WO2022041580A1 - 用于拍摄模块的调节稳定装置、拍摄装置和可移动平台 - Google Patents

用于拍摄模块的调节稳定装置、拍摄装置和可移动平台 Download PDF

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Publication number
WO2022041580A1
WO2022041580A1 PCT/CN2020/136170 CN2020136170W WO2022041580A1 WO 2022041580 A1 WO2022041580 A1 WO 2022041580A1 CN 2020136170 W CN2020136170 W CN 2020136170W WO 2022041580 A1 WO2022041580 A1 WO 2022041580A1
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WIPO (PCT)
Prior art keywords
rotating shaft
adjusting
support
fpv
movable platform
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Ceased
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PCT/CN2020/136170
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English (en)
French (fr)
Inventor
王博
李日照
农贵升
杨飞虎
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of WO2022041580A1 publication Critical patent/WO2022041580A1/zh
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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
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/10—Arrangements for locking
    • 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

Definitions

  • the present invention relates to the field of movable platforms, in particular to an adjustment and stabilization device for an FPV photographing module of an aircraft or a submersible, and an FPV photographing device.
  • an unmanned aerial vehicle (or a movable platform) is usually equipped with an FPV shooting module (a first-view camera), and the FPV shooting module is used to shoot pictures in real time.
  • the FPV camera module is installed in front of the fuselage and the camera field of view faces the navigation direction of the UAV, so that it can observe the forward environment (for example, observe the obstacles in front of the UAV or photograph the scenery).
  • the FPV camera module of the existing unmanned aerial vehicle generally can only be fixedly facing forward. When it needs to face other directions, it is usually necessary to remove the FPV camera module from the body of the unmanned vehicle, and then replace the fixed position. , so as to realize the change of the shooting direction. For example, replace and fix the FPV camera module to the bottom of the UAV, and make the field of view of the FPV camera module face downward.
  • the operation of disassembling and assembling the FPV photographing module is very cumbersome, which is not conducive for users to quickly adjust the photographing module of the FPV photographing module under some conditions (eg, outdoors, water surface), and may cause parts to be lost during the disassembly and assembly process.
  • UAVs unmanned aerial vehicles
  • terrain mapping, farmland area mapping, or flying to a predetermined location is usually performed.
  • the FPV shoots the unmanned vehicle the field of view needs to be downward.
  • the present invention provides an adjustment and stabilization device for a photographing module, where the photographing module is an FPV photographing module.
  • the adjustment and stabilization device includes an angle adjustment unit.
  • the angle adjustment unit includes: a rotating shaft; a support base that can rotate around the rotating shaft and is used for fixed connection with the FPV camera module; and an elastic driving element sleeved on the rotating shaft and capable of urging the support base to rotate.
  • the support base has at least two angular engagement positions relative to the rotating shaft, and when the support base rotates to a non-angular engagement position, the elastic driving element can drive the support base to the at least two angular engagement positions One of the engagement positions turns.
  • the resilient driving element when the bearing seat is rotated to a non-angular engagement position, is capable of urging the bearing seat to rotate to one of the angular engagement positions with the smallest angular difference.
  • the tensioning force of the resilient drive element is reduced as the bearing seat is rotated from the non-angularly engaged position to any of the angularly engaged positions.
  • the bearing seat is provided with a shaft hole for the rotation shaft to pass through and a first clutch part;
  • the elastic driving element includes a second clutch part and a spring arranged on the rotation shaft;
  • the first clutch portion and the second clutch portion are configured such that when the bearing seat is rotated relative to the rotating shaft to the non-angular engagement position, the contours of the first clutch portion and the second clutch portion mutually interact.
  • the repellent moves away from the axial direction; when the bearing seat rotates relative to the rotating shaft to any of the angular engagement positions, under the action of the spring, the contours of the first clutch part and the second clutch part Complementary axial engagement.
  • the first clutch part and the second clutch part are cam structures.
  • a shaft sleeve is provided at one end of the rotating shaft, and the second clutch portion and the spring are disposed in the shaft sleeve and sleeved on the rotating shaft, so that the The second clutch portion is capable of rotatably translating axially on the rotating shaft.
  • the adjustment and stabilization device further includes an angle stabilization unit
  • the angle stabilization unit includes: a base for fixedly connecting with the rotating shaft, and the base has at least two supporting surfaces ; the angle of the at least two support surfaces is set such that one of the support surfaces can abut the support when the elastic drive element drives the support base to rotate about the axis of rotation at one of the angular engagement positions
  • the FPV camera module to be fixedly connected is seated and the tension force of the elastic driving element is maintained.
  • the at least two support surfaces include a first support surface and a second support surface arranged at an angle to each other, wherein the first support surface faces downward and the second support surface faces front.
  • the base is provided with axial mounting holes for receiving and mounting the rotating shaft and the elastic driving element, and the vertical distances from the axial mounting holes to each supporting surface are equal.
  • the included angle between the first support surface and the second support surface is 90-150 degrees.
  • the included angle between the first support surface and the second support surface is 120 degrees.
  • the body of the base is a frame structure with a plurality of cavity compartments.
  • the base further includes a mounting surface for fixing to the aircraft.
  • the present invention also provides an FPV shooting device, the FPV shooting device includes an FPV shooting module and any one of the above-mentioned adjustment and stabilization devices.
  • the present invention also provides a movable platform including the above-mentioned FPV shooting device.
  • the movable platform is an unmanned aerial vehicle or an underwater robot.
  • the mobile platform is an agricultural drone.
  • the adjusting and stabilizing device for the shooting module, the shooting device and the movable platform provided by the present invention have simple structure and convenient operation.
  • FIG. 1 is a schematic structural diagram of an angle adjustment unit provided by an embodiment of the present invention
  • FIG. 2 is an exploded view of an angle adjustment unit provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the installation of an adjustment and stabilization device for a shooting module and an FPV shooting module according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of an adjustment and stabilization device for a photographing module and an FPV photographing module in a first corner joint state according to an embodiment of the present invention (the FPV photographing module faces forward);
  • FIG. 5 is a schematic diagram of an adjustment and stabilization device for a photographing module and an FPV photographing module provided in an embodiment of the present invention in a second corner joint state (the FPV photographing module faces downward);
  • FIG. 6 is a movable platform (drone) equipped with an adjustment and stabilization device for a photographing module.
  • An embodiment of the present invention provides an adjusting and stabilizing device for a photographing module, the photographing module is an FPV photographing module, and the adjusting and stabilizing device includes an angle adjusting unit.
  • 1 and 2 schematically show the structure of the angle adjustment unit.
  • 3 to 5 schematically show the installation relationship between the angle adjustment unit and the FPV shooting module.
  • the angle adjustment unit includes a rotating shaft 1 , a support base 2 and an elastic driving element 3 .
  • the support base 2 is used for fixed connection with the FPV camera module 6 and can rotate around the rotating shaft 1 .
  • the elastic driving element 3 is sleeved on the rotating shaft 1 to promote the rotation of the support base 2 .
  • the support base 2 has at least two angular engagement positions relative to the rotating shaft 1. When the support base 2 rotates to the non-angular engagement position, the elastic driving element 3 can drive the support base 2 to rotate to one of the at least two angular engagement positions.
  • the angular engagement position means that the support base 2 rotates to a predetermined angle relative to the rotating shaft 1 and can be held at the predetermined angle.
  • the operator does not need to disassemble the FPV camera module every time he adjusts the direction (for example, from forward to down), but directly rotates the support base 2 (driving the FPV camera module). Rotation), and then the support base 2 is held in the angularly engaged position (predetermined angle relative to the shaft 1 ) by means of the elastic drive element 3 . Therefore, the operator can easily adjust the shooting angle of the FPV shooting module in the field and on the water surface, without worrying about the loss of parts and without the help of disassembly tools.
  • the elastic driving element 3 can drive the support base 2 to rotate to one of the angular engagement positions with the smallest angle difference.
  • the tension force of the elastic drive element 3 is continuously increased, which feedbacks the operator's blocking feel, even if the operator does not continue to rotate the support base 2.
  • the elastic driving element 3 can also drive the support base 2 to rotate to one of the angular engagement positions with the smallest angle difference, so that the support base 2 reaches the angular engagement position and is kept in a state of being held, so as to avoid the belt caused by insufficient rotation. potential risks.
  • the tensioning force of the elastic drive element 3 is reduced as the bearing seat 2 is rotated from the non-angular engagement position to any angular engagement position.
  • the tensioning force of the elastic drive element 3 when the bearing seat 2 is in the non-angularly engaged position is greater than the tensioning force of the bearing seat 2 in the angularly engaged position, and the elastically driven when the bearing seat 2 is in the angularly engaged position
  • the tensioning force of the element 3 is also not completely lost, but the bearing seat 2 is held in the angularly engaged position by means of the residual tensioning force. Therefore, in the case of no external force being applied, the support base 2 will not rotate unexpectedly, thereby ensuring that the FPV imaging module 6 is stably oriented in a predetermined direction.
  • the support base 2 is provided with a shaft hole 21 and a first clutch portion 22 through which the rotating shaft 1 passes.
  • the elastic driving element 3 includes a second clutch portion 31 and a spring 32 which are sequentially arranged on the rotating shaft 1 .
  • first clutch part 22 and the second clutch part 31 are cam structures that match each other.
  • the first clutch portion 22 is rotated to the non-angular engagement position with the support base 2
  • the second clutch portion 31 is pushed toward the left side as shown in FIG. 2, and the spring 32 is compressed (tensile force is increased).
  • the first clutch part 22 rotates to the angular engagement position with the support base 2
  • the second clutch part 31 moves to the right as shown in FIG. 2, and the spring 32 is released and contracted (the tension force is reduced).
  • first clutch part 22 and the second clutch part 31 may not be typical cam structures.
  • joint surfaces of the two may be designed as curved surfaces with complementary shapes, and the above technical effects can also be achieved.
  • one end of the rotating shaft 1 is provided with a shaft sleeve 4
  • the second clutch part 31 and the spring 32 are sleeved on the rotating shaft 1 and located in the shaft sleeve 4
  • the second clutch part 31 can be rotatably pivoted on the rotating shaft 1 .
  • the shaft sleeve 4 provides a contact surface for one end of the spring 32 , so that the spring 32 can be compressed or released when the second clutch part 31 is rotatably axially translated on the rotating shaft 1 .
  • the support base 2 rotates relative to the shaft 1 to the non-angular engagement position
  • the second clutch part 31 moves to the left in FIG. 2 along the shaft 1, and the spring 32 is compressed (the tension force increases).
  • the second clutch part 31 moves to the right in FIG. 2 along the shaft 1, and the spring 32 is released (the tension force is reduced).
  • the shaft sleeve 4 is not necessary.
  • the end of the rotating shaft 1 used to be fixed in the shaft sleeve 4 can be directly and fixedly connected to other components, which will be described below. Details.
  • the contours of the first clutch part 22 and the second clutch part 31 are mutually exclusive and axially move away, and the tension force of the spring 32 is increased.
  • the second clutch part 31 is pushed toward the first clutch part 22 by the spring 32 .
  • the second clutch portion 31 is kept in tight engagement with the first clutch portion 22 .
  • the adjustment and stabilization device further includes an angle stabilization unit.
  • the angle stabilization unit includes a base 5 for fixed connection with the rotating shaft 1 .
  • the base 5 has at least two supporting surfaces 51, and the angles of the at least two supporting surfaces 51 are set so that when the elastic driving element 3 drives the bearing base 2 to rotate around the rotating shaft 1 to one of the angular engagement positions, one of the supporting surfaces 51 can abut against the angular engagement position.
  • the FPV camera module 6 to be fixedly connected to the support base 2 is connected and the tension force of the elastic driving element 3 is maintained.
  • Movable platforms eg, unmanned aerial vehicles, unmanned aerial vehicles, etc.
  • providing support for the FPV shooting module 6 enables it to continuously shoot clear and stable images.
  • the at least two support surfaces 51 include a first support surface 51a and a second support surface 51b arranged at an angle to each other, wherein the first support surface 51a faces downward and the second support surface 51b faces forward.
  • the included angle between the first support surface 51a and the second support surface 51b can be selected as required, for example, 90-150 degrees, preferably 120 degrees.
  • this embodiment takes two supporting surfaces as an example for description.
  • the support base 2 may have more than two angular engagement positions relative to the rotating shaft 1, and the number of the support surfaces 51 may correspond to the number of angular engagement positions, thereby satisfying the requirement that the support base 2 rotates to any angle In the joint position, a support surface 51 can be provided for the FPV camera module 6 .
  • the base 5 is provided with an axial mounting hole 52 for accommodating and installing the rotating shaft 1 and the elastic driving element 3, and the vertical distance from the axial mounting hole 52 to each supporting surface 51 is equal (this distance is basically equivalent to FPV shooting).
  • the rotation radius of the module 6 so that when the support base 2 is rotated to any corner joint position, the FPV camera module 6 can abut against the corresponding support surface 51 .
  • the mounting hole 52 is a through hole, and the rotating shaft 1 , the spring 32 and the second clutch part 31 are fixed in the mounting hole 52 by means of the shaft sleeve 4 (actually The upper sleeve 4 corresponds to a hollow pin).
  • the mounting hole 52 can also be a non-through hole (for example, a circular recessed area).
  • one end of the rotating shaft 1 for fixing the connection shaft sleeve 4 is directly fixed in the mounting hole 52, and the second clutch part 31 and the spring 32 are also located in the mounting hole 52.
  • the recessed mounting hole 52 that is, the bushing 4 does not necessarily have to have.
  • the above-mentioned adjusting and stabilizing device needs to be mounted on a movable platform (eg, unmanned aerial vehicle, unmanned aerial vehicle, etc.), so the excessive weight will inevitably cause the movable platform to consume more power.
  • the body of the base 5 is a frame structure with a plurality of cavity compartments 53 .
  • the plurality of cavity compartments 53 may be arranged regularly or irregularly, and each cavity compartment 53 may be hollow or recessed.
  • the base 5 of the frame structure takes into account structural strength and weight at the same time, and can meet the needs of navigation.
  • the base 5 includes a mounting surface 54 for fixing with the movable platform.
  • an embodiment of the present invention provides an FPV photographing device, which includes a photographing module 6 and any one of the above-mentioned adjustment and stabilization devices.
  • a movable platform is provided, and the movable platform includes the above-mentioned FPV photographing device.
  • the movable platform device can be an unmanned aerial vehicle, an underwater robot, or a hand-held gimbal.
  • a movable platform (unmanned aerial vehicle) is provided, and the movable platform includes a main body 7 and the above-mentioned FPV photographing device mounted on the bottom of the main body 7 .
  • the movable platform shown in FIG. 6 has six rotors 71 , and the FPV camera module 6 faces forward. Those skilled in the art should understand that the number of rotors 71 can be changed (for example, four rotors or two rotors), and the FPV camera module 6 can be rotated to face other directions (for example, downward).
  • the movable platform can be used as an agricultural drone.
  • the above-mentioned adjusting and stabilizing device and FPV photographing device can also be applied to underwater robots.
  • the terms “first”, “second” and “third” are only used for the purpose of description, and cannot be construed as indicating or implying relative importance; the term “multiple” refers to two or two above, unless otherwise expressly defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense. For example, “connected” can be a fixed connection, a detachable connection, or an integral connection; “connected” can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

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

Abstract

本发明公开了一种用于拍摄模块的调节稳定装置，包括角度调节单元，所述角度调节单元包括：转轴；能够围绕所述转轴转动的用于与FPV拍摄模块固定连接的支承座；套设在所述转轴上并能够促使所述支承座转动的弹性驱动元件，其中，所述支承座相对于所述转轴具有至少两个角接合位置，当所述支承座转动至非角接合位置时，所述弹性驱动元件能够驱使所述支承座向所述至少两个角接合位置之一转动。此外，本发明还提供了拍摄装置和可移动平台。采用本发明提供的调节稳定装置、拍摄装置和可移动平台，结构简单，操作便捷。

Description

用于拍摄模块的调节稳定装置、拍摄装置和可移动平台 技术领域
本发明涉及可移动平台领域，特别涉及用于飞行器或潜水器FPV拍摄模块的调节稳定装置，以及FPV拍摄装置。
背景技术
目前，无人航行器(或者可移动平台)通常会搭载FPV拍摄模块(第一视角摄像头)，该FPV拍摄模块用于实时拍摄画面。一般情况下，FPV拍摄模块被安装于机身前方且拍摄视野朝向无人航行器的航行方向，以使其能够观察前方环境(例如，观察无人航行器前方的障碍物或者拍摄风景)。
现有的无人航行器的FPV拍摄模块一般只能固定地朝向前方，当需要使其朝向其它方向时，通常需要将该FPV拍摄模块由无人航行器的机体上拆下，然后更换固定位置，以此来实现拍摄方向的改变。例如，将FPV拍摄模块更换固定至无人航行器底部，并使FPV拍摄模块视野朝下。这种拆装FPV拍摄模块的操作非常繁琐，不利于使用者在一些条件下(例如野外、水面)快速调整FPV拍摄模块的拍摄模块，并且有可能在拆装过程中造成零部件丢失。
然而，在一些特定使用情景下，需要时常更换FPV拍摄模块的拍摄方向，例如无人航行器(无人飞行器)被作为农用时，通常进行地形测绘、农田面积测绘或飞至预定位置打点，此时FPV拍摄无人航行器的视野需要朝下。
因此，提供一种可靠的角度调节稳定装置，使得FPV拍摄模块能够被便利地改变拍摄方向，以满足无人航行器对于不同应用情景的需求成为亟待解决的问题。
发明内容
鉴于背景技术中存在的缺陷，本发明提供了一种用于拍摄模块的调节稳定装置，所述拍摄模块为FPV拍摄模块。所述调节稳定装置包括角度调节单元。所述角度调节单元包括：转轴；能够围绕所述转轴转动的用于与 所述FPV拍摄模块固定连接的支承座；套设在所述转轴上并能够促使所述支承座转动的弹性驱动元件。其中，所述支承座相对于所述转轴具有至少两个角接合位置，当所述支承座转动至非角接合位置时，所述弹性驱动元件能够驱使所述支承座向所述至少两个角接合位置之一转动。
在本发明的一些实施方式中，当所述支承座转动至非角接合位置时，所述弹性驱动元件能够驱使所述支承座向角度差最小的其中一个角接合位置转动。
在本发明的一些实施方式中，随着所述支承座自所述非角接合位置转动至任一所述角接合位置，所述弹性驱动元件的张紧力减少。
在本发明的一些实施方式中，所述支承座上设有供转轴通过的轴孔以及第一离合部；所述弹性驱动元件包括设置于所述转轴上的第二离合部和弹簧；所述第一离合部和所述第二离合部配置成：当所述支承座相对于所述转轴转动至所述非角接合位置时，所述第一离合部和所述第二离合部的轮廓互斥地轴向远离；当所述支承座相对于所述转轴转动至任一所述角接合位置时，在所述弹簧的作用下，所述第一离合部和所述第二离合部的轮廓互补地轴向接合。
在本发明的一些实施方式中，所述第一离合部和所述第二离合部为凸轮结构。
在本发明的一些实施方式中，所述转轴的一端设有轴套，所述第二离合部和所述弹簧设置于所述轴套内，且套设于所述转轴上，以使得所述第二离合部能够在所述转轴上可转动地轴向平移。
在本发明的一些实施方式中，所述的调节稳定装置还包括角度稳定单元，所述角度稳定单元包括：用于与所述转轴固定连接的基座，所述基座具有至少两个支撑面；所述至少两个支撑面的角度设置成：当所述弹性驱动元件驱使所述支承座绕所述转轴向其中一个所述角接合位置转动时，其中一个支撑面能够抵接所述支承座待固定连接的所述FPV拍摄模块并保有所述弹性驱动元件的张紧力。
在本发明的一些实施方式中，所述至少两个支撑面包括彼此呈角度设置的第一支撑面和第二支撑面，其中，所述第一支撑面朝向下方，所述第二支撑面朝向前方。
在本发明的一些实施方式中，所述基座上设置有用于收纳和安装所述转轴和所述弹性驱动元件的轴向安装孔，所述轴向安装孔至各个支撑面的 垂直距离相等。
在本发明的一些实施方式中，所述第一支撑面和所述第二支撑面之间的夹角为90～150度。
在本发明的一些实施方式中，所述第一支撑面和所述第二支撑面之间的夹角为120度。
在本发明的一些实施方式中，所述基座的本体为具有多个空腔隔室的框架结构。
在本发明的一些实施方式中，所述基座还包括用于与航行器固定的安装面。
此外，本发明还提供了一种FPV拍摄装置，所述FPV拍摄装置包括FPV拍摄模块和上述的任意一种调节稳定装置。
本发明还提供了一种包括上述FPV拍摄装置的可移动平台。
在本发明的一些实施方式中，所述可移动平台是无人机或水下机器人。
在本发明的一些实施方式中，所述可移动平台是农用无人机。
本发明提供的用于拍摄模块的调节稳定装置、拍摄装置和可移动平台，结构简单，操作便捷。
附图说明
图1为本发明一实施例提供的角度调节单元的结构示意图；
图2为本发明一实施例提供的角度调节单元的爆炸图；
图3为本发明一实施例提供的用于拍摄模块的调节稳定装置和FPV拍摄模块的安装示意图；
图4为本发明一实施例提供的用于拍摄模块的调节稳定装置和FPV拍摄模块的处于第一角接合状态下的示意图(FPV拍摄模块朝前)；
图5为本发明一实施例提供的用于拍摄模块的调节稳定装置和FPV拍摄模块的处于第二角接合状态下的示意图(FPV拍摄模块朝下)；
图6为搭载了用于拍摄模块的调节稳定装置的可移动平台(无人机)。
具体实施方式
为了使发明的目的、技术方案和优点更加清楚，下面结合附图和具体实施例对发明作进一步详细的说明。虽然附图中显示了本公开示例性实施例，然而应当理解，可以以各种形式实现本发明而不应被这里阐述的实施 例所限制。相反，提供这些实施例是为了能够更便于透彻的理解本发明，并且能够将本发明的构思完整的传达给本领域人员。
本发明一实施例提供了一种用于拍摄模块的调节稳定装置，所述拍摄模块为FPV拍摄模块，所述调节稳定装置包括角度调节单元。图1和图2示意性地显示了角度调节单元的结构。图3～5示意性地显示了角度调节单元和FPV拍摄模块的安装关系。
所述角度调节单元包括转轴1、支承座2以及弹性驱动元件3。具体地，支承座2用于和FPV拍摄模块6固定连接，且能够围绕转轴1转动。弹性驱动元件3套设在转轴1上，以用于促使支承座2转动。支承座2相对于转轴1具有至少两个角接合位置，当支承座2转动至非角接合位置时，弹性驱动元件3能够驱使支承座2向至少两个角接合位置之一转动。其中，角接合位置是指支承座2相对于转轴1转动至预定的角度，且能够在该预定的角度被保持住。
采用本实施例提供的调节稳定装置时，操作者不需要每次调整FPV拍摄模块的方向都进行一次拆卸(例如由朝前调整至朝下)，而是直接转动支承座2(带动FPV拍摄模块转动)，然后再利用弹性驱动元件3将支承座2保持在角接合位置(相对于转轴1的预定的角度)。因此，操作者能够在野外、水面便捷地对FPV拍摄模块的拍摄角度进行调整，且不必担心零部件的丢失，也无需借助拆卸工具。
进一步地，当支承座2转动至非角接合位置时，弹性驱动元件3能够驱使支承座2向角度差最小的其中一个角接合位置转动。
操作者对支承座2施加外力，以使其转动至非角接合位置时，弹性驱动元件3的张紧力不断增大，反馈给操作者阻塞的手感，即使操作者没有继续将支承座2转动至角接合位置，弹性驱动元件3也能够驱使支承座2向角度差最小的其中一个角接合位置转动，进而使支承座2达到角接合位置且被保持的状态，以避免由于旋转不到位而带来的潜在风险。
更进一步地，为了使得支承座2转动至角接合位置时能够被更好地被保持，随着支承座2自非角接合位置转动至任一角接合位置，弹性驱动元件3的张紧力减少。
本领域技术人员应当能够理解，支承座2在非角接合位置时弹性驱动元件3的张紧力大于支承座2在角接合位置时的张紧力，并且支承座2处于角接合位置时弹性驱动元件3的张紧力也并非完全消失，而是凭借残余 的张紧力将支承座2保持在角接合位置。由此，在不施加外力的情况下，支承座2不会意外地转动，从而确保FPV拍摄模块6稳定地朝向预定的方向。
参照图2所示，支承座2上设有供转轴1通过的轴孔21以及第一离合部22。弹性驱动元件3包括依次设置于转轴1上的第二离合部31和弹簧32。当支承座2相对于转轴1转动至非角接合位置时，第一离合部22和第二离合部31的轮廓互斥地轴向远离。当支承座2相对于转轴1转动至任一所述角接合位置时，在弹簧32的作用下，第一离合部22和第二离合部31的轮廓互补地轴向接合。
具体而言，第一离合部22和第二离合部31为相互匹配的凸轮结构。当第一离合部22随着支承座2转动至非角接合位置时，第二离合部31被向着如图2所示的左侧推动，弹簧32被压缩(张紧力增大)。当第一离合部22随着支承座2转动至角接合位置时，第二离合部31向着如图2所示的右侧移动，弹簧32被释放缩(张紧力减小)。
本领域技术人员应当能够理解，第一离合部22和第二离合部31可以不是典型的凸轮结构，例如可以将二者的结合面设计成形状互补的曲面，也能够实现上述技术效果。
进一步地，转轴1的一端设有轴套4，第二离合部31和弹簧32套设于转轴1上，且位于设轴套4内，第二离合部31能够在转轴1上可转动地轴向平移。轴套4为弹簧32的一端提供了抵触面，以使得第二离合部31在转轴1上可转动地轴向平移时，弹簧32可以被压缩或释放。举例而言，当支承座2相对于转轴1转动至非角接合位置时，第二离合部31沿着转轴1向图2中的左侧运动，弹簧32被压缩(张紧力增加)。当支承座2相对于转轴1转动至任一角接合位置时，第二离合部31沿着转轴1向图2中的右侧运动，弹簧32被释放(张紧力减小)。
其中，需要说明的是，轴套4并非必须，在具有适宜的安装位置的情况下，转轴1用于固定在轴套4中的一端可以直接和其它部件固定连接，这种情况将在下文予以详细介绍。
由此，在外力的干预下，第一离合部22和第二离合部31轮廓互斥地轴向远离，弹簧32的张紧力增加。当外力消失后，第二离合部31被弹簧32推向第一离合部22。并且凭借弹簧32残余的张紧力，第二离合部31与第一离合部22保持紧密地接合。
如图3～5所示，在本发明的另一实施例中，所述的调节稳定装置还包括角度稳定单元。该角度稳定单元包括用于与转轴1固定连接的基座5。基座5具有至少两个支撑面51，至少两个支撑面51的角度设置成：当弹性驱动元件3驱使支承座2绕转轴1向其中一个角接合位置转动时，其中一个支撑面51能够抵接支承座2待固定连接的FPV拍摄模块6并保有弹性驱动元件3的张紧力。
可移动平台(例如，无人飞行器，无人航行器等)在航行时会受到风力、水流的干扰而产生晃动，或者因航行器自身的动力模块工作而震颤。在这种情况下，为FPV拍摄模块6提供支撑能够使其持续地拍摄清晰、稳定的画面。
进一步地，至少两个支撑面51包括彼此呈角度设置的第一支撑面51a和第二支撑面51b，其中，第一支撑面51a朝向下方，第二支撑面51b朝向前方。第一支撑面51a和第二支撑面51b之间的夹角可以根据需要地被选择，例如为90～150度，优选地为120度。
为了便于理解，本实施例以两个支撑面为例进行说明。本领域技术人员应当能够理解，支承座2相对于转轴1可以有二个以上的角接合位置，支撑面51的数量可以与角接合位置的数量相应，由此满足支承座2旋转至任一个角接合位置时，都可以为FPV拍摄模块6提供一个支撑面51。
更进一步地，基座5上设置有用于收纳和安装转轴1和弹性驱动元件3的轴向安装孔52，轴向安装孔52至各个支撑面51的垂直距离相等(该距离基本相当于FPV拍摄模块6的旋转半径)，以满足支承座2在转至任一角接合位置时，FPV拍摄模块6均可以与相应的支撑面51相抵接。
需要说明的是，在如图3～5所示的实施例中，安装孔52为通孔，转轴1、弹簧32以及第二离合部31凭借轴套4被固定在该安装孔52内(实际上轴套4相当于空心的销)。安装孔52还可以为非通孔(例如圆形的凹陷区域)，此时转轴1用于固定连接轴套4的一端被直接固定在安装孔52内，第二离合部31和弹簧32也位于该凹陷的安装孔52中，即轴套4并非必须具有。
使用时，上述的调节稳定装置需要被搭载于可移动平台(例如，无人飞行器，无人航行器等)上，因此过大的重量必将导致可移动平台消耗更多的电力。为了进一步减轻重量，基座5的本体为具有多个空腔隔室53的框架结构。多个空腔隔室53可以规则或者不规则地排列，每一个空腔隔室 53可以是镂空或者凹陷。框架结构的基座5同时兼顾了结构强度和重量，能够满足航行的需要。为了方便将调节稳定装置与可移动平台固定连接，基座5包括用于与可移动平台固定的安装面54。
如图3～5所示，在本发明的一个实施例中提供了一种FPV拍摄装置，该FPV拍摄装置包括了拍摄模块6和上述的任意一种调节稳定装置。
在本发明的一个实施例中提供了一种可移动平台，所述可移动平台包括上述的FPV拍摄装置。所述可移动平台器可以是无人机、水下机器人、或者手持云台。
如图6所示，在本发明的一个实施例中提供了一种可移动平台(无人机)，所述可移动平台包括主体7以及安装于主体7底部的上述的FPV拍摄装置。图6中显示的可移动平台具有六个旋翼71，且FPV拍摄模块6朝向前方。本领域技术人员应当能够理解，旋翼71的数量可以改变(例如四个旋翼或者两个旋翼)，且可以旋转FPV拍摄模块6使其朝向其他方向(例如朝向下方)。所述可移动平台可以作为农用无人机。
除此之外，上述的调节稳定装置和FPV拍摄装置还可以被应用于水下机器人。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
在本发明中，术语“第一”、“第二”、“第三”仅用于描述的目的，而不能理解为指示或暗示相对重要性；术语“多个”则指两个或两个以上，除非另有明确的限定。术语“安装”、“相连”、“连接”、“固定”等术语均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；“相连”可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
最后应说明的是，以上实施例仅用以说明本发明的技术方案而非限制 性的。尽管参照实施例对本发明进行了详细说明，但本领域的普通技术人员应当理解，对本发明的技术方案进行修改或者等同替换，都不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。

Claims (17)

  1. 一种用于拍摄模块的调节稳定装置，所述拍摄模块为FPV拍摄模块，其特征在于，包括角度调节单元，所述角度调节单元包括：
    转轴；
    能够围绕所述转轴转动的用于与所述FPV拍摄模块固定连接的支承座；
    套设在所述转轴上并能够促使所述支承座转动的弹性驱动元件；
    其中，所述支承座相对于所述转轴具有至少两个角接合位置，当所述支承座转动至非角接合位置时，所述弹性驱动元件能够驱使所述支承座向所述至少两个角接合位置之一转动。
  2. 根据权利要求1所述的调节稳定装置，其特征在于，当所述支承座转动至非角接合位置时，所述弹性驱动元件能够驱使所述支承座向角度差最小的其中一个角接合位置转动。
  3. 根据权利要求1所述的调节稳定装置，其特征在于，随着所述支承座自所述非角接合位置转动至任一所述角接合位置，所述弹性驱动元件的张紧力减少。
  4. 根据权利要求1所述的调节稳定装置，其特征在于：
    所述支承座上设有供转轴通过的轴孔以及第一离合部；
    所述弹性驱动元件包括设置于所述转轴上的第二离合部和弹簧；
    所述第一离合部和所述第二离合部配置成：当所述支承座相对于所述转轴转动至所述非角接合位置时，所述第一离合部和所述第二离合部的轮廓互斥地轴向远离；当所述支承座相对于所述转轴转动至任一所述角接合位置时，在所述弹簧的作用下，所述第一离合部和所述第二离合部的轮廓互补地轴向接合。
  5. 根据权利要求4所述的调节稳定装置，其特征在于，所述第一离合部和所述第二离合部为凸轮结构。
  6. 根据权利要求4所述的调节稳定装置，其特征在于，所述转轴的一 端设有轴套，所述第二离合部和所述弹簧设置于所述轴套内，且套设于所述转轴上，以使得所述第二离合部能够在所述转轴上可转动地轴向平移。
  7. 根据权利要求1所述的调节稳定装置，其特征在于，还包括角度稳定单元，所述角度稳定单元包括：
    用于与所述转轴固定连接的基座，所述基座具有至少两个支撑面；
    所述至少两个支撑面的角度设置成：当所述弹性驱动元件驱使所述支承座绕所述转轴向其中一个所述角接合位置转动时，其中一个支撑面能够抵接所述支承座待固定连接的所述FPV拍摄模块并保有所述弹性驱动元件的张紧力。
  8. 根据权利要求7所述的调节稳定装置，其特征在于，所述至少两个支撑面包括彼此呈角度设置的第一支撑面和第二支撑面，其中，所述第一支撑面朝向下方，所述第二支撑面朝向前方。
  9. 根据权利要求8所述的调节稳定装置，其特征在于，所述基座上设置有用于收纳和安装所述转轴和所述弹性驱动元件的轴向安装孔，所述轴向安装孔至各个支撑面的垂直距离相等。
  10. 根据权利要求8所述的调节稳定装置，其特征在于，所述第一支撑面和所述第二支撑面之间的夹角为90～150度。
  11. 根据权利要求9所述的调节稳定装置，其特征在于，所述第一支撑面和所述第二支撑面之间的夹角为120度。
  12. 根据权利要求7所述的调节稳定装置，其特征在于，所述基座的本体为具有多个空腔隔室的框架结构。
  13. 根据权利要求7所述的调节稳定装置，其特征在于，所述基座还包括用于与可移动平台固定的安装面。
  14. 一种拍摄装置，其特征在于，包括FPV拍摄模块和根据权利要求 1～13中任一项所述的调节稳定装置。
  15. 一种可移动平台，其特征在于，包括根据权利要求14所述的拍摄装置。
  16. 根据权利要求15所述的可移动平台，其特征在于，所述可移动平台是无人机、水下机器人、或手持云台。
  17. 根据权利要求15所述的可移动平台，其特征在于，所述可移动平台是农用无人机。
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