 111 required to close the magnetic circuit is formed outside the magnet 112.
  • the thickness T1 can be reduced, which is beneficial to reduce the outer diameter D1 of the yoke 111 without affecting the performance of the pan-tilt motor 10 at the same time. Therefore, the size of the gimbal motor 10 can be made as small as possible without affecting the performance of the gimbal motor 10, thereby reducing the size of the gimbal 100 to meet the needs of portable small aerial drones. .
  • the thickness T1 of the yoke 111 in the radial direction is 0.3 mm ⁇ 0.1 mm, and the outer diameter D1 of the yoke is 13.1 mm ⁇ 0.1 mm.
  • the radial direction refers to the radial direction of the cylindrical peripheral wall
  • the outer diameter D1 of the yoke 111 refers to the maximum dimension of the outer contour of the yoke 111 in the radial direction.
  • the thickness T1 of the yoke 111 in the radial direction may be any value between 0.2 mm and 0.4 mm.
  • the thickness T1 of the yoke 111 in the radial direction may be 0.2 mm, 0.23 mm, 0.25 mm, 0.28 mm. , 0.3 mm, 0.32 mm, 0.35 mm, 0.37 mm, 0.4 mm, etc., any value between 0.2 mm and 0.4 mm.
  • the thickness T1 of the yoke 111 in the radial direction is 0.3 mm.
  • the outer diameter D1 of the yoke 111 is any value between 13.0 mm and 13.2 mm.
  • the outer diameter D1 of the yoke 21 is 13.0 mm, 13.02 mm, 13.05 mm, 13.07 mm, 13.1 mm, 13.11 mm, 13.13 mm, 13.16 Any value between 13.0 mm and 13.2 mm, such as mm, 13.18 mm, and 13.2 mm.
  • the outer diameter D1 of the yoke 111 is 13.0 mm.
  • the thickness T2 of the magnet 112 in the radial direction may be 0.3 mm ⁇ 0.1 mm.
  • the radial direction refers to the radial direction of the peripheral wall of the cylindrical yoke 111, and the thickness T2 may be the thickness at any place or the average thickness of the magnet 112.
  • the thickness T2 of the magnet 112 in the radial direction is any value between 0.2 mm and 0.4 mm.
  • the thickness T2 of the magnet 112 in the radial direction is 0.2 mm, 0.25 mm, 0.26 mm, 0.28 mm, 0.29 mm, 0.3 mm, 0.31mm, 0.33mm, 0.37mm, 0.4mm, etc., any value between 0.2mm and 0.4mm.
  • the magnet 112 with a thickness ranging from 0.2 mm to 0.4 mm can fit well with the above-mentioned yoke 111. It will not be too thin to provide sufficient magnetic field, and it will not be too thick to cause the magnetic field to be too strong. It exceeds the magnetic permeability that the yoke 111 can achieve.
  • the pan/tilt head 100 in this embodiment may include a bracket assembly 101, and the pan/tilt motor 10 is connected to the bracket assembly 101 for driving the bracket assembly 101 to rotate.
  • the bracket assembly 101 can be used to carry a load (for example, a camera module).
  • the pan-tilt 100 can generally be divided into one-axis pan-tilt, two-axis pan-tilt, three-axis pan-tilt or more axis pan-tilts according to the degree of freedom of rotation of the pan-tilt.
  • the support assembly 101 of the pan-tilt can be divided into one-axis pan-tilt, two-axis pan-tilt, three-axis pan-tilt or more.
  • the pan/tilt motor 10 includes at least one of the following: a roll drive motor 10a for driving the roll axis support 101a rotates around the roll axis; the pitch drive motor 10b is used to drive the pitch axis support 101b to rotate around the pitch axis; the yaw drive motor 10c is used to drive the yaw axis support 101c to rotate around the yaw axis.
  • the three-axis gimbal is usually widely used. Taking a three-axis gimbal as an example, the bracket assembly 101 of the three-axis gimbal can rotate around the roll axis, the pitch axis, and the yaw axis.
  • the pan/tilt head 100 in this embodiment is a three-axis pan/tilt head
  • the bracket assembly 101 includes a roll axis bracket 101a, a pitch axis bracket 101b, and a yaw axis bracket 101c, wherein the roll axis bracket 101a and the pitch axis bracket 101b It can be integrally formed, or the two can be detachably connected. As shown in FIG. 8, the roll axis bracket 101a and the pitch axis bracket 101b are integrally formed.
  • the pitch axis support 101b may include a pitch axis arm 1011b that can rotate about a pitch axis
  • the horizontal axis support 101a may include a roll axis arm 1011a that can rotate about a roll axis.
  • the pitch axis drive module 20b and the roll axis drive module 20a can be installed on the pitch axis arm 1011b.
  • the yaw axis support 101c may include a yaw axis arm 1011c capable of rotating around a yaw axis, and the yaw axis drive module 20c is mounted on the yaw axis arm 1011c.
  • the roll drive motor 10a can be welded to the roll axis drive module 20a, and the pitch drive motor 10b can be welded to the pitch axis drive module 20b.
  • Fig. 7 is a schematic structural diagram of the yaw axis support of the pan/tilt provided by an embodiment of the present invention; as shown in Fig. 7, the yaw axis drive motor 10c can be welded to the yaw axis drive module 20c.
  • the pan/tilt motor 10 includes a roll drive motor 10a, a pitch drive motor 10b, and a yaw drive motor 10c.
  • the pan/tilt motor drive module 20 includes a roll axis drive module 20a, a pitch axis drive module 20b, and a yaw axis drive module. 20c.
  • the roll axis drive module 20a is electrically connected to the roll drive motor 10a, and is electrically connected to the main controller 200 through an electronic wire.
  • the roll axis drive module 20a is used to control the roll drive motor 10a.
  • the pitch axis drive module 20b is electrically connected to the pitch drive motor 10b, and is electrically connected to the main controller 200 through an electronic wire.
  • the pitch axis drive module 20b is used to control the pitch drive motor 10b.
  • the roll axis drive module 20a and the pitch axis drive module 20b may be connected in cascade.
  • the pitch axis drive module 20b is electrically connected to the roll axis drive module 20a
  • the roll axis drive module 20a is electrically connected to the main controller 200 through an electronic wire
  • the signal of the main controller 200 first passes through the roll axis drive module 20a. It is transmitted to the pitch axis drive module 20b.
  • the roll axis drive module 20a is electrically connected to the pitch axis drive module 20b
  • the pitch axis drive module 20b is electrically connected to the main controller 200 through an electronic wire.
  • the yaw axis drive module 20c is electrically connected to the yaw drive motor 10c and the main controller 200, and is electrically connected to the main controller 200 through an electronic wire or an FPC board.
  • the yaw axis drive module 20c is used to control the yaw drive motor 10c. Since the yaw axis bracket 101c is separately arranged and is closer to the fuselage position of the UAV, the yaw axis drive module 20c corresponding to the yaw axis bracket 101c can adopt a shorter FPC board and main controller 200 electrical connections, the cost of the FPC board is low, when there is no need to transmit high-speed signals, the FPC board can be used for signal transmission.
  • the yaw axis drive module 20c can be electrically connected to the main controller 200 by using an electronic wire, which is relatively flexible and can effectively reduce the line disturbance phenomenon of the pan/tilt.
  • FIG. 5 is a schematic diagram of the front structure of the FPC board connected to the yaw axis drive module on the pan/tilt provided by an embodiment of the present invention
  • FIG. 6 is a schematic diagram of the FPC board connected to the yaw axis drive module on the pan/tilt provided in an embodiment of the present invention
  • Schematic diagram of the back structure as shown in Figures 5 and 6, in some embodiments, preferably, the yaw axis drive module 20c and the main controller 200 are electrically connected through the FPC board, wherein the FPC board is provided with a single-layer shielding film s.
  • the FPC board is connected to the main controller 200 through the first connector x, and the other end of the FPC board is connected to the yaw axis driving module 20c through the second connector y.
  • the FPC board may also have a third connector z for connecting with the GPS board.
  • a compass h may be provided on the FPC board connected to the yaw axis driving module 20c.
  • the compass h is also called a geomagnetic sensor, which is used to determine the position of the unmanned aerial vehicle.
  • the single-layer shielding film s on the FPC board can reduce the influence of electromagnetic interference on the FPC board to a certain extent, and the single-layer shielding film s prevents the hardness of the FPC board from being too large, thereby making the UAV's vibration transmission effect It is not obvious, and has little influence on the control accuracy of the small pan/tilt.
  • the yaw axis driving module 20c is electrically connected to the main controller 200 through an FPC board with a single-layer shielding film, so as to avoid electromagnetic interference while reducing the impact of vibration transmission.
  • FIG. 4 is a schematic structural diagram of the hybrid wiring harness of the pan/tilt provided by the embodiment of the present invention and the FPC board connected with the hybrid wiring harness; as shown in FIG. 1 and FIG.
  • the electronic wires of the axis driving module 20a and the pitch axis driving module 20b constitute a hybrid wiring harness, and the hybrid wiring harness is connected to the main controller 200.
  • the coaxial wire m and the electronic wire n can be bundled together by an acetate cloth tape p to form a hybrid wire harness, wherein the coaxial wire m can be an AWG46 coaxial wire.
  • the hybrid wire harness composed of the coaxial line m and the electronic wire n can be electrically connected to the main controller 200 through the FPC board 400.
  • the hybrid wire harness composed of the coaxial wire m and the electronic wire n reaches the FPC board 400 for connecting with the main controller 200
  • the hybrid wire harness is separated, the electronic wire n is welded to the electronic wire welding area 401, and the coaxial wire m is welded to the same
  • the 40-pin board-to-board connector 403 on the FPC board 400 is used to connect with the first FPC connector 500 on the main controller 200 to realize the roll axis drive module 20a, the pitch axis drive module 20b and
  • the load 300 is electrically connected to the main controller 200 and can realize communication.
  • the main controller 200 of the unmanned aerial vehicle may have a second FPC connector 800 for electrically connecting with the FPC board 900 connected to the yaw axis driving module 20c.
  • the first FPC connector 500 and the second FPC connector 800 use an FPC board as a substrate, which can effectively reduce the size of the connector and is low in cost.
  • the coaxial line m may be electrically connected to the load 300 (camera) through the coaxial line connector 600, and the electronic line n may be electrically connected to the roll axis driving module 20a through the electronic line connector 700.
  • the pitch axis driving module 20a may use an FPC board as a substrate.
  • the pan/tilt motor drive module 20 referred to in this embodiment all refers to a printed circuit board, which includes a substrate and various components arranged on the substrate.
  • the pitch axis driving module 20a refers to the use of an FPC board as a substrate, and other components are arranged on the FPC board. Compared with ordinary circuit boards, the FPC board is softer, lighter in weight, and smaller in area. It is beneficial to reduce the volume of the pan-tilt 100.
  • the roll axis drive module 20a may be provided with a roll axis drive chip 21a and a pitch axis drive chip 21b. That is to say, the roll axis driving chip 21a and the pitch axis driving chip 21b are integrated on the same printed circuit board. For example, when the area of the pitch axis drive module 20b is small and it is difficult to place a larger pitch axis drive chip 21b, both the pitch axis drive chip 21a and the roll axis drive chip 21a can be integrated on the roll axis drive module 20a. , The layout is reasonable, which can effectively save space and reduce the volume of the PTZ.
  • the roll axis drive module 20a is further provided with a roll Hall sensor 22a; and/or the pitch axis drive module 20b is also provided with a pitch Hall sensor 22b; and/or, the yaw axis drive
  • the module 20c is also provided with a yaw Hall sensor 22c.
  • the pan/tilt head 100 may also be provided with a fixing member 102 for pressing the FPC board connected to the yaw axis driving module 20c.
  • the fixing member 102 may be a shrapnel. One end of the fixing member 102 is fixed to the pan/tilt head 100, specifically, it may be fixed to the bracket assembly 101, and the other end of the fixing member 102 is used to press the yaw axis driving module 20c.
  • the fixing member 102 may be detachably provided on the bracket assembly 101 by screws.
  • the fixing member 102 may be in the shape of a sheet, and the fixing member 102 may be a plastic part, a spring steel sheet, or other materials. Fixing the FPC board connected to the yaw axis driving module 20c by the fixing member 102 can effectively prevent it from shaking or falling off, and improve the connection stability of the FPC board, and ensure the stability of signal transmission.
  • This embodiment provides an unmanned aerial vehicle, including a fuselage, a pan/tilt 100, and a load 300 mounted on the pan/tilt.
  • the fuselage is provided with a main controller, and the pan/tilt has at least one cloud for driving the rotation of the pan/tilt.
  • the pan/tilt motor and the pan/tilt also include: at least one pan/tilt motor drive module 20.
  • the pan/tilt motor drive module 20 is electrically connected to the pan/tilt motor 10 for controlling the operation of the pan/tilt motor 10.
  • the pan-tilt motor drive module 20 can be understood as a printed circuit board, on which various functional modules can be provided to at least control the pan-tilt motor 10.
  • the pan/tilt motor drive module 20 may be used to control the operation of the pan/tilt motor 10 according to one or more work instructions, for example, control the start and stop of the pan/tilt motor 10 and the operating speed.
  • At least one pan/tilt motor drive module 20 is used to electrically connect with a main controller 200 on the movable platform through an electronic wire, so as to transmit a low-speed signal through the electronic wire.
  • the main controller 200 is used for communication and connection with various components on the unmanned aerial vehicle to control the flight of the entire unmanned aerial vehicle.
  • the main controller 200 may include a circuit board and various functional modules arranged on the circuit board for implementing predetermined functions.
  • the load 300 may be electrically connected to the main controller 200 through a coaxial line to transmit high-speed signals through the coaxial line.
  • the load 300 carried on the pan/tilt 100 may include a camera module.
  • an unmanned aerial vehicle may capture images or videos through the camera module.
  • the load (for example, the camera module) 300 communicates with the main control via a coaxial cable.
  • the device 200 is electrically connected, which can realize the transmission of high-definition images or videos, and improve the aerial photography effect of the unmanned aerial vehicle.
  • the pan/tilt on it includes a pan/tilt motor and at least one pan/tilt motor drive module.
  • the pan/tilt motor drive module is used to control the operation of the pan/tilt motor
  • the pan/tilt motor drive module is used to control the operation of the pan/tilt motor.
  • the line is electrically connected to the main controller to transmit low-speed signals through the electronic line
  • the load is used to connect with the main controller through the coaxial line to transmit high-speed signals through the coaxial line
  • the low-speed signals involved on the pan/tilt are transmitted through the electronic line
  • the high-speed signals involved are transmitted through coaxial lines.
  • pan/tilt of the unmanned aerial vehicle in this embodiment are the same as those in the first embodiment. For details, reference may be made to the description of the first embodiment, which will not be repeated in this embodiment.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical or mechanical. Or other forms.

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

Abstract

La présente invention concerne un cardan et un véhicule aérien sans pilote. Le cardan est utilisé pour une plateforme mobile. Un cardan (100) comprend au moins un moteur à cardan (10) pour entraîner le cardan en rotation, et au moins un module d'entraînement de moteur à cardan (20), le module d'entraînement de moteur à cardan (20) étant raccordé électriquement au moteur à cardan (10) et utilisé pour commander le moteur à cardan (10) afin qu'il fonctionne ; le module d'entraînement de moteur à cardan (20) est raccordé électriquement à un dispositif de commande principal (200) sur la plateforme mobile au moyen d'une ligne électronique, de manière à transmettre un signal à faible vitesse au moyen de la ligne électronique ; une charge (300) est en outre portée sur le cardan (100) et est raccordée électriquement au dispositif de commande principal (200) au moyen d'une ligne coaxiale, de manière à transmettre un signal à grande vitesse au moyen de la ligne coaxiale. Le cardan transmet le signal à faible vitesse en utilisant la ligne électronique, et transmet le signal à grande vitesse à l'aide de la ligne coaxiale, de telle sorte que le câblage de l'ensemble du cardan devient souple, et la force de perturbation de la tête de cardan peut être efficacement réduite.
PCT/CN2019/114343 2019-10-30 2019-10-30 Cardan et véhicule aérien sans pilote WO2021081805A1 (fr)

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PCT/CN2019/114343 WO2021081805A1 (fr) 2019-10-30 2019-10-30 Cardan et véhicule aérien sans pilote

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WO2024060123A1 (fr) * 2022-09-22 2024-03-28 深圳市大疆创新科技有限公司 Cardan et engin volant sans pilote embarqué

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