WO2021088693A1 - Cardan, dispositif d'imagerie pour véhicule aérien sans pilote, et dispositif d'imagerie portatif - Google Patents

Cardan, dispositif d'imagerie pour véhicule aérien sans pilote, et dispositif d'imagerie portatif Download PDF

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Publication number
WO2021088693A1
WO2021088693A1 PCT/CN2020/124274 CN2020124274W WO2021088693A1 WO 2021088693 A1 WO2021088693 A1 WO 2021088693A1 CN 2020124274 W CN2020124274 W CN 2020124274W WO 2021088693 A1 WO2021088693 A1 WO 2021088693A1
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WO
WIPO (PCT)
Prior art keywords
arm
roll
pitch
yaw
axis
Prior art date
Application number
PCT/CN2020/124274
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English (en)
Chinese (zh)
Inventor
张磊
王兆喆
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杭州零零科技有限公司
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Publication of WO2021088693A1 publication Critical patent/WO2021088693A1/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
    • 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
    • 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
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • 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
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head

Definitions

  • the present disclosure relates to a pan-tilt and an unmanned aerial vehicle imaging device and a handheld imaging device including the pan-tilt.
  • the field of unmanned aerial vehicles is becoming more and more mature, and various equipment can be mounted for aerial photography, monitoring, search and rescue tasks.
  • the pan/tilt usually uses a drive to control various devices mounted so that these devices can work more stably.
  • imaging devices are used for shooting photos, videos, surveying and mapping, security, etc., it is even more necessary to use a pan-tilt to obtain stable shooting and control the motion of the imaging device with multiple degrees of freedom.
  • the cable used for connecting the driver (such as the motor) in the pan/tilt is usually wound in the housing of the driver. Due to the narrow cable routing space in the housing, the driver receives greater resistance during the rotation of the bracket, which affects the use of the gimbal.
  • the present disclosure aims to provide a new wiring method and structure to reduce the problems of excessive resistance and complicated wiring during the rotation of the pan/tilt.
  • a pan/tilt head comprising: a yaw shaft arm, a first end of the yaw shaft arm is provided with a roll drive motor, the roll drive motor has A first hollow shaft that defines a first through hole, the yaw shaft arm is provided with a first line containing cavity that communicates with the first through hole; a roll shaft arm, the first end of the roll shaft arm Connected to the roll drive motor and driven by the roll drive motor to rotate around a roll axis, the roll axis being perpendicular to the first end of the yaw shaft arm, the roll shaft arm
  • the second end is provided with a pitch drive motor, the pitch drive motor has a second hollow shaft defining a second through hole, and the roll shaft arm is provided with the first through hole and the second through hole.
  • the second line cavity; and the pitch axis arm the first end of the pitch axis arm is connected to the pitch drive motor and driven by the pitch drive motor to rotate around the pitch axis, the pitch axis being perpendicular to the
  • the second end of the roll axis arm is perpendicular to the roll axis, and the second end of the pitch axis arm is provided with a controlled object; and a controlled object connection line, and the controlled object connection line is electrically connected to the controlled object.
  • the controlled object is connected and/or communicatively connected, and is accommodated in the first through hole, the first line containing cavity, the second through hole and the second line containing cavity.
  • the second end of the yaw shaft arm is provided with a yaw drive motor for driving the yaw shaft arm to rotate around a yaw axis, the yaw axis being perpendicular to the pitch axis And perpendicular to the roll axis, and the yaw drive motor has a third hollow shaft that defines a third through hole, the third through hole communicates with the first wire-containing cavity, and the controlled The object connection line is also accommodated in the third through hole.
  • the first hollow shaft constitutes the rotor central axis of the roll drive motor, and/or the second hollow shaft constitutes the rotor central axis of the pitch drive motor, and/or the first hollow shaft constitutes the rotor central axis of the pitch drive motor.
  • Three hollow shafts constitute the central axis of the rotor of the yaw drive motor.
  • connection line of the controlled object is connected to at least one of the first through hole, the first line containing cavity, the second through hole, the second line containing cavity and the third through hole.
  • a spacer is provided at a position corresponding to at least the end of the at least one end, and/or at least one of the first through hole, the first line containing cavity, the second through hole, the second line containing cavity, and the third through hole.
  • a spacer is provided in the end of the controlled object so that the controlled object connection line is not connected to the first through hole, the first line containing cavity, the second through hole, the second line containing cavity, and the third through hole.
  • the spacer is made of a foam material.
  • the pitch axis arm is provided with a pitch axis arm counterweight such that the center of gravity of the pitch axis arm is located on the pitch axis, wherein the pitch axis arm counterweight is connected to the pitch axis
  • the same material of the arm is made integrally with the pitch axis arm or the pitch axis arm counterweight is made of a material with a density higher than that of the pitch axis arm and fixed to a proper position of the pitch axis arm;
  • the roll shaft arm is provided with a roll shaft arm counterweight, so that the center of gravity of the roll shaft arm and the pitch shaft arm as a whole is located on the roll axis, wherein the roll shaft arm counterweight
  • the part is made of the same material as the roll shaft arm and is made integrally with the roll shaft arm or the roll shaft arm counterweight is made of a material with a density higher than that of the roll shaft arm.
  • the yaw axis arm counterweight is made of the same material as the yaw shaft arm and is made integrally with the yaw shaft arm or the yaw shaft arm counterweight It is made of a material with a density higher than that of the yaw axis arm and fixed to the proper position of the yaw axis arm.
  • the inside of the roll drive motor or the first end of the roll shaft arm is provided with a roll drive control circuit board for controlling the roll drive motor, and the pitch drive motor
  • the inside or the second end of the roll shaft arm is provided with a pitch drive control circuit board for controlling the pitch drive motor, and the roll drive control circuit board is arranged inside the second line-containing cavity.
  • the connecting wire is electrically connected to the pitch drive control circuit board.
  • the pan/tilt head further includes electrically connected to the roll drive control circuit board and the pitch drive control circuit board and passes through the first wire-containing cavity, the first through hole, and the second The first control connection line between the second line-containing cavity and the third through hole.
  • the second end of the yaw axis arm is further provided with a yaw drive control circuit board, and the pan/tilt head further includes a second control connection line electrically connected to the yaw drive control circuit board .
  • the controlled object connection line is a coaxial line.
  • the internal connection line and the first control connection line are a cable, a coaxial line, or a flexible printed circuit board.
  • the second control connection line is a cable, a coaxial line or a flexible printed circuit board.
  • the controlled object includes an imaging device.
  • an unmanned aerial vehicle imaging device comprising: an unmanned aerial vehicle; and the above-mentioned pan/tilt, the pan/tilt is fixedly or detachably connected mechanically and electrically connected To the drone.
  • a handheld imaging device comprising: a handheld portion; and the above-mentioned pan/tilt, the pan/tilt is fixedly or detachably mechanically connected and/or electrically connected to The hand-held part.
  • Fig. 1 shows a perspective view of a pan-tilt according to an embodiment of the present disclosure
  • Figure 2 shows an exploded view of the pan-tilt in Figure 1;
  • Fig. 3 shows an exploded view of a part of the pan-tilt in Fig. 1;
  • Figure 4 shows an exploded cross-sectional view of a part of the pan-tilt in Figure 1;
  • Figure 5 is a cross-sectional view of Figure 4.
  • Fig. 6 is an exploded view of a part of the PTZ of Fig. 1;
  • Fig. 7 is an exploded view of a part of the PTZ of Fig. 1;
  • Figure 8 is an exploded view of the roll drive motor
  • Figure 9 is an exploded view of the pitch drive motor.
  • Figure 10 is an exploded view of the yaw drive motor.
  • first, second, etc. to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of these elements. Such terms are only used To distinguish one element from another.
  • first element and the second element may refer to the same example of the element, and in some cases, based on the description of the context, they may also refer to different examples.
  • pan/tilt head 100 The structure and composition of the pan/tilt head 100 according to the present disclosure will be described in detail below with reference to FIGS. 1 to 10.
  • the pan/tilt head 100 includes a yaw shaft arm 110, and a first end 111 of the yaw shaft arm 110 is provided with a roll drive motor 200 (see Figure 4).
  • the driving motor 200 has a first hollow shaft 202 (see FIG. 4) defining a first through hole 201 (see FIG. 4), and the yaw shaft arm 110 is provided with a first tolerance wire communicating with the first through hole 201 Cavity 113 (see Figure 2).
  • the first wire-containing cavity 113 includes a first portion 113a of the first wire-containing cavity and a second portion 113b of the first wire-containing cavity.
  • the structural groove 114 of the arm 110 is defined by the rotor housing of the roll drive motor 200, and the second portion 113b of the first line-containing cavity is formed by the structural groove 114 of the yaw shaft arm 110 and the cover 115 of the yaw shaft arm 110 limited. It should be understood that, in order to reduce the weight of the pan/tilt, the yaw axis arm 110 is generally composed of a hollow thin-walled member made of plastic material or metal material.
  • the pan/tilt head 100 further includes a roll axis arm 120.
  • the first end 121 of the roll axis arm 120 is connected to the roll drive motor 200 and is driven by the roll axis arm 120.
  • the roll drive motor 200 is driven to rotate around a roll axis, the roll axis being perpendicular to the first end 111 of the yaw shaft arm 110, and the second end 122 of the roll shaft arm 120 is provided with a pitch drive
  • the motor 300, the pitch drive motor 300 has a second hollow shaft 302 that defines a second through hole 301, and the roll axis arm 120 is provided with a second hollow shaft 302 communicating with the first through hole 201 and the second through hole 301
  • the second line cavity 123 As shown in FIG. 2, the second wire-containing cavity 123 includes a first portion 123a of the second wire-containing cavity and a second portion 123b of the second wire-containing cavity.
  • the pan/tilt head 100 further includes a pitch axis arm 130 (see FIG. 6).
  • the first end 131 of the pitch axis arm 130 is connected to the pitch drive motor 300 and is driven by the pitch drive motor 300 to surround the pitch axis.
  • the pitch axis is perpendicular to the second end 122 of the roll axis arm 120 and perpendicular to the roll axis, and the second end of the pitch axis arm 130 is provided with a controlled object 400.
  • the pan/tilt head 100 further includes a controlled object connection line 410, which is electrically and/or communicatively connected to the controlled object 400, and passes through the second through hole 301 and the second containment line in sequence
  • the controlled object connection line 410 may be a coaxial line or a flexible printed circuit board. In the embodiments shown in FIGS. 1 to 7, the controlled object connection line 410 is a coaxial line.
  • the controlled object 400 mentioned in the present disclosure may be various electronic devices.
  • the controlled object may include various imaging devices, such as a video camera, a camera, a camera, and an infrared camera.
  • the controlled object may also include a portable communication device.
  • the controlled object can be fixedly connected to the second end of the pitch axis arm 130, or can be detachably connected to the second end of the pitch axis arm 130 through various quick release structures to Allows users to change different controlled devices according to actual applications.
  • the second end 115 of the yaw shaft arm 110 is further provided with a yaw drive motor 500 for driving the yaw shaft arm 110 to rotate around a yaw axis.
  • a yaw drive motor 500 Perpendicular to the pitch axis and perpendicular to the roll axis, and the yaw drive motor 500 has a third hollow shaft 502 defining a third through hole 501, the third through hole 501 and the first The line containing cavity 113 is communicated, and the controlled object connecting line 410 passes through the third through hole 501 after passing through the first line containing cavity 113 and is finally connected to the main control circuit board (not shown).
  • the first hollow shaft 202 constitutes the rotor central axis of the roll drive motor 200
  • the second hollow shaft 302 constitutes the rotor central axis of the pitch drive motor 300
  • the first The three hollow shafts 502 constitute the central axis of the rotor of the yaw drive motor 500.
  • the second end 115 of the yaw shaft arm 110 is fixed to the rotor housing 503 of the yaw drive motor 500
  • the first end 121 of the roll shaft arm 120 is fixed to the roll
  • the first end 131 of the pitch axis arm 130 is fixed to the rotor housing 303 of the pitch driving motor 300.
  • the controlled object connecting line 410 (which passes through the through holes 201, 301, and 501 defined by the first hollow shaft 202, the second hollow shaft 302, and the third hollow shaft 502) can be prevented from rolling along.
  • the rotation of the drive motor 200, the pitch drive motor 300, and the yaw drive motor 500 causes problems such as displacement and/or pulling, which can significantly reduce the driving of the yaw axis arm 110, the roll axis arm 120, and the like.
  • the force required by the pitch axis arm 130 significantly reduces the complexity of arranging the controlled object connecting line 410, for example, it is no longer necessary to take additional protective measures and fixing measures for the controlled object connecting line 410.
  • first hollow shaft 202, the second hollow shaft 302, and the third hollow shaft 502 are described above to constitute the roll drive motor 200, the pitch drive motor 300, and the yaw drive motor 500 respectively, the implementation of the central axis of the rotor For example, but the present disclosure is not limited to this.
  • one or two of the first hollow shaft 202, the second hollow shaft 302, and the third hollow shaft 502 may not constitute the rotor center shaft of the corresponding drive motor.
  • the controlled object connecting line 410 is connected to the first through hole 201, the first line containing cavity 113, the second through hole 301, the second line containing cavity 123 and the first A spacer (not shown) is provided at a position corresponding to at least the end of the three through hole 501, so that the controlled object connecting line 410 is not connected to the first through hole 201, the first line containing cavity 113, and the second through hole. 301.
  • the second line containing cavity 123 is in direct contact with the third through hole 501.
  • spaces may also be provided at at least the end positions of the first through hole 201, the first line containing cavity 113, the second through hole 301, the second line containing cavity 123, and the third through hole 501.
  • the spacer may be made of, for example, a well-known foam material.
  • the spacer may be made of, for example, a well-known foam material.
  • the pitch axle arm 130 is provided with a pitch axle arm counterweight 132, so that the center of gravity of the pitch axle arm 130 is located on the pitch axis, so as to reduce the pitch drive motor 300 driving the pitch The maximum torque required by the axle arm 130 and improve the control response.
  • the size of the pitch drive motor 300 can be further reduced, thereby reducing its weight, which is very beneficial for the pan/tilt head 100, especially when the cloud When the station 100 is used in drones.
  • the pitch axis arm counterweight 132 is made of a well-known material with a density higher than that of the pitch axis arm 130 and is fixed to the proper position of the pitch axis arm 130, it should be understood Yes, the pitch axis arm counterweight 132 may also be made of the same well-known material as the pitch axis arm 130 integrally with the pitch axis arm 130.
  • the roll axis arm 120 may also be provided with a roll axis arm counterweight (not shown), so that the overall center of gravity of the roll axis arm 120 and the pitch axis arm 130 is located on the roll axis.
  • the roll shaft arm counterweight can be made of the same material as the roll shaft arm 120 and made integrally with the roll shaft arm 120, or the roll shaft arm counterweight can be made of density
  • the rolling shaft arm 120 is made of a material with a density higher than that of the rolling shaft arm 120 and fixed to the appropriate position of the rolling shaft arm 120.
  • the yaw axis arm 110 may also be provided with a yaw axis arm counterweight (not shown), so that the overall center of gravity of the yaw axis arm 110, the roll axis arm 120, and the pitch axis arm 130 is located at the center of gravity.
  • the yaw shaft arm counterweight is made of the same material as the yaw shaft arm 110 and is made integrally with the yaw shaft arm 110 or the yaw shaft arm counterweight It is made of a material with a density higher than that of the yaw axis arm 110 and is fixed to the yaw axis arm 110 in a proper position.
  • yaw axis arm 110 the roll axis arm 120, and the pitch axis arm 130 are all provided with corresponding counterweights as described above, it is also possible that only the yaw axis arm is provided with corresponding counterweights.
  • the 110 is provided with a yaw axis arm counterweight, so that the center of gravity of the yaw axis arm 110, the roll axis arm 120 and the pitch axis arm 130 is located on the yaw axis, or only the yaw axis arm 110 and the roll axis arm 120 are provided with corresponding counterweights, so that the overall center of gravity of the yaw axis arm 110, the roll axis arm 120 and the pitch axis arm 130 is located on the yaw axis and makes all The overall center of gravity of the roll axis arm 120 and the pitch axis arm 130 is located on the roll axis.
  • the load that the pitch drive motor 300 needs to drive is relatively small (because it only needs to drive the controlled object, the pitch axis arm 130 and the corresponding accessories), so even if the center of gravity of this part of the load deviates from the pitch axis, it will not be significantly weakened Control response, and by omitting the counterweight of the tilt arm 130, the overall weight of the pan/tilt head 100 can also be reduced.
  • the yaw drive motor 500 drives the largest load (because the most components need to be driven), and therefore there is a greater need to improve its control response and reduce its size and weight.
  • the roll drive motor 200 is provided with a roll drive control circuit board 204 (see FIG. 8) for controlling the roll drive motor 200, and the pitch drive motor 300 is internally provided There is a pitch drive control circuit board 304 (FIG. 9) for controlling the pitch drive motor 300, and the pitch drive control circuit board 304 passes through an internal connection line provided in the second line-containing cavity 123 (see FIG. 2). 420 is electrically connected to the roll drive control circuit board 204 so as to guide the pitch motor control signal to the roll drive control circuit board 204.
  • a roll drive control circuit board 204 for controlling the roll drive motor 200 may also be provided at the first end 121 of the roll shaft arm 120, and the roll shaft arm 120 The second end 121 is provided with a pitch drive control circuit board 304 for controlling the pitch drive motor 300.
  • the pan/tilt head 100 further includes a first control connection line 430 electrically connected to the roll drive control circuit board and the pitch drive control circuit board, so The first control connection line 430 sequentially passes through the second part 123b of the second line-containing cavity, the second through hole 201, the second part 113b of the first line-containing cavity, the second part 113a of the first line-containing cavity, and the third Through hole 501.
  • the pitch motor control signal is led to the roll drive control circuit board 204 via the internal connection line 420, and is collectively led out to the overall control circuit by the first control connection line 430 drawn from the roll drive control circuit board 204 Board (not shown).
  • the second end 115 of the yaw axis arm 110 is further provided with a yaw drive control circuit board 504 (FIG. 10), and the pan/tilt head 100 further includes an electrical connection to the yaw axis.
  • the second control connection line 440 of the aero-drive control circuit board 504 is used to lead the drive signal of the yaw drive motor to the general control circuit board (not shown).
  • the internal connection line 420, the first control connection line 430, and the second control connection line 440 may be a cable, a coaxial line, or a flexible printed circuit board.
  • the internal connection line 420, the first control connection line 430, and the second control connection line 440 are all flexible printed circuit boards (FPC).
  • an unmanned aerial vehicle imaging device includes an unmanned aerial vehicle and the above-mentioned pan/tilt head 100, and the pan/tilt head 110 is fixedly or detachably connected mechanically and Electrically connected to the drone.
  • the structure and working principle of the unmanned aerial vehicle are well known to those skilled in the art, so the structure and operation of the unmanned aerial vehicle will not be described in detail here.
  • the drone can be the drone disclosed in Chinese patent applications CN107624099A, CN205469862U, and CN208470102U.
  • a handheld imaging device includes a handheld portion and the above-mentioned pan/tilt head 100.
  • the pan/tilt head 100 is fixedly or detachably connected mechanically and/or electrically. Connect to the handle.
  • the handheld part may include a display screen, a control button, a battery unit, and the like.
  • the structure and operation of the hand-held part are well known to those skilled in the art.
  • the hand-held part may be the handle part described in CN208474829U, CN208474836U, and CN206977492U.

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

Abstract

La présente invention concerne un cardan (100), un dispositif d'imagerie pour un véhicule aérien sans pilote et un dispositif d'imagerie portatif, le cardan (100) comprenant : un bras d'arbre de lacet (110), qui est pourvu d'un moteur d'entraînement de roulis (200) qui comporte un premier arbre creux (202) qui définit un premier trou traversant (201), et est en outre pourvu d'une première cavité de réception de ligne (113) qui communique avec le premier trou traversant (201) ; un bras d'arbre de roulis (120), dont une première extrémité (121) est raccordée au moteur d'entraînement de roulis (200), et dont une seconde extrémité (122) est pourvue d'un moteur d'entraînement de tangage (300) qui présente un second arbre creux (302) qui définit un second trou traversant (301), et qui est en outre pourvue d'une seconde cavité de réception de ligne (123) qui communique avec les premier et second trous traversants (201, 301) ; un bras d'arbre de tangage (130), dont une première extrémité (131) est raccordée au moteur d'entraînement de tangage (300), et dont la seconde extrémité est pourvue d'un objet commandé (400) ; et une ligne de raccordement d'objet commandé (410), qui est logée dans les premier et second trous traversants (201, 301) et dans les première et seconde cavités de réception de ligne (113, 123). Une résistance excessive du cardan (100) pendant la rotation et un enroulement compliqué peuvent être évités.
PCT/CN2020/124274 2019-11-06 2020-10-28 Cardan, dispositif d'imagerie pour véhicule aérien sans pilote, et dispositif d'imagerie portatif WO2021088693A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201921902833.1U CN211145912U (zh) 2019-11-06 2019-11-06 云台、无人机成像装置和手持式成像装置
CN201921902833.1 2019-11-06

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Publication Number Publication Date
WO2021088693A1 true WO2021088693A1 (fr) 2021-05-14

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Families Citing this family (5)

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Publication number Priority date Publication date Assignee Title
CN211145912U (zh) * 2019-11-06 2020-07-31 杭州零零科技有限公司 云台、无人机成像装置和手持式成像装置
CN113994134A (zh) * 2020-10-15 2022-01-28 深圳市大疆创新科技有限公司 增稳云台和可移动平台
CN113328398A (zh) * 2021-07-01 2021-08-31 深圳慧源创新科技有限公司 云台布线结构和云台
WO2023035146A1 (fr) * 2021-09-08 2023-03-16 深圳市大疆创新科技有限公司 Ensemble cardan, cardan portatif, ensemble photographique et plateforme mobile
WO2023044833A1 (fr) * 2021-09-25 2023-03-30 深圳市大疆创新科技有限公司 Véhicule aérien sans pilote, mécanisme de caméra et tête à berceau

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