WO2023082178A1 - 拍摄装置和拍摄系统 - Google Patents

拍摄装置和拍摄系统 Download PDF

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Publication number
WO2023082178A1
WO2023082178A1 PCT/CN2021/130326 CN2021130326W WO2023082178A1 WO 2023082178 A1 WO2023082178 A1 WO 2023082178A1 CN 2021130326 W CN2021130326 W CN 2021130326W WO 2023082178 A1 WO2023082178 A1 WO 2023082178A1
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WO
WIPO (PCT)
Prior art keywords
photographing device
motor
image sensor
center
fixing
Prior art date
Application number
PCT/CN2021/130326
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English (en)
French (fr)
Inventor
田赫
郭善光
Original Assignee
深圳市大疆创新科技有限公司
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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 PCT/CN2021/130326 priority Critical patent/WO2023082178A1/zh
Publication of WO2023082178A1 publication Critical patent/WO2023082178A1/zh

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  • the present application relates to the field of photographing equipment, in particular to a photographing device and a photographing system.
  • the stabilization of the shooting device is mostly realized by mounting the shooting device on the gimbal.
  • the stabilized objects or loads of each axis of the gimbal always include the camera module and the lens module at the same time.
  • the three-axis gimbal with the shooting device as the main the three-axis gimbal requires at least two sections of the shaft arm to connect the rotating joint, which causes the load inertia to increase step by step from the inner ring to the outer ring, thereby reducing the system stiffness of the gimbal.
  • the present application provides a photographing device and a photographing system.
  • an embodiment of the present application provides a photographing device, the photographing device comprising:
  • the shell is provided with a receiving cavity
  • a lens assembly connected to one end of the housing, the lens assembly includes a lens
  • the sensor module is installed in the storage cavity, the sensor module includes an image sensor and a frame assembly for installing the image sensor, and the image sensor is spaced apart from the lens;
  • a motor installed in the receiving cavity the motor is used to drive the image sensor to rotate around a predetermined axis
  • a rotary part one side of which is connected to the frame assembly, and the other side is connected to the rotating part of the motor;
  • the first adjustment structure is provided at the connection between the frame assembly and the rotating member, and is used to adjust the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor, so that the axis of the predetermined axis The direction is substantially perpendicular to the imaging surface of the image sensor;
  • the second adjustment structure is located at the connection between the fixed part of the motor and the housing, and is used to adjust the perpendicularity of the optical axis of the lens to the imaging surface of the image sensor, so that the optical axis of the lens The axis is substantially perpendicular to the imaging plane of the image sensor.
  • an embodiment of the present application provides a photographing device, the photographing device comprising:
  • the shell is provided with a receiving cavity
  • a lens assembly connected to one end of the housing, the lens assembly includes a lens
  • a motor is installed in the receiving cavity, and when the motor is used to drive the image sensor to rotate around a predetermined axis, the rotation angle of the image sensor is greater than or equal to 90 degrees;
  • the axial direction of the predetermined axis is substantially perpendicular to the imaging surface of the image sensor, and the optical axis of the lens is substantially perpendicular to the imaging surface of the image sensor.
  • an embodiment of the present application provides a photographing device, the photographing device comprising:
  • the shell is provided with a receiving cavity
  • a lens assembly connected to one end of the casing
  • a motor is installed in the housing cavity, and when the motor is used to drive the image sensor to rotate around the roll axis, the lens assembly can be fixed relative to the housing;
  • the rotation angle range of the motor can make the shooting device be in different shooting modes when the image sensor is rotated to different positions.
  • an embodiment of the present application provides a photographing device, the photographing device comprising:
  • the shell is provided with a receiving cavity
  • a lens assembly connected to one end of the casing
  • a motor is installed in the housing cavity, and when the motor is used to drive the predetermined axis of the image sensor to rotate, the lens assembly can be fixed relative to the housing;
  • the motor can rotate based on an external control command to adjust the shooting angle of the shooting device through the rotation of the image sensor, and can rotate based on the posture information of the shooting device to adjust the shooting angle of the shooting device through the rotation of the image sensor.
  • the camera is stabilized.
  • the embodiment of the present application provides a photographing device, including:
  • the shell is provided with a receiving cavity
  • a lens assembly connected to one end of the casing
  • controller installed in the receiving chamber, the controller is electrically connected to the image sensor and the motor;
  • the photographing device is used to be detachably mounted on a pan-tilt, and the pan-tilt is configured to rotate around at least one rotation axis, the axial direction of the rotation axis intersects the axial direction of the predetermined axis;
  • the controller can control the rotation of the motor and the shaft motor in the platform;
  • the controller can Control the rotation of the motor.
  • the embodiment of the present application provides a shooting system, including:
  • the photographing device is disposed on the on-board equipment.
  • the embodiment of the present application provides a shooting system, including:
  • the photographing device is arranged on the platform, and the platform is configured to rotate around at least one rotation axis.
  • the photographing device of the present application has a built-in motor, and the motor drives the image sensor to rotate around the predetermined axis.
  • the motor does not need to drive the lens and other structures of the photographing device, thereby greatly reducing the load inertia of the predetermined axis;
  • a bipolar adjustment structure is creatively designed, that is, through the first adjustment structure, the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor is adjusted, and through the second adjustment structure, the optical axis of the lens is adjusted relative to the imaging surface of the image sensor
  • the verticality can solve the image plane motion problem introduced by only rotating the image sensor, and ensure the clarity of the image captured by the shooting device; in addition, when the shooting device is mounted on the carrying equipment, such as a gimbal, since the above motor is built into the The shooting device makes the gimbal equipped with the shooting device save the corresponding shaft arm, greatly reduces the weight of the gimbal
  • FIG. 1 is a schematic diagram of a camera mounted on a platform in an embodiment of the present application
  • Fig. 2 is a schematic cross-sectional view of a photographing device and a cloud platform in an embodiment of the present application
  • Fig. 3 is a partially enlarged schematic diagram of Fig. 2;
  • Fig. 4 is a schematic diagram of the cooperation of the image sensor and the motor in the photographing device in an embodiment of the present application;
  • Fig. 5 is a structural block diagram of a photographing device in an embodiment of the present application.
  • Fig. 6 is a disassembled schematic diagram of the structure shown in Fig. 4;
  • Fig. 7 is a schematic cross-sectional view of the structure shown in Fig. 4;
  • Fig. 8 is a schematic cross-sectional view of the structure shown in Fig. 4 in another direction;
  • FIG. 9 is a schematic structural diagram of a heat sink in an embodiment of the present application.
  • Fig. 10 is a schematic structural diagram of a heat pipe in an embodiment of the present application.
  • Fig. 11 is a schematic structural diagram of a sealed line card in an embodiment of the present application.
  • FIG. 12 is another schematic diagram of a camera mounted on a platform in an embodiment of the present application.
  • Fig. 13 is another schematic diagram of the camera device mounted on the platform in an embodiment of the present application.
  • Fig. 14 is another schematic diagram of the camera device mounted on the platform in an embodiment of the present application.
  • Fig. 15 is a disassembled schematic diagram of a motor in an embodiment of the present application.
  • Fig. 16 is a schematic cross-sectional view of a motor in an embodiment of the present application.
  • Fig. 17 is a schematic structural view of the fixed part of the motor in an embodiment of the present application.
  • Fig. 18 is a schematic cross-sectional view of another direction of the motor in an embodiment of the present application.
  • Fig. 19 is a schematic diagram of the rotation track of the motor in an embodiment of the present application.
  • Second elastic member 101, heat dissipation piece; 1011, heat dissipation main body; 1012, socket part; 10121, fixing groove; 1013, heat dissipation fin; 102, heat conduction component; 103, signal transmission line; 104, first partition; 105, sealing line card; 1051, card connection hole; 10511, first opening; 10512, second opening; 106, second partition; 107, cooling fan; 108. Center of gravity adjustment guide rail; 109. Center of gravity marking structure; 1010. Locking mechanism; 10101. Knob; 10102. Abutting piece; 1020. Counterweight; Motor; 22, the second driving motor; 23, the shaft arm; 24, the communication interface.
  • At least one means one or more, and “multiple” means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there can be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist at the same time, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • “At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one (unit) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b, c can be single or multiple.
  • the embodiment of the present application provides a camera 10, the camera 10 may include a housing 11, a lens assembly 12, a sensor module, a motor 14, a rotary member 17, a first adjustment structure 18 and a second Two adjustment structures 19, wherein the casing 11 is provided with a receiving cavity 111, the lens assembly 12 is connected to one end of the casing 11, and the lens assembly 12 may include a lens.
  • the sensor module is installed in the accommodating cavity 111.
  • the sensor module in the embodiment of the present application may include an image sensor 13 and a frame assembly 16 for installing the image sensor 13.
  • the image sensor 13 is spaced apart from the lens.
  • the motor 14 is installed in the receiving cavity 111 , and the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis.
  • One side of the rotary member 17 is connected to the frame assembly 16, and the other side is connected to the rotating part of the motor 14, so that the rotation of the motor 14 is transmitted to the image sensor 13 through the rotary member 17, so that the motor 14 drives the image sensor 13 to rotate around a predetermined axis .
  • the first adjustment structure 18 is provided at the connection between the frame assembly 16 and the rotary member 17.
  • the first adjustment structure 18 in the embodiment of the present application is used to adjust the verticality of the axial direction of the predetermined axis relative to the imaging plane of the image sensor 13, so that the predetermined axis
  • the axial direction of the axis is substantially perpendicular to the imaging surface of the image sensor 13, so that the axial direction of the predetermined axis is substantially parallel to the central axis of the image sensor 13, thereby preventing shooting due to the non-perpendicular axis of the predetermined axis and the imaging surface of the image sensor 13.
  • the image captured by the device 10 is blurred to ensure the clarity of the image captured by the device 10 .
  • the central axis of the imaging plane of the image sensor 13 passes through the center of the imaging plane of the image sensor 13 and is perpendicular to the imaging plane of the sensor 13 .
  • the second adjustment structure 19 is arranged at the joint between the fixed part of the motor 14 and the housing 11.
  • the second adjustment structure 19 in the embodiment of the present application is used to adjust the perpendicularity of the optical axis of the lens to the imaging plane of the image sensor 13, so that the lens
  • the optical axis of the optical axis is substantially perpendicular to the imaging surface of the image sensor 13, thereby ensuring that the installation reference plane of the lens bayonet is substantially parallel to the imaging surface of the image sensor 13, if the imaging surface of the image sensor 13 is not parallel to the installation reference surface of the lens bayonet, Then, during the rotation of the image sensor 13 around the predetermined axis, the included angle between the imaging surface of the image sensor 13 and the mounting reference plane of the lens bayonet will change, resulting in a change in the relative positional relationship between the image sensor 13 and the lens.
  • the shooting effect of the shooting device 10 is guaranteed. Therefore, by setting the second adjustment structure 19 , it is ensured that the installation reference plane of the lens bayonet is substantially parallel to the imaging plane of the image sensor 13 , thereby ensuring the clarity of the image captured by the photographing device 10 .
  • the second adjustment structure 19 can also be used to adjust the distance between the lens and the imaging surface of the image sensor 13 , so that the image surface of the lens falls on the imaging surface of the image sensor 13 .
  • the lens and the image sensor 13 keep a certain distance, it is necessary to keep the optical axis of the lens substantially perpendicular to the imaging surface of the image sensor 13, so as to ensure the clarity of imaging, otherwise only a part of the imaging surface is clearly imaged , while other parts of the image are not clear.
  • the verticality of the axial direction of the predetermined axis relative to the imaging plane of the image sensor 13 the verticality of the optical axis of the lens relative to the imaging plane of the image sensor can be maintained so that the image sensor 13 rotates to any angle. In this way, through the two-stage adjustment structure, the image plane movement problem introduced by only rotating the image sensor 13 is solved, and the clarity of the image captured by the photographing device 10 is ensured.
  • the camera 10 of the embodiment of the present application has a built-in motor 14, so that the motor 14 only drives the image sensor 13 to rotate around a predetermined axis without driving the lens and other structures of the camera 10, which greatly reduces the load inertia corresponding to the predetermined axis.
  • the predetermined axis may be a roll axis, or an axis in other directions. The predetermined axis is determined by the placement direction of the photographing device 10.
  • the optical axis of the camera lens of the photographing device 10 is roughly parallel to the horizontal plane, and the predetermined axis can be called a rolling axis; when the optical axis of the camera lens of the photographing device 10 When perpendicular to the horizontal plane, the predetermined axis may be referred to as the yaw axis.
  • the motor 14 when the predetermined axis is a roll axis, the motor 14 may be called a roll motor, so as to drive the image sensor 13 to rotate around the roll axis; when the predetermined axis is a yaw axis, the motor 14 may be called a yaw motor , so as to drive the image sensor 13 to rotate around the yaw axis.
  • the predetermined axis may be the rotary axis of the rotary member 17, but the rotational axis of the motor 14 is not necessarily the predetermined axis.
  • the rotational axis of the motor 14 is the predetermined axis;
  • the rotation axis of the motor 14 is different from the predetermined axis, and the motor 14 can indirectly drive the rotation of the image sensor 13 in the axial direction around the predetermined axis.
  • the rotation of the motor 14 can be converted into rotation around the predetermined axis through the transmission assembly rotation in the axial direction.
  • the photographing device 10 of the embodiment of the present application can be used alone, and can also be used on a carrying device.
  • the carrying device can be a cloud platform 20 (as shown in FIG. 1 ), such as a hand-held platform or an airborne platform; Others may be included, such as mobile platforms such as unmanned aerial vehicles, unmanned vehicles, and mobile robots, or wearable devices.
  • the cloud platform 20 carrying the photographing device 10 can save the corresponding shaft arm, which greatly reduces the weight of the cloud platform 20 and improves The system rigidity of the gimbal 20 is improved, so that the gimbal 20 can support a larger lens.
  • the lens assembly 12 can be fixed relative to the casing 11 .
  • the motor 14 drives the image sensor 13 to rotate around a predetermined axis, and the lens assembly 12 does not need to rotate, thereby greatly reducing the load inertia corresponding to the predetermined axis.
  • the optical axis of the lens, the central axis of the imaging surface of the image sensor 13 and the axial direction of the predetermined axis are not coaxial, and the optical axis of the lens, the central axis of the imaging surface of the image sensor 13 and the predetermined axis are in pairs Parallel, and the distance between each pair is small. In this way, when the motor 14 drives the image sensor 13 to rotate around a predetermined axis, the relative positional relationship between the image sensor 13 and the lens remains unchanged to prevent the image plane of the image sensor 13 from moving, so as to ensure the shooting effect of the camera 10 .
  • the optical axis of the lens, the central axis of the imaging surface of the image sensor 13 and the axial direction of the predetermined axis are coaxial.
  • the center of the picture can be basically consistent with the center of rotation, so that the rotating picture has a better symmetrical effect.
  • the rotation range of the image sensor 13 may be greater than or equal to 90 degrees, may also be greater than or equal to 360 degrees, such as ⁇ 330 degrees, and may also be infinitely rotatable.
  • the predetermined axis is the roll axis
  • the rotation angle range of the motor 14 can make the camera 10 be in different shooting modes when the image sensor 13 rotates to different positions, so that the camera 10 can shoot Different shooting pictures can be produced to meet different shooting needs.
  • the shooting mode includes a horizontal shooting mode for capturing images in a horizontal orientation, a vertical shooting mode for capturing images in a vertical orientation, or an intermediate mode for capturing images at an angle between the horizontal orientation and the vertical orientation, that is, the shooting device 10 It can switch among the three shooting modes of horizontal shooting mode, vertical shooting mode and intermediate mode to meet different shooting needs. It should be understood that the shooting mode may also include others.
  • the motor 14 can rotate based on an external control command to adjust the shooting angle of the camera 10 through the rotation of the image sensor 13.
  • the motor 14 drives the image sensor 13 based on an external control command Rotate around a predetermined axis to adjust the shooting angle of the shooting device 10 .
  • the motor 14 can also rotate based on the attitude information of the camera 10, so as to stabilize the camera 10 through the rotation of the image sensor 13, that is, the motor 14 can rotate based on the attitude component corresponding to the predetermined axis in the attitude information of the camera 10 Rotate to drive the image sensor 13 to rotate around a predetermined axis to achieve stabilization of the photographing device 10 .
  • the external control command can be sent by different structures or devices.
  • the external control command can be generated when the control part (such as a button or other type of control part) on the shooting device 10 is operated, or it can be generated by the camera equipped with the shooting device 10.
  • the cloud platform 20 sends, or is sent by the remote control device (such as a remote control or a mobile phone, a tablet computer, etc.) of the shooting device 10 or the cloud platform 20 .
  • the photographing device 10 further includes a controller 15 , the controller 15 is electrically connected to the image sensor 13 and the motor 14 , and the controller 15 is installed in the receiving cavity 111 .
  • the photographing device 10 is configured to be detachably mounted on the pan/tilt 20, and the pan/tilt 20 is configured to rotate around at least one rotation axis, and the axial direction of the rotation axis intersects the axial direction of a predetermined axis.
  • controller 15 can control the rotation of the rotating shaft motor in motor 14 and cloud platform 20, at this moment, can control photographing device by platform 20 10 to shoot and/or obtain images taken by the camera 10; when the camera 10 is disassembled from the pan/tilt 20 (not shown), the controller 15 can control the rotation of the motor 14. At this time, the camera 10 can be used alone.
  • the shooting device 10 when the shooting device 10 is used with the pan/tilt 20, the shooting device 10 can obtain active adjustment and/or passive stabilization of shooting angles in at least two directions; when the shooting device 10 is used alone, it can still Active adjustment and/or passive stabilization of the shooting angle in one direction are obtained; at the same time, since the control is performed by the controller 15 in the shooting device 10, the development of the controller integrated in the pan/tilt 20 is also saved.
  • the rotation axis may include a yaw axis and/or a pitch axis
  • the rotation axis motor may include a yaw motor and/or a pitch motor
  • the controller 15 can also be used for related processing of images obtained by the shooting device 10, that is, when the shooting device is such as a camera, the controller 15 can have related functions such as a built-in controller of the camera, and based on this
  • the control of the motor 14 and the shaft motor on the pan/tilt 20 is integrated.
  • the control of other functions of the pan/tilt 20 may also be integrated, such as mode switching (eg, switching between the smart following mode and the tracking mode).
  • the pan/tilt 20 and the camera 10 are provided with controllers respectively, whether the camera 10 is mounted on the pan/tilt 20 or the camera 10 is detached from the pan/tilt 20, the rotation of the motor 14 All are controlled by the controller 15 of the photographing device 10 , and the rotation of the rotating shaft motor in the platform 20 is controlled by the controller of the platform 20 .
  • the cloud platform 20 and the shooting device 10 are respectively provided with a controller.
  • the rotation of the motor 14 is controlled by the controller 15 of the camera 10
  • the rotation of the rotating shaft motor in the platform 20 is controlled by the controller of the platform 20 control.
  • the cloud platform 20 and the shooting device 10 are respectively provided with controllers.
  • the shooting device 10 is mounted on the cloud platform 20, the rotation of the motor 14 and the rotation of the rotating shaft motor in the Controller to control;
  • the frame assembly 16 may include a main body 162 and a sensor mounting frame 163 disposed on the side of the main body 162 away from the rotary member 17, the sensor mounting frame 163 is connected to the rotary member 17, and the sensor mounting frame 163 is used for The image sensor 13 is installed.
  • the way that the image sensor 13 is mounted on the sensor mounting frame 163 can be designed according to needs, for example, the sensor mounting frame 163 can be provided with a sensor mounting groove, and the image sensor 13 is installed in the sensor mounting groove; The image sensor 13 is mounted on the sensor mounting frame 163 in a similar manner.
  • the main body 162 and the sensor mounting frame 163 may be of an integral structure, or may be of a separate structure and the main body 162 and the sensor mounting frame 163 are fixedly connected.
  • a first fixing portion 171 may be provided on the side of the rotating member 17 facing the frame assembly 16
  • a second fixing portion 161 may be provided at a corresponding position of the frame assembly 16
  • the first fixing portion 171 Correspondingly connected to the second fixing part 161
  • a first adjusting structure 18 is provided at the connection between the first fixing part 171 and the second fixing part 161 .
  • the positions of the first fixing part 171 and the second fixing part 161 can be reversed, that is, the second fixing part 161 is provided on the side of the rotating member 17 facing the frame assembly 16, and the corresponding position of the frame assembly 16 The position sets the first fixing part 171 .
  • the first fixing part 171 is disposed on the side of the rotating member 17 facing the frame assembly 16 and the second fixing part 161 is disposed on the frame assembly 16 as an example.
  • first fixing portion 171 can be integrally formed on the rotating member 17 , or the first fixing portion 171 is separately provided from the rotating member 17 and the first fixing portion 171 is connected to the side of the rotating member 17 facing the frame assembly 16 .
  • the second fixing part 161 can also be integrally formed on the frame component 16 , or the second fixing part 161 is separately provided from the frame component 16 and the second fixing part 161 is connected to the frame component 16 .
  • the number of the first fixing part 171 and the number of the second fixing part 161 are equal, and the first fixing part 171 and the second fixing part 161 may include one or more.
  • the first fixing portion 171 includes three, and the three first fixing portions 171 are arranged in a triangle along the center of the rotating member 17; correspondingly, the second fixing portion 161 also includes three, and the three second fixing parts 161 are also arranged in a triangle, and the three first fixing parts 171 are connected to the three second fixing parts 161 in one-to-one correspondence.
  • the frame assembly 16 is stably connected to the rotary member 17.
  • the verticality of the predetermined axis and the imaging surface of the image sensor 13 will not be affected by the frame assembly. 16 is affected by the unstable connection with the rotary member 17, ensuring that the predetermined axis is always perpendicular to the imaging plane of the image sensor 13.
  • one of the first fixing portion 171 and the second fixing portion 161 includes a first fixing column and a second fixing column
  • the other of the first fixing portion 171 and the second fixing portion 161 includes a second fixing column.
  • the first fixing column is provided with a first mounting hole
  • the first adjusting structure 18 is inserted into the first fixing hole and the first mounting hole
  • the second fixing column is inserted into the second fixing hole.
  • the first fixing part 171 includes a first fixing column 1711 and a second fixing column 1712
  • the second fixing part 161 includes a first fixing hole 1611 and a second fixing hole 1612
  • the first The fixing column 1711 is provided with a first mounting hole 17111
  • the first adjusting structure 18 is inserted into the first fixing hole 1611 and the first mounting hole 17111
  • the second fixing column 1712 is inserted into the second fixing hole 1612 .
  • the first fixing part 171 and the second fixing part 161 may also be other connection structures.
  • lugs can be provided on the rotating member 17 and the frame assembly 16 respectively, and the first fixing part 171 and the second fixing part 161 are arranged on the corresponding lugs. In this way, the connection is facilitated and the lugs do not add too much weight to the swivel member 17 and the frame assembly 16 .
  • the second fixing part 161 is arranged on the sensor mounting frame 163, and the verticality of the predetermined axis relative to the sensor frame can be adjusted by the first adjustment structure 18, so that the predetermined axis relative to the image sensor can be adjusted. 13.
  • the first adjustment structure 18 can be of different types, for example, in some embodiments, the first adjustment structure 18 can include a first fastener 181 and a first elastic member 182, and the first fastener 181 is plugged into the first fixed In the hole 1611 and the first installation hole 17111, the first elastic member 182 is accommodated in the first installation hole 17111, and the first elastic member 182 is sleeved on the first fastener 181, through the first fastener 181 and the first The fit of the elastic member 182 can adjust the depth of the first fastening member 181 installed in the first installation hole 17111 to adjust the verticality of the predetermined axis relative to the imaging surface of the image sensor 13 .
  • the first fastener 181 may be a screw, or the first fastener 181 may be a pin or other fasteners.
  • the first adjustment structure 18 is a gasket or a glue structure formed by applying glue
  • the gasket or glue structure is arranged at the connection between the first fixing part 171 and the second fixing part 161, so that the gasket can or the thickness of the glue structure to adjust the perpendicularity of the predetermined axis relative to the imaging surface of the image sensor 13 .
  • the housing 11 is provided with a third fixing portion (not shown in the figure), the corresponding position of the fixing portion of the motor 14 is provided with a fourth fixing portion 141, and the third fixing portion is connected to the fourth fixing portion.
  • the fixing parts 141 are correspondingly connected, and the connection between the third fixing part and the fourth fixing part 141 is provided with a second adjustment structure 19 . It should be understood that the positions of the third fixing part and the fourth fixing part 141 can be reversed, that is, the housing 11 is provided with the fourth fixing part 141 , and the corresponding position of the fixing part of the motor 14 is provided with the third fixing part.
  • the third fixing part is arranged on the casing 11 and the fourth fixing part is arranged on the fixing part of the motor 14 as an example.
  • the third fixing part can be integrally formed on the housing 11 , or the third fixing part is separately provided from the housing 11 and connected to the housing 11 .
  • the fourth fixing part 141 can also be integrally formed on the fixing part of the motor 14 , or the fourth fixing part 141 is separately provided from the fixing part of the motor 14 and the fourth fixing part 141 is connected to the fixing part of the motor 14 .
  • the number of the third fixing part and the fourth fixing part 141 are equal, and the third fixing part and the fourth fixing part 141 may include one or more.
  • the fourth fixed part 141 may include three, and the three fourth fixed parts 141 are arranged in a triangle along the center of the fixed part of the motor 14; correspondingly , the third fixing portion also includes three, the three third fixing portions are also arranged in a triangle, and the three third fixing portions and the three fourth fixing portions 141 are connected in one-to-one correspondence.
  • the fixed part of the motor 14 is stably connected to the housing 11, the rotating part of the motor 14 is rotationally connected to the fixed part and is fixedly connected to the image sensor 13, then the connection between the fixed part of the motor 13 and the housing 11 is adjusted by the second adjustment structure 19,
  • the verticality of the optical axis of the lens relative to the imaging plane of the image sensor 13 can be adjusted indirectly, so that the parallelism between the installation reference plane of the lens bayonet and the imaging plane of the image sensor 13 will not be caused by the connection of the fixed part of the motor 14 to the housing 11 If it is affected by instability, ensure that the installation reference plane of the lens bayonet is always parallel to the imaging plane of the image sensor 13 .
  • the third fixing part comprises a plurality
  • adjust respectively the cooperation relation of each third fixing part and the corresponding fourth fixing part the perpendicularity of the optical axis of the lens relative to the imaging plane of the image sensor 13 can be adjusted;
  • the cooperation relationship between the third fixing part and the corresponding fourth fixing part can adjust the distance between the lens and the image sensor 13.
  • one of the third fixing portion and the fourth fixing portion 141 includes a third fixing column and a fourth fixing column
  • the other of the third fixing portion and the fourth fixing portion 141 includes a third fixing column. hole and the fourth fixing hole.
  • the third fixing column is provided with a second mounting hole
  • the second adjustment structure 19 is inserted into the third fixing hole and the second mounting hole
  • the fourth fixing column is inserted into the fourth fixing hole.
  • the fourth fixing portion 141 includes a third fixing hole 1411 and a fourth fixing hole 1412 , and correspondingly, the third fixing portion includes a third fixing post and a fourth fixing post.
  • the third fixing column is provided with a second installation hole, and the second adjustment structure 19 is plugged into the third fixing hole 1411 and the second installation hole. It should be understood that the third fixing portion and the fourth fixing portion 141 may also be other connection structures.
  • lugs may be provided on the fixing parts of the housing 11 and the motor 14 respectively, and the third fixing part and the fourth fixing part 141 are arranged on corresponding lugs. In this way, the connection can be facilitated and the lugs will not add too much weight to the fixed parts of the housing 11 and the motor 14 .
  • the second adjustment structure 19 can be of different types, for example, in some embodiments, the second adjustment structure 19 can include a second fastener 191 and a second elastic member 192, and the second fastener 191 is plugged into the third fixed In the hole 1411 and the second installation hole, the second elastic member 192 is received in the second installation hole, and the second elastic member 192 is sleeved on the second fastening member 191 .
  • the depth of the second fastener 191 installed in the second installation hole can be adjusted to adjust the perpendicularity of the optical axis of the lens to the imaging plane of the image sensor 13 .
  • the second fastener 191 may be a screw, or the second fastener 191 may be a pin or other fasteners.
  • the second adjustment structure 19 is a gasket or a glue structure formed by applying glue.
  • the gasket or glue structure is arranged at the connection between the third fixing part and the fourth fixing part 141, and can be adjusted by adjusting the gasket.
  • the thickness of the lens or the thickness of the glue structure is used to adjust the perpendicularity of the optical axis of the lens to the imaging plane of the image sensor 13 .
  • the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor 13 is first adjusted through the first adjustment structure 18, so that the image sensor 13 can only move along the central axis of the imaging surface of the image sensor 13 or The axis parallel to the central axis rotates, but cannot move along the central axis of the imaging surface of the image sensor 13 or the axis parallel to the central axis, so that the imaging surface of the image sensor 13 is positioned on the rotary member 17;
  • the adjustment structure 19 adjusts the perpendicularity of the optical axis of the lens to the imaging surface of the image sensor 13, thereby adjusting the perpendicularity of the optical axis of the lens to the imaging surface of the image sensor 13 with the fixed part of the motor 14 or the rotating member 17 as a reference , to ensure the accuracy of adjustment of the verticality of the optical axis of the lens relative to the imaging plane of the image sensor 13 .
  • the image sensor 13 since the perpendicularity of the optical axis of the lens relative to the imaging surface of the image sensor 13 is adjusted with the fixed part of the motor 14 as a reference, and the image sensor 13 is fixedly connected with the rotating part of the motor 14, if the second adjusting The structure 19 adjusts the verticality of the optical axis of the lens relative to the imaging surface of the image sensor 13, and then adjusts the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor 13 through the first adjustment structure 18, which cannot guarantee that after the adjustment is completed, The image sensor 13 can be rotated to any angle to keep the optical axis of the lens substantially perpendicular to the imaging surface of the image sensor 13 .
  • the verticality of the predetermined axis relative to the imaging plane of the image sensor 13 can be adjusted through the first adjustment structure 18 and/or the optical axis of the lens relative to the imaging plane of the image sensor 13 can be adjusted through the second adjustment structure 19 verticality.
  • the photographing device 10 of some embodiments of the present application may also include a heat sink 101 and a heat conduction assembly 102, wherein the heat sink 101 is connected to a fixed part of the motor 14, and one end of the heat conduction assembly 102 faces the main body 162 One side of the rotating member 17 is in contact connection, and the other end is in contact connection with the heat sink 101 .
  • the heat from the main body 162 , the rotating member 17 and/or the motor 14 can be conducted to the heat sink 101 through the heat conduction component 102 , and then the heat can be dissipated in time by the heat sink 101 .
  • the heat conduction component 102 may be at least partially disposed in the rotating member 17 and/or partially disposed in the motor 14, so as to be in contact with the heat sink 101, so that Dissipate the heat in the rotary member 17 and/or in the motor 14 in time.
  • the heat conduction component 102 can be integrally disposed in the rotary member 17 , or the heat conduction component 102 is partially disposed in the rotary member 17 , and partially disposed in the motor 14 , or the heat conduction component 102 is entirely disposed in the motor 14 .
  • the heat sink 101 is partly provided in the motor 14 and/or the rotating member 17 to be in contact with the heat conducting component 102 , so as to dissipate the heat in the motor 14 and/or the rotating member 17 in time.
  • the heat sink 101 can be partially disposed in the motor 14 , or the heat sink 101 can be partially disposed in the rotating member 17 , or the heat sink 101 can be partially disposed in the motor 14 and partially disposed in the rotating member 17 .
  • the rotary member 17 may be provided with a first through hole 172, and the rotary member 17 is provided with an accommodation chamber (not shown) on the side facing the rotating part of the motor 14, and the first through hole
  • the hole 172 communicates with the receiving cavity.
  • the rotary member 17 may include a rotary body (not shown in the figure) and a cylindrical structure (not shown in the figure), the cylindrical structure is arranged on the side of the rotary body facing the rotating part of the motor 14, and the first through hole 172 is arranged on the rotary body , the accommodating cavity is set in the cylindrical structure.
  • the rotating main body and the cylindrical structure can be arranged integrally or separately.
  • the revolving main body can be a plate-like structure or other structures.
  • the rotating part of the motor 14 may include a rotating shaft 142, and the rotating shaft 142 is accommodated in the housing cavity.
  • the rotating shaft 142 is provided with a second through hole 1421, that is, the rotating shaft 142 is a hollow shaft, and the central axis of the second through hole 1421 Parallel to the axial direction of the rotating shaft 142 , the first through hole 172 communicates with the second through hole 1421 .
  • the rotation axis of the motor 14 refers to the axial direction of the rotation shaft 142 .
  • the other end of the heat conduction component 102 passes through the first through hole 172 and the second through hole 1421 , and is in contact with the heat sink 101 .
  • the heat conduction component 102 can be fixed through the first through hole 172 and the second through hole 1421 , and the heat in the rotary member 17 and the motor 14 can be dissipated in time through the heat conduction component 102 .
  • the heat sink 101 may include a heat sink body 1011 and an insertion portion 1012 provided on the side of the heat dissipation body 1011 facing the fixed part of the motor 14 , and the plug portion 1012 is plugged into the motor 14 14 , and the socket part 1012 is in contact with the other end of the heat conduction component 102 .
  • the fixed part of the motor 14 can be provided with a third through hole (not marked in the figure), the third through hole communicates with the second through hole 1421, and the insertion part 1012 is inserted into the third through hole , the heat conduction component 102 is contacted and connected with the socket part 1012 in the third through hole and/or the second through hole 1421 .
  • the heat dissipation body 1011 can be a plate structure, or other structures.
  • the heat dissipation main body 1011 and the insertion part 1012 can be formed integrally or separately. As shown in FIG. 9 , the heat dissipation body 1011 and the insertion portion 1012 can be integrally formed.
  • a plurality of heat dissipation fins 1013 may be provided on the side of the heat dissipation body 1011 away from the fixed part of the motor 14 .
  • the heat dissipation fins 1013 may include a plurality of heat dissipation fins, and the plurality of heat dissipation fins may be arranged in parallel; of course, the plurality of heat dissipation fins may also be arranged in other ways.
  • the structure of the cooling fins 1013 can also be designed in other ways.
  • the heat dissipation main body 1011, the insertion part 1012 and the heat dissipation fins 1013 in the embodiment of the present application are all made of heat dissipation materials, and the materials of the heat dissipation main body 1011, the insertion part 1012 and the heat dissipation fins 1013 may be the same or partially different. Choose according to your needs.
  • the heat conduction assembly 102 may include a heat conduction block 1021 and a heat pipe 1022, the heat conduction block 1021 is in contact with the side of the main body 162 facing the rotary member 17, and one end of the heat pipe 1022 is connected to the heat conduction block 1021 , and the end of the heat pipe 1022 away from the heat conduction block 1021 is in contact with the heat sink 101 .
  • the heat conduction block 1021 is in contact with the main body 162, ensuring that the contact area between the heat conduction assembly 102 and the main body 162 is large enough to accelerate the heat dissipation of the main body 162, and the heat pipe 1022 can be more conveniently plugged into the first through hole 172 and the second through hole 1421.
  • the material of the heat conduction block 1021 may be heat conduction silicone grease, or other heat conduction materials.
  • the end surface of the inserting portion 1012 facing the heat pipe 1022 is a plane, and the end of the heat pipe 1022 away from the heat conducting block 1021 is in contact with the plane.
  • the heat pipe 1022 is fixedly connected to the socket part 1012.
  • the contact area between the heat pipe 1022 and the socket part 1012 can also be increased, and the heat conduction efficiency can be improved; , fastened or otherwise fixed on the socket part 1012 .
  • the heat pipe 1022 is a special-shaped heat pipe. 7 and 10, in some embodiments of the present application, the heat pipe 1022 may include an evaporation end 10221 and a condensation end 10222, the evaporation end 10221 is connected to one end of the condensation end 10222, the evaporation end 10221 is connected to the heat conduction block 1021, and the condensation end 10222 is away from One end of the evaporation end 10221 is in contact with the socket part 1012 . As shown in FIG. 10 , the heat pipe 1022 in the embodiment of the present application is roughly in a "T" shape, which is convenient for fixing the heat pipe 1022 .
  • the evaporating end 10221 can be fixed on the heat conduction block 1021 by inserting, gluing, buckling or other methods, for example, the side of the heat conduction block 1021 away from the main body 162 can be provided with an installation groove (not shown in the figure) , the installation groove cooperates with the evaporation end 10221, such as the interference fit between the evaporation end 10221 and the installation groove, the heat pipe 1022 is stably connected to the heat conduction block 1021.
  • the condensing end 10222 can be flat, so as to reduce the space occupied by the condensing end 10222 and ensure the efficiency of heat conduction.
  • the end of the condensation end 10222 away from the evaporation end 10221 can be designed as a pointed tip.
  • the evaporating end 10221 may include a first evaporating section and two second evaporating sections, the first evaporating section is in contact with the heat conduction block 1021, the two ends of the first evaporating section are respectively connected to one ends of the two second evaporating sections, and the two second evaporating sections The other end of the second evaporation section is oppositely arranged.
  • the condensing end 10222 may include a first condensing section and a second condensing section, the first condensing section and the second condensing section are arranged side by side and the first condensing section is in contact with the second condensing section, the first condensing section and the second condensing section are approximately Perpendicular to the first evaporation section.
  • the other end of one of the second evaporating sections is connected to the corresponding end of the first condensing section, and the other end of the other second evaporating section is connected to the corresponding end of the second condensing section.
  • first evaporating section, the second evaporating section, the first condensing section and the second condensing section can be integrally formed.
  • the junction of the second evaporating section and the first evaporating section can form an arc-shaped space.
  • the heat conduction block 1021 covers the side of the main body 162 facing the rotating member 17 , that is, the contact area between the heat conducting block 1021 and the surface of the main body 162 facing the rotating member 17 is greater than or equal to the main body 162 The area of the side surface facing the rotary member 17.
  • the photographing device 10 may further include a signal transmission line 103, one end of the signal transmission line 103 is electrically connected to the image sensor 13, and the other end is used to electrically connect to an external device, and the signal transmission line 103 is used to connect
  • the image signal collected by the image sensor 13 is transmitted to an external device.
  • the external device may include, for example, a storage device and/or a display device, so that the image signal is stored by the storage device and/or the image signal is displayed by the display device.
  • the storage device and/or the display device may be the structure of the camera 10 itself, or may be the structure of the pan/tilt 20 on which the camera 10 is mounted.
  • one end of the signal transmission line 103 is sandwiched between the part of the heat conduction assembly 102 that is in contact with the main body 162 and the rotating member 17, and the other end of the signal transmission line 103 is sandwiched between the heat sink 101 and the fixed part of the motor 14, The fixing of the signal transmission line 103 is realized.
  • the signal transmission line 103 is passed through the first through hole 172 and the second through hole 1421, and one end of the signal transmission line 103 extends out of the first through hole 172, so as to be sandwiched in the heat conducting component Between the portion of 102 that is in contact with the main body 162 and the rotating member 17 , the other end of the signal transmission line 103 extends out of the second through hole 1421 to be sandwiched between the heat sink 101 and the fixed portion of the motor 14 . Passing the signal transmission line 103 through the rotary member 17 and the rotating shaft 142 can prevent the signal transmission line 103 from being entangled during the rotation of the motor 14 .
  • the signal transmission line 103 is sandwiched between the heat pipe 1022 and the side walls of the first through hole 172 and the side wall of the second through hole 1421 respectively.
  • the signal transmission line 103 can be a deformable wire such as a spring wire. In this way, when the rotating part of the motor 14 rotates relative to its fixed part, the signal transmission line 103 is not easy to be broken during the movement.
  • the part of the heat conduction assembly 102 that is in contact with the main body 162 faces one side of the rotary member 17 and/or the rotary member 17 faces One side of the main body 162 is provided with a first partition 104 .
  • the first partition 104 covers the part of the heat conduction assembly 102 that is in contact with the main body 162 on the side facing the rotating member 17 and/or the side of the rotating member 17 facing the main body 162 .
  • the photographing device 10 includes two first partitions 104 , wherein one first partition 104 covers the side of the heat conduction block 1021 facing the rotary member 17 , and the other first partition 104 covers The rotating member 17 faces one side of the main body 162 .
  • the first separator 104 can be made of wear-resistant material.
  • the photographing device 10 in some embodiments of the present application may further include a sealed wire card 105 , which is sleeved on the heat sink 101 , and the sealed wire card 105 is sandwiched between the heat sink 101 and the motor 14 between the fixed parts.
  • the sealing wire card 105 is sheathed on the insertion portion 1012 .
  • the sealing line card 105 may include a sleeve hole, and the insertion part 1012 is matched with the sleeve hole.
  • the inserting portion 1012 is in interference fit with the sleeve hole, so as to fix the sealing line clamp 105 .
  • the sealed line card 105 of the embodiment of the present application may include a clamping hole 1051, and one end of the signal transmission line 103 protruding from the fixed part of the motor 14 is passed through the clamping hole 1051, thereby fixing the signal transmission line 103 through the sealed line card 105 , to prevent the signal transmission line 103 from moving.
  • the clamping hole 1051 of the embodiment of the present application may include a first opening 10511 and a second opening 10512 , the first opening 10511 is set toward the fixed part of the motor 14 , and the first opening 10511 and the second opening 10512 are respectively set in On two adjacent surfaces of the sealed line card 105, wherein the surface of the sealed line card 105 with the first opening 10511 is set toward the second through hole 1421, and the surface of the sealed line card 105 with the second opening 10512 faces the motor 14 and the space between the heat dissipation body 1011, and the size of the first opening 10511 is different from the size of the second opening 10512.
  • the first opening 10511 and the second opening 10512 are connected, and one end of the signal transmission line 103 protruding from the fixed part of the motor 14 passes through the first opening 10511 and the second opening 10512 and passes through the first opening 10511
  • the smaller one of the second opening 10512 and the second opening 10512 fixes the signal transmission line 103 to prevent the signal transmission line 103 from moving.
  • the size of the first opening 10511 is smaller than the size of the second opening 10512 .
  • the first opening 10511 and the second opening 10512 are respectively provided on two adjacent surfaces of the sealing line card 105, which can change the laying direction of the signal transmission line 103 and prevent the signal transmission line 103 from interfering with the arrangement of other structures.
  • Heat dissipation can be achieved by exchanging airflow between the heat dissipation body 1011 and the outside world.
  • the partition 106 and the second partition 106 can be sleeved on the socket part 1012, and the peripheral side wall of the second partition 106 is connected to the inner side wall of the housing 11, so as to divide the receiving cavity 111 into the first cavity 1111 and the first cavity 1111.
  • the first cavity 1112 wherein, the image sensor 13 , the motor 14 , the frame assembly 16 and the rotating member 17 are accommodated in the first cavity 1111 , and the heat dissipation body 1011 is accommodated in the first cavity 1112 .
  • the partition of the second partition 106 can prevent impurities such as dust from intruding into the first cavity 1111 to affect the cleanliness of the image sensor 13 and ensure the optical imaging quality of the image sensor 13 .
  • the first cavity 1111 is a closed cavity, and the second cavity 1112 can exchange airflow with the outside.
  • the heat dissipation body 1011 can communicate with the outside through the second cavity 1112 to realize heat dissipation;
  • the first cavity 1111 is completely sealed, preventing impurities such as dust from entering the first cavity 1111 and contaminating the image sensor 13 .
  • the second partition 106 is spaced apart from the heat dissipation body 1011 .
  • the second partition 106 is spaced apart from the heat dissipation body 1011 ;
  • the insertion part 1012 and the second partition 106 are integrated to ensure the sealing effect of the first cavity 1111, wherein the plug
  • the connection part 1012 can protrude from the side of the second partition 106 facing away from the heat pipe 1022, so as to be in contact with the heat dissipation body 1011, and transfer the heat transferred by the heat pipe 1022 to the heat dissipation body 1011;
  • the connecting portion 1012 and the second partition 106 are two independent structures, and the plugging portion 1012 can pass through the second partition, so that the plugging portion 1012 can contact the heat dissipation body 1011 and transfer the heat transferred by the heat pipe 1022
  • a sealing layer may be provided at the joint between the insertion portion 1012 and the second partition 106 .
  • the housing 11 in the embodiment of the present application can also be provided with an air outlet 112 through which the first cavity 1112 airflow export.
  • the shape of the air outlet 112 can be circular, square or other shapes, the air outlet 112 can be arranged on the side wall and/or the end of the housing 11, and the air outlet 112 can include one or more.
  • the shape, quantity and location of the air outlets 112 can be set according to heat dissipation requirements and appearance.
  • the housing 11 may include a main housing 114 and a rear end cover 115 covering one end of the main housing 114, the accommodating cavity 111 is provided in the main housing 114, and the second compartment
  • the peripheral side walls of the plate 106 are connected to the inner side walls of the main housing 114 .
  • the air outlets 112 may include multiple air outlets 112 arranged at intervals along the circumference of the main housing 114 , so as to improve heat dissipation efficiency. As shown in Figure 3, the heat dissipation main body 1011 and the rear end cover 115 are arranged at intervals.
  • the heat dissipation main body 1011 and the rear end cover 115 are arranged at intervals in parallel; it can be understood that the heat dissipation main body 1011 and the rear end cover 115 may also be arranged not in parallel .
  • the heat dissipation fins 1013 and the rear end cover 115 may or may not be in contact, so as to meet different heat dissipation requirements.
  • the rear end cover 115 may not be included, and the heat dissipation body 1011 may be used as a part of the housing to accelerate heat dissipation. In order to improve heat dissipation efficiency, referring to FIG. 2 , FIG. 3 and FIG.
  • the photographing device 10 in some embodiments of the present application may further include a cooling fan 107 housed in the first cavity 1112 .
  • the housing 11 is also provided with an air inlet 113, the air inlet of the cooling fan 107 cooperates with the air inlet 113, and the air outlet of the cooling fan 107 cooperates with the air outlet 112.
  • the housing 11 may include a main housing 114 and a rear end cover 115 covering one end of the main housing 114, the accommodating cavity 111 is provided in the main housing 114, and the second compartment
  • the peripheral side walls of the plate 106 are connected to the inner side walls of the main housing 114 .
  • the airflow inlet 113 is arranged on the rear end cover 115
  • the airflow outlet 112 is arranged on the main casing 114 , so that the cooling fan 107 can be arranged conveniently.
  • the air inlet of the cooling fan 107 is opposite to the air inlet 113 , for example, the air inlet of the cooling fan 107 is opposite to the air inlet 113 .
  • the locations of the airflow inlet 113 and the airflow outlet 112 may also be set in other ways, for example, the airflow inlet 113 and the airflow outlet 112 are both arranged in the main housing 114 .
  • the airflow inlet 113 and the airflow outlet 112 can be provided without the heat dissipation fan 107 to ensure the circulation of the heat dissipation airflow between the heat dissipation body 1011 and the rear end cover 115 to achieve the purpose of heat dissipation.
  • the shape of the air inlet 113 can be circular, square or other shapes, and the air inlet 113 can be arranged on the main housing 114 and/or the rear end cover 115, and the air inlet 113 can include one or more.
  • the shape, quantity, and location of the airflow inlets 113 can be set according to heat dissipation requirements, appearance, and the like.
  • the photographing device 10 may not be provided with the second partition 106 in the above embodiments.
  • the accommodating cavity 111 may be a closed cavity.
  • the heat of the heat dissipation body 1011 can be conducted to the outside through heat conduction.
  • the heat dissipation body 1011 is in contact with the inner wall of the housing 11 , so that the heat of the heat dissipation body 1011 is dissipated to the outside through the housing 11 .
  • the housing 11 can include a main housing 114 and a rear end cover 115 covering one end of the main housing 114, the housing cavity 111 is provided in the main housing 114, and the heat dissipation body 1011 can communicate with the heat dissipation fins 1013.
  • the rear end cover 115 is contacted and connected so as to dissipate heat to the outside through the rear end cover 115 .
  • the rear end cover 115 can be made of a material with better heat dissipation.
  • the cooling fan 107 in the above embodiment may also be arranged in the housing chamber 111 of the photographing device, and the air inlet of the cooling fan 107 is matched with the air inlet 113 on the casing 11. , the air outlet of the cooling fan 107 cooperates with the air outlet 112 on the housing 11 to dissipate the heat in the housing cavity 111 .
  • the lens assembly 12 may further include a lens mount 121 for detachably installing a lens, and the lens mount 121 is connected to an opening at one end of the casing 11 .
  • the lens is detachable and installed, which is convenient for lens replacement, so as to meet different usage needs.
  • the housing 11 may include a main housing 114 and a rear end cover 115 covering one end of the main housing 114 , and the lens mount 121 is connected to an opening of the main housing 114 away from the rear end cover 115 .
  • the lens is provided with a mount adapted to the lens mount 121 , and the mounting reference plane on the side of the bayonet facing the housing 11 is substantially perpendicular to the optical axis of the lens, and is used for connecting the lens to the lens mount 121 .
  • the second adjustment structure 19 is used to adjust the parallelism between the imaging plane of the image sensor 13 and the installation reference plane of the bayonet, so that the installation reference plane of the bayonet is substantially parallel to the imaging plane of the image sensor 13, and the optical axis of the lens can be guaranteed It is substantially perpendicular to the imaging plane of the image sensor 13 .
  • the imaging surface of the image sensor 13 is opposite to the opening. After the lens is mounted on the lens mount 121 , the lens and the imaging surface of the image sensor 13 face each other, and there is no obstruction between the lens and the imaging surface of the image sensor 13 .
  • the lens may include a barrel and at least one lens installed in the barrel, the lens is detachably connected to the lens holder 121 through the barrel, the lens is facing the imaging surface of the image sensor 13, and at least one lens is connected to the image sensor 13 There is no occlusion between the imaging planes.
  • the cylinder body can be detachably connected to the lens mount 121 through threaded connection, screw or buckle.
  • At least one center-of-gravity adjustment guide rail 108 is provided on the outer wall of the housing 11 .
  • at least one center of gravity adjustment guide rail 108 can move relative to the carrying equipment to adjust the center of gravity of the photographing device 10, thereby ensuring that the center of gravity of the photographing device 10 when mounted on the carrying equipment meets requirements.
  • the carrying device can be a gimbal 20, such as a hand-held gimbal 20 or an airborne gimbal 20;
  • the photographing device 10 is detachably connected to the carrying equipment; in some embodiments, the photographing device 10 is fixedly connected to the carrying equipment.
  • At least one center of gravity adjustment guide rail 108 can move relative to the carrying equipment along a direction parallel to the optical axis of the photographing device 10 and/or along other directions of the photographing device 10 (intersecting the optical axis of the photographing device 10) to adjust the photographing Center of gravity of device 10 .
  • at least one center-of-gravity adjustment guide rail 108 can move relative to the carrying equipment along a direction parallel to the optical axis of the camera device 10 to adjust the center of gravity of the camera device 10 .
  • the center of gravity adjustment guide rail 108 may include one or more.
  • the center of gravity adjustment guide rail 108 includes multiple, and the plurality of center of gravity adjustment guide rails 108 are used to move and cooperate with the corresponding position of the carrying equipment.
  • the carrying equipment includes at least One sliding slot, at least one center of gravity adjusting guide rail 108 is correspondingly matched with at least one sliding slot.
  • a plurality of center-of-gravity adjustment guide rails 108 are arranged so that the photographing device 10 moves smoothly during the center-of-gravity adjustment process. As shown in FIGS.
  • the center of gravity adjusting guide rail 108 includes two, each center of gravity adjusting guide rail 108 extends along the direction of the optical axis of the photographing device 10 , and the two center of gravity adjusting guide rails 108 are arranged on both sides of the housing 11 .
  • the two center-of-gravity adjusting guide rails 108 can be symmetrically arranged on both sides of the housing 11 , or can be asymmetrically arranged on both sides of the housing 11 . It should be understood that the positions of the center-of-gravity adjusting rail 108 and the sliding slot can also be interchanged, that is, the center-of-gravity adjusting rail 108 is provided on the carrying device, and the sliding slot is provided on the outer wall of the housing 11 .
  • the center of gravity adjustment guide rail 108 is provided on the outer wall of the housing 11 and the sliding groove is provided on the carrying device as an example for illustration.
  • the center of gravity of the photographing device 10 is basically located at the center of the rotating shaft motor in the pan-tilt 20. on the rotating shaft.
  • the photographing device 10 may further include a center of gravity marking structure 109.
  • the center of gravity marking structure 109 may be movably connected to at least one center of gravity adjustment guide rail 108, or the center of gravity marking structure 109 It is movably connected in at least one sliding groove.
  • the center of gravity marking structure 109 movably connected to at least one center of gravity adjusting guide rail 108 as an example, when the photographing device 10 is mounted on the carrying equipment, the center of gravity marking structure 109 can be locked on at least one center of gravity adjusting guide rail 108 to indicate the center of gravity of the photographing device 10 At least one center of gravity adjusts the position of the guide rail 108 relative to the mounted equipment when in balance.
  • the center of gravity mark structure 109 can be locked on the corresponding position of at least one center of gravity adjustment guide rail 108 after one leveling.
  • the adjustment guide rail 108 moves to the position where the center of gravity marking structure 109 cooperates with the carrying equipment, thereby avoiding repeated leveling of the same type of lens.
  • each center of gravity adjustment guide rail 108 can be movably connected to the center of gravity marking structure 109, as shown in Figure 12 and Figure 13, the center of gravity adjustment guide rail 108 includes two, and the two center of gravity adjustment guide rails 108 can move respectively
  • the center of gravity marking structure 109 is ground connected, when the photographing device 10 is mounted on the carrying equipment and the center of gravity of the photographing device 10 is balanced, the center of gravity marking structure 109 is locked on the center of gravity adjustment guide rail 108 to indicate the position where the center of gravity of the photographing device 10 is balanced.
  • each center of gravity adjusts the position of the guide rail 108 relative to the carrying equipment.
  • a center of gravity marking structure can be provided on the center of gravity adjustment guide rails 108 corresponding to at least two leveling directions 109.
  • part of the adjustment guide rails is movably connected to the center of gravity marking structure 109, such as a plurality of center of gravity adjustment guide rails 108 symmetrically arranged on both sides of the housing 11, when the photographing device 10 is mounted on the carrying equipment and the photographing device 10
  • the center of gravity is balanced, a center-of-gravity mark structure 109 is locked on one of the center-of-gravity adjustment guide rails 108 (for convenience of description, the center-of-gravity adjustment guide rail 108 is referred to as an indication guide hereinafter) to indicate the position of the center of gravity balance of the camera 10.
  • the position of the locking center of gravity mark structure 109 on the indicating guide rail is moved to the corresponding position of the carrying equipment, and the other center of gravity adjusting guide rails 108 are moved to the corresponding position of the carrying equipment under the drive of the indicating guide rail. That is, the center of gravity of the photographing device 10 can be balanced without repeated leveling operations.
  • the carrying equipment may be provided with a locking piece, which is used to lock the center of gravity marking structure 109 of the photographing device 10 .
  • the locking member can assist in marking the balance position of the center of gravity of the photographing device 10 ; on the other hand, the locking member is locked and matched with the center of gravity marking structure 109 to lock the photographing device 10 on the carrying equipment.
  • Leveling the photographing device 10 for the first time may include: moving at least one center of gravity adjustment guide rail 108 until the center of gravity of the photographing device 10 is balanced, moving the center of gravity marking structure 109 to the position of the relative locking member on at least one center of gravity adjustment guide, and locking the center of gravity marking structure 109 , that is, mark the center-of-gravity balance position of the photographing device 10 through the center-of-gravity marking structure 109 .
  • the center of gravity adjustment guide rail 108 is moved to the position where the center of gravity marking structure 109 is locked so that the center of gravity marking structure 109 is locked and engaged with the locking member, that is, the center of gravity of the photographing device 10 is balanced. It should be noted that, in the embodiment of the present application, the position of the locking member on the carrying device is fixed to ensure the accuracy of leveling.
  • the locking member may be a plunger, and the center-of-gravity marking structure 109 is provided with a plunger hole for locking engagement with the plunger.
  • the locking element is not limited to the plunger structure, and may also be other types of locking elements.
  • the center leveling process in the above embodiments is applicable to the camera 10 using the same type of lens.
  • the center of gravity marking structure 109 may include multiple, multiple centers of gravity
  • the marking structure 109 is used to mark the position of at least one center-of-gravity adjustment guide rail 108 corresponding to different types of lenses relative to the mounted equipment, so as to avoid repeated leveling of the same type of lenses and improve the convenience of operation.
  • each center of gravity adjustment guide rail 108 can be movably connected to multiple center of gravity marking structures 109, and the multiple center of gravity marking structures 109 are used to mark at least one center of gravity adjustment guide rail 108 corresponding to different types of lenses.
  • the location of the device in other embodiments, at least some of the multiple center-of-gravity marking structures 109 are movably connected to different center-of-gravity adjustment guide rails 108, and the multiple center-of-gravity marking structures 109 are used to mark at least A center of gravity adjusts the position of the guide rail 108 relative to the carrying equipment.
  • the center of gravity adjustment guide rail 108 includes two, and the two center of gravity adjustment guide rails 108 are respectively movably connected to a plurality of center of gravity marking structures 109, and the plurality of center of gravity marking structures 109 are used to mark the corresponding positions of different types of lenses. At least one center of gravity adjusts the position of the guide rail 108 relative to the carrying equipment.
  • the center-of-gravity marking structure 109 may also include one, and at the same time, the position of at least one center-of-gravity adjusting guide rail 108 corresponding to a lens relative to the carrying device may be marked through the center-of-gravity marking structure 109 .
  • the positions of the center of gravity marking structure 109 and the locking member can also be interchanged, that is, the center of gravity marking structure 109 is movably connected to the carrying equipment, the locking member is arranged on the housing 11 of the shooting device 10, and the locking member is mounted on the casing. The position of the body 11 is fixed.
  • the process of marking the balance position of the center of gravity of the photographing device 10 by the center of gravity marking structure 109 is similar to the above-mentioned embodiment, and will not be repeated here.
  • the photographing device 10 in some embodiments of the present application may also include a locking mechanism 1010, which is used to lock at least one center of gravity adjustment guide rail 108 on the carrying equipment, so that at least one Center of gravity adjustment guide rail 108 limit.
  • the number of the locking mechanism 1010 is equal to that of the center-of-gravity adjustment guide rails 108 and they cooperate one-to-one, so as to stably connect the photographing device 10 to the carrying device.
  • the locking mechanism 1010 may include a knob 10101 and an abutment 10102 connected to the knob 10101.
  • the abutment 10102 can abut the corresponding center of gravity adjustment guide rail 108 or carrying equipment with the rotation of the knob 10101, so as to adjust at least one center of gravity
  • the guide rail 108 is locked to the mounted equipment.
  • the locking mechanism 1010 is arranged on the corresponding center of gravity adjustment guide rail 108, or, as shown in FIG. Adjust the inner and outer sides of the guide rail 108 . Referring to FIG.
  • the carrying equipment includes a sliding groove (not shown in the figure), the center of gravity adjustment guide rail 108 moves in cooperation with the sliding groove, the abutment member 10102 passes through the side wall of the sliding groove and abuts against the center of gravity adjustment guide rail 108, and the knob 10101 is connected to the abutment One end of the connector 10102, and the knob 10101 is located outside the center of gravity adjustment guide rail 108.
  • the abutment piece 10102 can be a threaded shaft or other types of plug-in pieces.
  • locking mechanism 1010 is not limited to the above structural composition, and may also be other locking structures, such as nuts.
  • the photographing device 10 in some embodiments of the present application may further include a counterweight 1020 which can be detachably connected to the housing 11 to adjust the center of gravity of the photographing device 10 .
  • a counterweight 1020 can be used to assist in leveling the center of gravity of the photographing device 10, thereby expanding the range of lenses supported by the photographing device 10. scope.
  • the counterweight 1020 can be detachably connected to the housing 11 through buckle, thread or other means.
  • the housing 11 in some embodiments of the present application may include a main housing 114 and a rear end cover 115 covering one end of the main housing 114, the housing cavity 111 is located in the main housing 114, and the counterweight 1020 can be detachably connected to the rear end cap 115 .
  • the counterweight 1020 can be a counterweight ring, and the counterweight ring is detachably sleeved on the rear end cover 115 .
  • the structure of the counterweight 1020 can also be other.
  • the motor 14 in some embodiments of the present application may include a rotating part, a fixed part 143 and a limit mechanism 145, wherein the rotating part includes a rotating shaft 142 (as shown in Figure 8), and the rotating shaft 142 is sleeved on the fixed part 143 , and the fixed part 143 is relatively rotatably connected with the rotating shaft 142 , the fixed part 143 and the rotating part surround and form an accommodating space 144 , and the rotating shaft 142 is accommodated in the accommodating space 144 .
  • the limiting mechanism 145 is accommodated in the accommodating space 144 , and the limiting mechanism 145 in the embodiment of the present application is used to limit the rotation angle of the rotating part relative to the fixed part 143 .
  • the limit mechanism 145 is built into the motor 14 to limit the rotation range of the motor 14 without additionally increasing the size of the motor 14 .
  • the fixed part 143 in some embodiments of the present application may include a stator shell 1431 and a winding 1432 sleeved on the stator shell 1431 , and the rotating shaft 142 is sleeved on the winding 1432 .
  • the limiting mechanism 145 in some embodiments of the present application may include a first driving rod 1451 , a second driving rod 1452 and a limiting block 1453 , wherein the first driving rod 1451 is fixedly connected to
  • the rotating shaft 142 and the first lever 1451 may include a first toggle part 14511, and the first toggle part 14511 rotates around the axis of the rotating shaft 142 to form a first movement track N1.
  • the second lever 1452 is rotatably connected to the first lever 1451.
  • the second lever 1452 may include a second toggle part 14521.
  • the second toggle part 14521 at least partially falls into the first movement track N1.
  • the first toggle part 14511 can drive the second toggle part 14521 to rotate around the axis of the rotating shaft 142 and form a second moving track N2 (as shown in FIG. 19 ).
  • the limiting block 1453 is located on the periphery of the first moving track N1, and the limiting block 1453 partially falls into the second moving track N2.
  • the first driving lever 1451 rotates along the rotating direction of the rotating shaft, so that the total angle of rotation of the first driving lever 1451 is greater than 330 degrees.
  • the rotating angle range of the photographing device 10 is ⁇ 330 degrees, and the rotating angle range can make When the image sensor 13 is rotated to different positions, the photographing device 10 is in different photographing modes, so that the photographing device 10 can photograph images that are spinning around.
  • the first moving track N1 is a circular track, that is, the first toggle part 14511 rotates around the axis of the rotating shaft 142 once; it should be understood that, in other embodiments, the first A motion track N1 can also be a circular arc.
  • the first driving rod 1451 can be sleeved on the rotating shaft 142 , or the first driving rod 1451 can be fixedly connected to the rotating shaft 142 through other connection methods, so that the rotating shaft 142 drives the first driving rod 1451 to rotate.
  • the first toggle part 14511 can be a cylindrical structure, or other structures, such as a rod-shaped structure.
  • the second driving rod 1452 can be sleeved on the first driving rod 1451.
  • the second driving rod 1452 is in clearance fit with the first driving rod 1451, so that when the first driving rod 1451 rotates, the second driving rod 1452 will not Drive the second toggle part 14521 to rotate at the same time.
  • the second toggle part 14521 can be a rod-shaped structure, or other structures, such as a cylindrical structure.
  • first toggle part 14511 is integrally formed on the first lever 1451
  • second toggle part 14521 is integrally formed on the second lever 1452, which is convenient for processing.
  • the limiting block 1453 can be a limiting boss, or a structure of other shapes, such as a cylindrical structure or a U-shaped block structure.
  • the rotating shaft 142 rotates around the first direction (as indicated by the arrow in Figure 19), and drives the first driving lever 1451 and the second driving lever 1452 to rotate.
  • the first toggle part 14511 gives the second toggle part 14521 a thrust, so that the second toggle part 14521 is driven by the first toggle lever 1451 to rotate along the first direction under the action of the thrust.
  • the rotating shaft 142 rotates around the second direction, thereby driving the first shifting lever 1451 and the second shifting lever 1452 to rotate along the second direction until the second shifting part 14521 contacts the limit block 1453 again, so that the second shifting part
  • the rod 1452 stops moving, and the first driving rod 1451 continues to rotate around the axis of the rotating shaft 142 and approaches the second driving rod 1452 again until the first driving rod 1451 contacts the second driving rod 1452 .
  • the rotating shaft 142 rotates again along the first direction, thereby driving the first driving rod 1451 and the second driving rod 1452 to rotate along the first direction, and thus circulates.
  • the first driving rod 1451 and the second driving rod 1452 are reversing and rotating.
  • first direction and the second direction are two opposite directions.
  • first direction is clockwise and the second direction is counterclockwise; or the first direction is counterclockwise and the second direction is clockwise.
  • the distance from the first shifting part 14511 to the center of the rotating shaft 142 is smaller than the distance from the limit block 1453 to the center of the rotating shaft 142, so that the first shifting lever 1451 is not limited by the limiting block 1453, and then when the second shifting lever When 1452 stops moving due to the limiting action of the limiting block 1453 , the first driving lever 1451 can continue to rotate around the axis of the rotating shaft 142 .
  • the height relationship between the height of the limit block 1453 in the accommodating space 144 and the height of the first toggle part 14511 can also be defined so that the first lever 1451 is not limited by the limit block 1453 .
  • the distance from the second shifting part 14521 to the center of the rotating shaft 142 is greater than the distance from the limiting block 1453 to the center of the rotating shaft 142, so that the second driving lever 1452 is limited by the limiting block 1453 when it moves, so that the first The movement position of two driving levers 1452 is restricted.
  • the limit effect of this embodiment can also be achieved by defining the height relationship between the second toggle part 14521 and the limit block 1453 .
  • the motor 14 in some embodiments of the present application may also include a sleeve 1454, which is connected between the first driving rod 1451 and the second driving rod 1452, so as to reduce the first Rotational friction between the driving rod 1451 and the second driving rod 1452.
  • the sleeve 1454 can be a sleeve structure such as a copper sleeve, a bearing, or a guide sleeve.
  • one end face of the sleeve 1454 is matched with the end face of the first rotating part, the second driving rod 1452 is sleeved on the outer circumference of the sleeve 1454, and the second driving rod 1452 rotates relative to the sleeve 1454, Therefore, the rotational friction force between the first shifting rod 1451 and the second shifting rod 1452 is reduced by the sleeve 1454 .
  • the motor 14 in some embodiments of the present application may also include a locking nut 1455, which is connected to the rotating shaft 142 and arranged at the end of the second lever 1452 away from the first lever 1451.
  • the second lever 1452 The rod 1452 is rotatably connected to the first driving rod 1451 under the axial pre-tightening force provided by the locking nut 1455 .
  • the shafting pre-tightening force provided by the locking nut 1455 prevents the second driving rod 1452 from slipping off from the first driving rod 1451 .
  • the locking nut 1455 can also be used to provide a pre-tightening force so that the fixed part 143 and the rotating part are fixedly connected.
  • the photographing device 10 in some embodiments of the present application may also include an inertial measurement unit IMU (Inertial Measurement Unit) 1030 for detecting the attitude information of the image sensor 13, and the controller 15 may detect and obtain the attitude information according to the IMU 1030.
  • IMU Inertial Measurement Unit
  • the drive motor 14 rotates to achieve the purpose of corresponding attitude switching or stabilization.
  • the IMU 1030 can be accommodated in the receiving cavity 111 , or can be arranged outside the casing 11 . It should be noted that, when the IMU 1030 is arranged outside the housing 11 , the IMU 1030 detects and obtains the attitude information of the camera 10 , and can obtain the attitude information of the image sensor 13 according to the attitude information of the camera 10 .
  • the IMU 1030 is accommodated in the receiving cavity 111 and installed on the frame assembly 16 .
  • the inertial measurement unit IMU1030 is a part of the carrying device, that is, the inertial measurement unit IMU1030 is arranged on the carrying part of the carrying device, and the carrying part is used to carry the photographing device 10, so that the photographing device 10 is detected by the IMU of the carrying device.
  • the attitude information of the image sensor 13 is calculated according to the attitude information of the photographing device 10 .
  • Some embodiments of the present application also provide a method for adjusting the camera 10, the method may include the following steps:
  • the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor 13 of the camera 10 can be adjusted through the first adjustment structure 18 in the above embodiment.
  • the verticality of the axial direction of the predetermined axis relative to the imaging surface of the image sensor 13 of the camera 10 can be adjusted through the first adjustment structure 18 in the above embodiment.
  • the verticality of the optical axis of the lens relative to the imaging surface of the image sensor 13 can be adjusted through the second adjustment structure 19 in the above embodiment.
  • the verticality of the optical axis of the lens relative to the imaging surface of the image sensor 13 can be adjusted through the second adjustment structure 19 in the above embodiment.
  • the embodiment of the present application also provides a photographing device 10, the photographing device 10 may include a housing 11, a lens assembly 12, an image sensor 13 and a motor 14, wherein the housing 11 is provided with a housing cavity 111 , the lens assembly 12 is connected to one end of the casing 11 .
  • Both the image sensor 13 and the motor 14 are installed in the receiving cavity 111, and when the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis, the rotation angle of the image sensor is greater than or equal to 90 degrees.
  • the axial direction of the predetermined axis is substantially perpendicular to the imaging plane of the image sensor 13
  • the optical axis of the lens is substantially perpendicular to the imaging plane of the image sensor 13 .
  • the lens and the image sensor 13 keep a certain distance, it is necessary to keep the optical axis of the lens substantially perpendicular to the imaging surface of the image sensor 13, so as to ensure the clarity of imaging, otherwise only a part of the imaging surface is clearly imaged, and Other parts of the image are not clear.
  • the verticality of the axial direction of the predetermined axis relative to the imaging plane of the image sensor 13 the verticality of the optical axis of the lens relative to the imaging plane of the image sensor can be maintained so that the image sensor 13 rotates to any angle. In this way, through the two-stage adjustment structure, the image plane movement problem introduced by only rotating the image sensor 13 is solved, and the clarity of the image captured by the photographing device 10 is ensured.
  • the embodiment of the present application also provides a photographing device 10, the photographing device 10 may include a housing 11, a lens assembly 12, an image sensor 13 and a motor 14, wherein the housing 11 is provided with a housing cavity 111 , the lens assembly 12 is connected to one end of the casing 11 .
  • Both the image sensor 13 and the motor 14 are installed in the housing cavity 111 , and when the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis, the lens assembly 12 can be fixed relative to the casing 11 .
  • the rotation angle range of the motor 14 can make the photographing device 10 be in different photographing modes when the image sensor 13 is rotated to different positions.
  • the embodiment of the present application also provides a photographing device 10, the photographing device 10 may include a housing 11, a lens assembly 12, an image sensor 13 and a motor 14, wherein the housing 11 is provided with a housing cavity 111 , the lens assembly 12 is connected to one end of the casing 11 .
  • Both the image sensor 13 and the motor 14 are installed in the receiving cavity 111 , and the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis.
  • the motor 14 can be rotated based on an external control command to adjust the shooting angle of the camera 10 through the rotation of the image sensor 13, and can be rotated based on the attitude information of the camera 10 to control the camera 10 through the rotation of the image sensor 13. Stabilization.
  • the embodiment of the present application also provides a photographing system, which may include the photographing device 10 and the carrying equipment in any of the above-mentioned embodiments, and the photographing device 10 is arranged on the carrying equipment .
  • the photographing device 10 in the embodiment of the present application may be a pan-tilt 20 configured to rotate around at least one rotation axis.
  • the embodiment of the present application also provides a photographing device 10, the photographing device 10 may include a housing 11, a lens assembly 12, an image sensor 13 and a motor 14, wherein the housing 11 is provided with a housing cavity 111 , the lens assembly 12 is connected to one end of the casing 11 .
  • Both the image sensor 13 and the motor 14 are installed in the receiving cavity 111 , and the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis.
  • the controller 15 is installed in the receiving cavity 111 , and the controller 15 is electrically connected with the image sensor 13 and the motor 14 .
  • the photographing device 10 is used to be detachably mounted on the platform 20, and the platform 20 is configured to rotate around at least one rotation axis, and the axial direction of the rotation axis intersects the axial direction of the predetermined axis;
  • the controller 15 can control the rotation of the motor 14 and the shaft motor in the pan-tilt 20 ;
  • the lens assembly 12 can be fixed relative to the housing 11, and the image sensor 13 is driven to rotate around a predetermined axis through the motor 14, and the lens assembly 12 does not need to rotate, thereby extremely Greatly reduces the load inertia of the predetermined axis.
  • the embodiment of the present application also provides a kind of photographing system, and this photographing system can comprise photographing device 10 and cloud platform 20, and photographing device 10 can be arranged on cloud platform 20, and cloud platform 20 configured to rotate about at least one axis of rotation.
  • the photographing device 10 may include a housing 11 , a lens assembly 12 , an image sensor 13 and a motor 14 , wherein the housing 11 is provided with a receiving cavity 111 , and the lens assembly 12 is connected to one end of the housing 11 .
  • Both the image sensor 13 and the motor 14 are installed in the receiving cavity 111 , and the motor 14 is used to drive the image sensor 13 to rotate around a predetermined axis.
  • the controller 15 is installed in the receiving cavity 111 , and the controller 15 is electrically connected with the image sensor 13 and the motor 14 .
  • the axial direction of the rotating shaft intersects the axial direction of the predetermined axis; when the photographing device 10 is mounted on the platform 20 (as shown in FIGS.
  • the lens assembly 12 can be fixed relative to the housing 11, and the image sensor 13 is driven to rotate around a predetermined axis through the motor 14, and the lens assembly 12 does not need to rotate, thereby extremely Greatly reduces the load inertia of the predetermined axis.
  • the controller 15 may be disposed in the photographing device 10 and/or the pan/tilt 20 .
  • the controller 15 is installed in the storage chamber 111, that is, the controller 15 is the controller of the shooting device 10, no matter whether the shooting device 10 is mounted on the gimbal 20 or the shooting device 10 is detached from the gimbal 20 , the rotation of the motor 14 is controlled by the controller of the photographing device 10 .
  • the rotation of the shaft motor in the pan-tilt 20 is controlled by the controller of the photographing device 10 .
  • the controller 15 includes the controller of the shooting device 10 and the controller of the pan-tilt 20.
  • the shooting device 10 is mounted on the pan-tilt 20, the rotation of the motor 14 and the rotation of the rotating shaft motor in the pan-tilt 20 It is controlled by the controller of the pan/tilt 20 ; when the photographing device 10 is disassembled from the pan/tilt 20 , the rotation of the motor 14 is controlled by the controller of the photographing device 10 . That is, the control subject of the motor 14 can be switched according to the usage state of the photographing device 10 .
  • the pan/tilt 20 in some embodiments of the present application may include at least one drive motor, at least one drive motor rotates around at least one rotation axis, and the outer wall of the housing 11 is mounted therein a drive motor.
  • the outer wall of the housing 11 is detachably mounted on the rotating part of one of the driving motors.
  • the pan-tilt 20 of the embodiment of the present application can be a single-axis pan-tilt 20, and can also be a multi-axis pan-tilt 20.
  • the drive motor can include one, or multiple, and the axial direction of the rotating shaft of the multiple drive motors The directions intersect.
  • At least one driving motor comprises a first driving motor 21 and a second driving motor 22, and the fixed part 143 of the second driving motor 22 is connected to the rotating part of the second driving motor 22 , the axial direction of the rotation shaft of the first driving motor 21 intersects the axial direction of the rotation shaft of the second driving motor 22 .
  • the outer wall of the housing 11 is mounted on the rotating part of the second driving motor 22 , that is, the outer wall of the housing 11 is detachably mounted on the rotating part of the second driving motor 22 .
  • the axial direction of the rotating shaft of the first driving motor 21, the axial direction of the rotating shaft of the second driving motor 22, and the axial direction of the predetermined shaft are orthogonal to each other, or at least two axial directions are oblique .
  • the first drive motor 21 is used to drive the camera device 10 to rotate around the yaw axis
  • the second drive motor 22 It is used to drive the camera device 10 to rotate around the pitch axis.
  • the gimbal 20 of the conventional YRP configuration usually becomes the short board of the gimbal 20 because the shaft arm connecting the fixed part 143 of the motor 14 and the rotating part of the yaw motor is a long cantilever with poor rigidity.
  • the motor 14 is built into the shooting device 10, so that the pan/tilt 20 saves the shaft arm connecting the fixed part 143 of the motor 14 and the rotating part of the yaw motor, thereby greatly reducing the weight of the pan/tilt 20 and improving the performance of the pan/tilt 20.
  • the system rigidity of the gimbal 20 is improved, so that the gimbal 20 can support a larger lens.
  • the first driving motor 21 may be used to drive the camera device 10 to rotate around the pitch axis
  • the second drive motor 22 may be used to drive the camera device 10 to rotate around the yaw axis.
  • the pan/tilt 20 in some embodiments of the present application also includes a shaft arm 23, one end of the shaft arm 23 is connected to the rotating part of the first driving motor 21, and the other end is connected to the first driving motor 21 Two drive the fixed part 143 of the motor 22 .
  • the second drive motor 22 may include one or two, as shown in Figure 1 and Figure 12 to Figure 13, the second drive motor 22 includes two, the shaft arm 23 is U-shaped, and the middle part of the shaft arm 23 is sleeved on The rotating part of the first driving motor 21, two second driving motors 22 are respectively arranged on the two ends of the shaft arm 23, when the camera 10 is mounted on the platform 20, the housing 11 is sandwiched between the two second driving motors 22 between.
  • the rotating part of the second driving motor 22 includes at least one sliding slot, and the at least one sliding slot is used to cooperate with at least one center-of-gravity adjusting guide rail 108 of the photographing device 10.
  • the at least one sliding slot is used to cooperate with at least one center-of-gravity adjusting guide rail 108 of the photographing device 10.
  • the rotating part of the second driving motor 22 also includes a locking member, which is used to lock the center-of-gravity marking structure 109 of the photographing device 10 .
  • a locking member which is used to lock the center-of-gravity marking structure 109 of the photographing device 10 .
  • the pan/tilt 20 may also include a communication interface 24 for communicating with other devices or carrying platforms (such as handles).
  • the communication interface 24 may be provided at the fixed part 143 of the second driving motor 22 .
  • the electrical connection between the pan/tilt 20 and the photographing device 10 can be realized through cooperation of a wire and a communication interface, so as to realize the communication between the pan/tilt 20 and the photographing device 10 .
  • the joints of the cloud platform 20 and the camera 10 are respectively provided with a first electrical connection part and a second electrical connection part that cooperate with each other.
  • the first electrical connection part and the second The two electrical connection parts are connected by wires to realize the electrical connection between the pan/tilt 20 and the camera 10, and the communication link formed by the cooperation of the first electrical connection and the second electrical connection can be used to transmit the pan/tilt 20 to the camera 10.
  • the first electrical connection part and the second electrical connection part may be a male head and a female head compatible with each other or exclusive electrical connection terminals.
  • pan/tilt in the above-mentioned shooting system can also be configured to stabilize the load, such as the above-mentioned shooting device, in a translational direction, such as a vertical direction.

Abstract

一种拍摄装置和拍摄系统，拍摄装置包括壳体(11)、镜头组件(12)、传感器模组、电机(14)、回转件(17)、第一调节结构(18)和第二调节结构(19)，传感器模组包括图像传感器(13)及用于安装图像传感器(13)的框组件(16)，电机(14)用于驱动图像传感器(13)绕预定轴转动；回转件(17)的一侧连接于框组件(16)，另一侧连接于电机(14)的转动部分；第一调节结构(18)设于框组件(16)与回转件(17)的连接处，用于调节预定轴的轴向相对图像传感器(13)的成像面的垂直度，以使预定轴的轴向与图像传感器(13)的成像面基本垂直；第二调节结构(19)设于电机(14)的固定部分和壳体(11)的连接处，用于调节镜头的光轴相对图像传感器(13)的成像面的垂直度，以使镜头的光轴与图像传感器(13)的成像面基本垂直。

Description

拍摄装置和拍摄系统 技术领域
本申请涉及拍摄设备领域，尤其涉及一种拍摄装置和拍摄系统。
背景技术
目前，拍摄装置的增稳大都通过将拍摄装置搭载在云台上来实现，云台各轴的增稳对象或负载总是同时包含相机模组和镜头模组，以三轴云台搭载拍摄装置为例，三轴云台需要至少两段轴臂进行旋转副的连接，导致负载惯量从内环向外环逐级增大，从而降低了云台的系统刚度。
发明内容
本申请提供一种拍摄装置和拍摄系统。
第一方面，本申请实施例提供一种拍摄装置，所述拍摄装置包括：
壳体，设有收容腔；
镜头组件，连接于所述壳体的一端，所述镜头组件包括镜头；
传感器模组，安装于所述收容腔内，所述传感器模组包括图像传感器及用于安装所述图像传感器的框组件，所述图像传感器与所述镜头间隔设置；
电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动；
回转件，所述回转件的一侧连接于所述框组件，另一侧连接于所述电机的转动部分；
第一调节结构，设于所述框组件与所述回转件的连接处，用于调节所述预定轴的轴向相对所述图像传感器的成像面的垂直度，以使得所述预定轴的轴向与所述图像传感器的成像面基本垂直；
第二调节结构，设于所述电机的固定部分和所述壳体的连接处，用于调节所述镜头的光轴相对所述图像传感器的成像面的垂直度，以使得所述镜头的光轴与所述图像传感器的成像面基本垂直。
第二方面，本申请实施例提供一种拍摄装置，所述拍摄装置包括：
壳体，设有收容腔；
镜头组件，连接于所述壳体的一端，所述镜头组件包括镜头；
图像传感器，安装于所述收容腔内；
电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动 时，所述图像传感器的转动角度大于等于90度；
其中，所述预定轴的轴向与所述图像传感器的成像面基本垂直，且所述镜头的光轴与所述图像传感器的成像面基本垂直。
第三方面，本申请实施例提供一种拍摄装置，所述拍摄装置包括：
壳体，设有收容腔；
镜头组件，连接于所述壳体的一端；
图像传感器，安装于所述收容腔内；和
电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕横滚轴转动时，所述镜头组件能够相对于所述壳体固定；
其中，所述电机的转动角度范围能够使得在所述图像传感器转动至不同的位置时，所述拍摄装置处于不同的拍摄模式。
第三方面，本申请实施例提供一种拍摄装置，所述拍摄装置包括：
壳体，设有收容腔；
镜头组件，连接于所述壳体的一端；
图像传感器，安装于所述收容腔内；和
电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器预定轴转动时，所述镜头组件能够相对于所述壳体固定；
其中，所述电机能够基于外部的控制指令转动，以通过所述图像传感器的转动调整所述拍摄装置的拍摄角度，并能够基于所述拍摄装置的姿态信息转动，以通过所述图像传感器的转动对所述拍摄装置进行增稳。
第四方面，本申请实施例提供一种拍摄装置，包括：
壳体，设有收容腔；
镜头组件，连接于所述壳体的一端；
图像传感器，安装于所述收容腔内；和
电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕横滚轴转动；
控制器，安装于所述收容腔内，所述控制器与所述图像传感器以及所述电机电连接；
其中，所述拍摄装置用于可拆卸地搭载于云台，所述云台被配置为绕至少一个转动轴转动，所述转动轴的轴向方向与所述预定轴的轴向方向相交；在所述拍摄装置搭载于所述云台时，所述控制器能够控制所述电机以及所述云台中的转轴电机的转动； 在所述拍摄装置拆卸于所述云台时，所述控制器能够控制所述电机的转动。
第五方面，本申请实施例提供一种拍摄系统，包括：
第一方面或第二方面或第三方面所述拍摄装置；和
搭载设备，所述拍摄装置设于所述搭载设备。
第六方面，本申请实施例提供一种拍摄系统，包括：
第四方面所述的拍摄装置；和
云台，所述拍摄装置设于所述云台，所述云台被配置为绕至少一个转动轴转动。
根据本申请实施例提供的技术方案，本申请的拍摄装置内置电机，通过电机驱动图像传感器绕预定轴转动，电机无需驱动镜头及拍摄装置的其他结构，从而极大地降低了预定轴的负载惯量；并且，创造性地设计了双极调节结构，即通过第一调节结构调节预定轴的轴向相对图像传感器的成像面的垂直度，以及通过第二调节结构调节镜头的光轴相对图像传感器的成像面的垂直度，能够解决仅旋转图像传感器所引入的像面运动问题，确保拍摄装置拍摄获得的图像的清晰度；另外，当拍摄装置搭载于搭载设备，如云台上时，由于上述电机内置于拍摄装置，使得搭载拍摄装置的云台可以省去相应的轴臂，极大地降低了云台的重量并提高了云台的系统刚度，使得云台能够支持更大的镜头。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍。
图1是本申请一实施例中的拍摄装置搭载于云台的示意图；
图2是本申请一实施例中的拍摄装置及云台的剖面示意图；
图3是图2的局部放大示意图；
图4是本申请一实施例中的拍摄装置中的图像传感器及电机配合时的示意图；
图5是本申请一实施例中的拍摄装置的结构框图；
图6是图4所示结构的拆分示意图；
图7是图4所示结构的剖面示意图；
图8是图4所示结构在另一方向的剖面示意图；
图9是本申请一实施例中的散热件的结构示意图；
图10是本申请一实施例中的热管的结构示意图；
图11是本申请一实施例中的密封线卡的结构示意图；
图12是本申请一实施例中的拍摄装置搭载于云台的另一示意图；
图13是本申请一实施例中的拍摄装置搭载于云台的又一示意图；
图14是本申请一实施例中的拍摄装置搭载于云台的还一示意图；
图15是本申请一实施例中的电机的拆分示意图；
图16是本申请一实施例中的电机的剖面示意图；
图17是本申请一实施例中的电机的固定部分的结构示意图；
图18是本申请一实施例中的电机的另一方向的剖面示意图；
图19是本申请一实施例中的电机的转动轨道示意图。
附图标记：
10、拍摄装置；11、壳体；111、收容腔；1111、第一腔体；1112、第二腔体；112、气流出口；113、气流入口；114、主壳体；115、后端盖；12、镜头组件；121、镜头座；13、图像传感器；14、电机；141、第四固定部；1411、第三固定孔；1412、第四固定孔；142、转轴；1421、第二通孔；143、固定部分；1431、定子壳；1432、绕组；144、容纳空间；145、限位机构；1451、第一拨杆；14511、第一拨动部；1452、第二拨杆；14521、第二拨动部；1453、限位块；1454、套设件；1455、锁紧螺母；15、控制器；16、框组件；161、第二固定部；1611、第一固定孔；1612、第二固定孔；162、主体部；163、传感器安装框；17、回转件；171、第一固定部；1711、第一固定柱；17111、第一安装孔；1712、第二固定柱；172、第一通孔；18、第一调节结构；181、第一紧固件；182、第一弹性件；19、第二调节结构；191、第二紧固件；192、第二弹性件；101、散热件；1011、散热主体；1012、插接部；10121、固定槽；1013、散热鳍片；102、导热组件；1021、导热块；1022、热管；10221、蒸发端；10222、冷凝端；103、信号传输线；104、第一隔板；105、密封线卡；1051、卡接孔；10511、第一开口；10512、第二开口；106、第二隔板；107、散热风扇；108、重心调节导轨；109、重心标记结构；1010、锁定机构；10101、旋钮；10102、抵接件；1020、配重块；1030、惯性测量单元IMU；20、云台；21、第一驱动电机；22、第二驱动电机；23、轴臂；24、通信接口。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
需要说明的是，在不冲突的情况下，下述的实施例及实施方式中的特征可以相互组合。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示： 单独存在A，同时存在A和B，单独存在B的情况，其中A,B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b、或c中的至少一项(个)，可以表示：a、b、c，a和b,a和c，b和c,或a和b和c，其中a、b、c可以是单个，也可以是多个。
参见图1至图6，本申请实施例提供一种拍摄装置10，该拍摄装置10可以包括壳体11、镜头组件12、传感器模组、电机14、回转件17、第一调节结构18和第二调节结构19，其中，壳体11设有收容腔111，镜头组件12连接于壳体11的一端，镜头组件12可包括镜头。传感器模组安装于收容腔111内，本申请实施例中的传感器模组可包括图像传感器13及用于安装图像传感器13的框组件16，图像传感器13与镜头间隔设置。电机14安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动。
回转件17的一侧连接于框组件16，另一侧连接于电机14的转动部分，从而通过回转件17将电机14的转动传递给图像传感器13，实现电机14驱动图像传感器13绕预定轴转动。
第一调节结构18设于框组件16与回转件17的连接处，本申请实施例的第一调节结构18用于调节预定轴的轴向相对图像传感器13的成像面的垂直度，使得预定轴的轴向与图像传感器13的成像面基本垂直，从而使得预定轴的轴向与图像传感器13的中心轴基本平行，从而防止由于预定轴的轴向与图像传感器13的成像面不垂直而导致拍摄装置10拍摄获得的图像模糊，以确保拍摄装置10拍摄获得的图像的清晰度。需要说明的是，图像传感器13的成像面的中心轴穿过图像传感器13的成像面的中心，且垂直于传感器13的成像面。
第二调节结构19设于电机14的固定部分和壳体11的连接处，本申请实施例的第二调节结构19用于调节镜头的光轴相对图像传感器13的成像面的垂直度，使得镜头的光轴与图像传感器13的成像面基本垂直，从而保证镜头卡口的安装基准面与图像传感器13的成像面基本平行，如果图像传感器13的成像面与镜头卡口的安装基准面不平行，那么在图像传感器13绕预定轴转动的过程中，图像传感器13的成像面与镜头卡口的安装基准面之间的夹角会产生变化，导致图像传感器13与镜头的相对位置关系发生变化，无法保证拍摄装置10的拍摄效果。因此，通过设置第二调节结构19，保证镜头卡口的安装基准面与图像传感器13的成像面基本平行，从而保证拍摄装置10拍摄获得的图像的清晰度。其中，第二调节结构19还可以用于调节镜头与图像传感器13的成像面的距离，以让镜头的像面落在图像传感器13的成像面上。
可以理解，在镜头与图像传感器13保持一定间隔的情况下，需要保持镜头的光轴与图像传感器13的成像面的基本垂直，以保证成像的清晰度，否则仅成像面的部 分区域是成像清晰的，而其它部分成像并不清晰。通过调节预定轴的轴向相对图像传感器13的成像面的垂直度，是使得图像传感器13旋转到任意角度都能保持镜头的光轴相对图像传感器的成像面的垂直度。如此，通过两级调节结构，解决了仅旋转图像传感器13所引入的像面运动问题，确保拍摄装置10拍摄获得的图像的清晰度。
本申请实施例的拍摄装置10通过内置电机14，使得电机14仅驱动图像传感器13绕预定轴转动，而无需驱动镜头及拍摄装置10的其他结构，极大地降低了预定轴对应的负载惯量。其中，预定轴可以为横滚轴，也可为其他方向的轴。预定轴是由拍摄装置10的放置方向决定的，如图1所示，拍摄装置10的镜头的光轴大致平行于水平面，预定轴可以称作为横滚轴；当拍摄装置10的镜头的光轴垂直于水平面时，预定轴可以称作为偏航轴。
示例性的，当预定轴为横滚轴时，电机14可以称作为横滚电机，从而驱动图像传感器13绕横滚轴转动；当预定轴为偏航轴时，电机14可以称作为偏航电机，从而驱动图像传感器13绕偏航轴转动。
需要说明的是，本申请实施例中，预定轴可以为回转件17的回转轴，但电机14的旋转轴不一定就是预定轴，在一些实施例中，电机14的旋转轴为预定轴；在另外一些实施例中，电机14的旋转轴与预定轴不同，电机14可间接驱动图像传感器13绕预定轴的轴向方向的转动，比如，电机14的转动可通过传动组件转换为绕预定轴的轴向方向的转动。
本申请实施例的拍摄装置10可以单独使用，也可搭载在搭载设备上使用，该搭载设备可以为云台20(如图1所示)，如手持云台或机载云台；搭载设备也可包括其他，如无人飞行器、无人车、可移动机器人等可移动平台或者可穿戴设备等。
其中，当拍摄装置10搭载于云台20上时，由于电机14内置于拍摄装置10，使得搭载拍摄装置10的云台20可以省去相应的轴臂，极大地降低了云台20重量并提高了云台20的系统刚度，使得云台20能够支持更大的镜头。
在电机14驱动图像传感器13绕预定轴转动时，镜头组件12能够相对于壳体11固定。通过电机14驱动图像传感器13绕预定轴转动，镜头组件12无需转动，从而极大地降低了预定轴对应的负载惯量。
在某些实施例中，镜头的光轴、图像传感器13的成像面的中心轴与预定轴的轴向不共轴，镜头的光轴、图像传感器13的成像面的中心轴与预定轴两两平行，且两两之间的距离较小。如此，在电机14驱动图像传感器13绕预定轴转动的过程中，图像传感器13和镜头的相对位置关系保持不变，防止图像传感器13的像面运动，从而确保拍摄装置10的拍摄效果即可。
在某些实施例中，镜头的光轴、图像传感器13的成像面的中心轴与预定轴的轴向共轴。如此，在一些特殊应用场景下，如通过电机14驱动图像传感器13大范围 转动，以拍出天旋地转的画面时，能够使得画面中心与旋转中心基本一致，而使得旋转画面具有较好的对称效果。其中，图像传感器13的转动范围可以大于等于90度，还可以大于等于360度，如±330度，还可以是无限旋转。
在本申请一些实施例中，预定轴为横滚轴，电机14的转动角度范围能够使得在图像传感器13转动至不同的位置时，拍摄装置10处于不同的拍摄模式，使得拍摄装置10就能够拍摄出不同的拍摄画面，满足不同的拍摄需求。示例性地，拍摄模式包括以水平取向捕捉图像的横拍模式、以竖直取向捕捉图像的竖拍模式，或以水平取向与竖直取向之间的角度捕捉图像的中间模式，即拍摄装置10能够在横拍模式、竖拍模式以及中间模式这三个拍摄模式之间切换，满足不同的拍摄需求。应当理解地是，拍摄模式也可包括其他。
在本申请一些实施例中，电机14能够基于外部的控制指令转动，以通过图像传感器13的转动调整拍摄装置10的拍摄角度，本实施例中，电机14基于外部的控制指令来驱动图像传感器13绕预定轴转动，从而调整拍摄装置10的拍摄角度。并且，电机14还能够基于拍摄装置10的姿态信息转动，以通过图像传感器13的转动对拍摄装置10进行增稳，也即，电机14基于拍摄装置10的姿态信息中对应于预定轴的姿态分量转动，驱动图像传感器13绕预定轴转动以实现对拍摄装置10进行增稳。其中，外部的控制指令可以由不同结构或装置发送，例如，外部的控制指令可由拍摄装置10上的控制部(如按键或者其他类型的控制部)被操作时产生，或者由搭载拍摄装置10的云台20发送，或者由拍摄装置10或云台20的遥控设备(如遥控器或者手机、平板电脑等终端设备)发送。如此，通过在拍摄装置10内置电机14对图像传感器13的直接驱动，来实现拍摄装置10的拍摄角度的主动调节与姿态的被动增稳，极大地降低了预定轴对应的负载惯量，使得原本搭载于云台时，依赖云台对拍摄装置的整体驱动而需要巨大的轴承及轴承跨距来提供等效回转刚度的问题迎刃而解。
在本申请一些实施例中，参见图5，拍摄装置10还包括控制器15，控制器15与图像传感器13以及电机14分别电连接，且控制器15安装于收容腔111内。本申请实施例中，拍摄装置10用于可拆卸地搭载于云台20，云台20被配置为绕至少一个转动轴转动，转动轴的轴向方向与预定轴的轴向方向相交。在拍摄装置10搭载于云台20(如图1和图2所示)时，控制器15能够控制电机14以及云台20中的转轴电机的转动，此时，可通过云台20控制拍摄装置10进行拍摄和/或获取拍摄装置10拍摄的图像；在拍摄装置10拆卸于云台20(未图示)时，控制器15能够控制电机14的转动，此时，拍摄装置10可单独使用。如此，在拍摄装置10搭配云台20使用的情况下，拍摄装置10可以获得至少两个方向上的拍摄角度的主动调节和/或被动增稳；在拍摄装置10单独使用的情况下，仍然可以获得一个方向上的拍摄角度的主动调节和/或被动增稳；同时，由于通过拍摄装置10内的控制器15进行控制，也节省了集成于云台20的控制器的开发。
其中，在预定轴为横滚轴时，转动轴可包括偏航轴和/或俯仰轴，转轴电机包括偏航电机和/或俯仰电机。
其中，控制器15还可以用于拍摄装置10获得的图像的相关处理，也即，在拍摄装置为诸如相机时，该控制器15可以具有如相机内置的控制器的相关功能，并在此基础上，集成了对于电机14以及云台20上的转轴电机的控制。当然，也可以集成对云台20的其它功能的控制，如模式切换(如，智能跟随模式与跟踪模式之间的切换)。
需要说明的是，在另一些实施例中，云台20和拍摄装置10分别设有控制器，无论是拍摄装置10搭载于云台20，还是拍摄装置10拆卸于云台20，电机14的转动均由拍摄装置10的控制器15来控制，云台20中的转轴电机的转动均由云台20的控制器来控制。在又一些实施例中，云台20和拍摄装置10分别设有控制器，在拍摄装置10搭载于云台20时，电机14的转动以及云台20中的转轴电机的转动均由拍摄装置10的控制器15来控制；在拍摄装置10拆卸于云台20时，电机14的转动由拍摄装置10的控制器15来控制，云台20中的转轴电机的转动由云台20的控制器来控制。在又一些实施例中，云台20和拍摄装置10分别设有控制器，在拍摄装置10搭载于云台20时，电机14的转动以及云台20中的转轴电机的转动由云台20的控制器来控制；在拍摄装置10拆卸于云台20时，电机14的转动由拍摄装置10的控制器15来控制，云台20中的转轴电机的转动由云台20的控制器来控制。
应当理解地，上述实施例中的拍摄装置10可以进行组合，以具有相应的功能。
其中，请参见图4，框组件16可包括主体部162和设于主体部162远离回转件17一侧的传感器安装框163，传感器安装框163连接于回转件17，且传感器安装框163用于安装图像传感器13。图像传感器13安装于传感器安装框163的方式可以根据需要设计，例如，传感器安装框163可设有传感器安装槽，图像传感器13安装于传感器安装槽中；还可以通过诸如粘接、卡接或者其他方式将图像传感器13安装于传感器安装框163上。
主体部162与传感器安装框163可以为一体结构，也可以为分体结构并且主体部162与传感器安装框163固定连接。
又参见图6，在一些实施例中，回转件17朝向框组件16的一侧可设有第一固定部171，框组件16的对应位置可设有第二固定部161，第一固定部171与第二固定部161对应连接，第一固定部171与第二固定部161的连接处设有第一调节结构18。应当理解地是，在其他实施例中，第一固定部171和第二固定部161的位置可以对调，即回转件17朝向框组件16的一侧设置第二固定部161，框组件16的对应位置设置第一固定部171。
下述实施例中，以第一固定部171设置在回转件17朝向框组件16的一侧，第二固定部161设置在框组件16上为例。
其中，第一固定部171可一体成型于回转件17，或者第一固定部171与回转件17分体设置并且第一固定部171连接在回转件17朝向框组件16的一侧。第二固定部161也可一体成型于框组件16，或者第二固定部161与框组件16分体设置并且第二固定部161连接在框组件16上。
在本申请实施例中，第一固定部171与第二固定部161的数量相等，第一固定部171和第二固定部161可包括一个或多个。示例性地，为实现框组件16和回转件17的稳定连接，第一固定部171包括三个，三个第一固定部171沿回转件17的中心呈三角形排列；相应地，第二固定部161也包括三个，三个第二固定部161也呈三角形排列，且三个第一固定部171与三个第二固定部161一一对应连接。框组件16和回转件17稳定连接，在通过第一调节结构18对预定轴与图像传感器13的成像面进行垂直度调节后，预定轴与图像传感器13的成像面的垂直度不会因为框组件16与回转件17连接不稳定而受到影响，确保预定轴与图像传感器13的成像面始终垂直。
本申请的一些实施例中，第一固定部171和第二固定部161中的一个包括第一固定柱和第二固定柱，第一固定部171和第二固定部161中的另一个包括第一固定孔和第二固定孔。第一固定柱设有第一安装孔，第一调节结构18插接在第一固定孔和第一安装孔中，第二固定柱插接在第二固定孔中。这种连接方式能够将框组件16与回转件17稳定连接，从而确保预定轴与图像传感器13的成像面始终垂直。如图4、图6和图7所示，第一固定部171包括第一固定柱1711和第二固定柱1712，第二固定部161包括第一固定孔1611和第二固定孔1612，第一固定柱1711设有第一安装孔17111，第一调节结构18插接在第一固定孔1611和第一安装孔17111中，第二固定柱1712插接在第二固定孔1612中。应当理解地是，第一固定部171和第二固定部161也可为其他连接结构。
可选地，回转件17和框组件16可分别设有凸耳，第一固定部171及第二固定部161设于对应的凸耳上。如此，可方便连接且凸耳不会给回转件17和框组件16增加太多重量。
如图4、图6和图7所示，第二固定部161设于传感器安装框163上，通过第一调节结构18调节预定轴相对传感器框的垂直度，即可实现对预定轴相对图像传感器13的成像面的垂直度的调节。
第一调节结构18可以为不同类型，例如，在一些实施例中，第一调节结构18可包括第一紧固件181和第一弹性件182，第一紧固件181插接在第一固定孔1611和第一安装孔17111中，第一弹性件182收容于第一安装孔17111内，并且第一弹性件182套设于第一紧固件181，通过第一紧固件181和第一弹性件182的配合，可调节第一紧固件181安装在第一安装孔17111内的深度来调节预定轴相对图像传感器13的成像面的垂直度。
第一紧固件181可以为螺丝，或者第一紧固件181可以为销轴或其他紧固件。
在另一些实施例中，第一调节结构18为垫片或打胶形成的胶结构，垫片或胶结构设置在第一固定部171与第二固定部161的连接处，从而能够通过垫片的厚度或胶结构的厚度来调节预定轴相对图像传感器13的成像面的垂直度。
又参见图6，在一些实施例中，壳体11设有第三固定部(图中未显示)，电机14的固定部分的对应位置设有第四固定部141，第三固定部与第四固定部141对应连接，第三固定部与第四固定部141的连接处设有第二调节结构19。应当理解地是，第三固定部和第四固定部141的位置可以对调，即壳体11设置第四固定部141，电机14的固定部分的对应位置设置第三固定部。
下述实施例中，以第三固定部设置在壳体11，第四固定件设置在电机14的固定部分为例。
其中，第三固定部可一体成型于壳体11，或者第三固定部与壳体11分体设置并且第三固定部连接在壳体11上。第四固定部141也可一体成型于电机14的固定部分，或者第四固定部141与电机14的固定部分分体设置并且第四固定部141连接在电机14的固定部分上。
本申请实施例中，第三固定部与第四固定部141的数量相等，第三固定部和第四固定部141可以包括一个或多个。示例性地，为实现电机14的固定部分和壳体11的稳定连接，第四固定部141可包括三个，三个第四固定部141沿电机14的固定部分的中心呈三角形排列；相应地，第三固定部也包括三个，三个第三固定部也呈三角形排列，且三个第三固定部和三个第四固定部141一一对应连接。电机14的固定部分和壳体11稳定连接，电机14的转动部分与固定部分转动连接且与图像传感器13固定连接，那么通过第二调节结构19调节电机13的固定部分与壳体11的连接，可以间接调节镜头的光轴相对图像传感器13的成像面的垂直度，从而使得镜头卡口的安装基准面与图像传感器13的成像面的平行度不会因为电机14的固定部分与壳体11连接不稳定而受到影响，确保镜头卡口的安装基准面与图像传感器13的成像面始终平行。
其中，在第三固定部包括多个时，分别调节各个第三固定部与对应的第四固定部的配合关系，可以调节镜头的光轴相对图像传感器13的成像面的垂直度；同时调节多个第三固定部与对应的第四固定部的配合关系，可以调节镜头与图像传感器13的间距。
本申请的一些实施例中，第三固定部和第四固定部141中的一个包括第三固定柱和第四固定柱，第三固定部和第四固定部141中的另一个包括第三固定孔和第四固定孔。第三固定柱设有第二安装孔，第二调节结构19插接在第三固定孔和第二安装孔中，第四固定柱插接在第四固定孔中。这种连接方式能够将电机14的固定部分与壳体11稳定连接，从而确保镜头卡口的安装基准面与图像传感器13的成像面始终平行。 如6所示，第四固定部141包括第三固定孔1411和第四固定孔1412，相应地，第三固定部包括第三固定柱和第四固定柱。第三固定柱设有第二安装孔，第二调节结构19插接在第三固定孔1411和第二安装孔中。应当理解地是，第三固定部和第四固定部141也可为其他连接结构。
可选地，壳体11和电机14的固定部分可分别设有凸耳，第三固定部及第四固定部141设于对应的凸耳上。如此，可方便连接且凸耳不会给壳体11和电机14的固定部分增加太多重量。
第二调节结构19可以为不同类型，例如，在一些实施例中，第二调节结构19可包括第二紧固件191和第二弹性件192，第二紧固件191插接在第三固定孔1411和第二安装孔中，第二弹性件192收容于第二安装孔内，并且第二弹性件192套设于第二紧固件191。通过第二紧固件191和第二弹性件192的配合，可调节第二紧固件191安装在第二安装孔内的深度来调节镜头的光轴相对图像传感器13的成像面的垂直度。
第二紧固件191可以为螺丝，或者第二紧固件191可以为销轴或其他紧固件。
在另一些实施例中，第二调节结构19为垫片或打胶形成的胶结构，垫片或胶结构设置于第三固定部与第四固定部141的连接处，可通过调节垫片的厚度或胶结构的厚度来调节镜头的光轴相对图像传感器13的成像面的垂直度。
在本申请的一些实施例中，先通过第一调节结构18调节预定轴的轴向相对图像传感器13的成像面的垂直度，使得图像传感器13仅能沿图像传感器13的成像面的中心轴或平行于该中心轴的轴转动，而无法沿图像传感器13的成像面的中心轴或平行于该中心轴的轴移动，从而将图像传感器13的成像面定位于回转件17上；再通过第二调节结构19调节镜头的光轴相对图像传感器13的成像面的垂直度，从而以电机14的固定部分或回转件17作为基准来对镜头的光轴相对图像传感器13的成像面的垂直度进行调节，确保镜头的光轴相对图像传感器13的成像面的垂直度的调节的准确度。
可以理解，由于以电机14的固定部分作为基准来对镜头的光轴相对图像传感器13的成像面的垂直度进行调节，且图像传感器13与电机14的转动部分固定连接，若先利用第二调节结构19调节镜头的光轴相对图像传感器13的成像面的垂直度，再通过第一调节结构18调节预定轴的轴向相对图像传感器13的成像面的垂直度，则并不能保证调节结束后，图像传感器13旋转到任意角度都能保持镜头的光轴与图像传感器13的成像面的基本垂直。
其中，可以在拍摄装置10出厂前，通过第一调节结构18调节预定轴相对图像传感器13的成像面的垂直度和/或通过第二调节结构19调节镜头的光轴相对图像传感器13的成像面的垂直度。
参见图6和图8，本申请一些实施例的拍摄装置10还可包括散热件101和导热组件102，其中，散热件101连接于电机14的固定部分，导热组件102的一端与主体 部162朝向回转件17的一侧接触连接，且另一端与散热件101接触连接。如此，可以通过导热组件102将主体部162以及回转件17和/或电机14上的热量传导至散热件101，再由散热件101将热量及时地散出。
为实现导热组件102与散热件101的接触连接，在一些实施例中，导热组件102可至少部分设于回转件17内和/或部分设于电机14内，以与散热件101接触连接，从而将回转件17内和/或电机14内的热量及时散出。例如，导热组件102可整体设于回转件17内，或者导热组件102部分设于回转件17内，部分设于电机14内，或者导热组件102整体设于电机14内。
在一些实施例中，散热件101部分设于电机14内和/或回转件17内，以与导热组件102接触连接，从而将电机14内和/或回转件17内的热量及时散出。例如，散热件101可部分设于电机14内，或者散热件101部分设于回转件17内，或者散热件101部分设于电机14内且部分设于回转件17内。
需要说明的是，上述实施例中的导热组件102及散热件101的设置方式可以进行组合，例如，导热组件102完全设于回转件17内，散热件101部分设于电机14内，导热组件102远离主体部162的一端与散热件101的对应位置接触连接。
参见图6，本申请的一些实施例中，回转件17可设有第一通孔172，回转件17朝向电机14的转动部分的一侧设有容纳腔(图未标出)，第一通孔172与容纳腔连通。其中，回转件17可包括回转主体(图未标出)和圆柱结构(图未标出)，圆柱结构设于回转主体朝向电机14的转动部分的一侧，第一通孔172设于回转主体，容纳腔设于圆柱结构。回转主体与圆柱结构可一体设置，也可分体设置。回转主体可为一板状结构，也可为其他结构。
参见图8，电机14的转动部分可包括转轴142，转轴142收容于容纳腔，可选的，转轴142设有第二通孔1421，即转轴142为空心轴，第二通孔1421的中心轴平平行于转轴142的轴向方向，第一通孔172与第二通孔1421连通。需要说明的是，本申请实施例中，电机14的旋转轴即指转轴142的轴向。
可选地，导热组件102的另一端(即导热组件102远离主体部162的一端)穿设于第一通孔172和第二通孔1421，并与散热件101接触连接。如此，可通过第一通孔172和第二通孔1421固定导热组件102，并能通过导热组件102将回转件17内和电机14内的热量及时地散出。
参见图7至图9，本申请一些实施例中，散热件101可以包括散热主体1011、设于散热主体1011朝向电机14的固定部分一侧的插接部1012，插接部1012插接在电机14的固定部分中，并且插接部1012与导热组件102的另一端接触连接。本申请实施例中，电机14的固定部分可设有第三通孔(图中未标出)，第三通孔与第二通孔1421连通，插接部1012插接在第三通孔中，导热组件102与插接部1012在第三通孔 和/或第二通孔1421内接触连接。
散热主体1011可以为板状结构，也可为其他结构。
散热主体1011与插接部1012可一体成型设置，也可分体设置。如图9所示，散热主体1011与插接部1012可一体成型设置。
在本申请一些实施例中，为提高散热效率，散热主体1011远离电机14的固定部分一侧可设有多个散热鳍片1013。其中，散热鳍片1013可包括多个散热片，多个散热片可平行设置；当然，多个散热片也可呈其他排布方式。另外，散热鳍片1013的结构也可设计为其他。
本申请实施例中的散热主体1011、插接部1012以及散热鳍片1013均由散热材质制作，散热主体1011、插接部1012以及散热鳍片1013的材质可以相同，也可以部分不相同，具体根据需要选择。
参见图6至图8，本申请一些实施例中，导热组件102可以包括导热块1021和热管1022，导热块1021与主体部162朝向回转件17的一侧接触连接，热管1022的一端连接于导热块1021，且热管1022远离导热块1021的一端与散热件101接触连接。其中，导热块1021与主体部162接触，确保了导热组件102与主体部162之间的接触面积足够大，加快对主体部162的散热，而热管1022能够较为方便地插接在第一通孔172和第二通孔1421中。
导热块1021的材质可以为导热硅脂，也可以为其他导热材质。
在一些实施例中，插接部1012朝向热管1022的一端端面为一平面，热管1022远离导热块1021的一端与该平面对接。而为了防止热管1022晃动，热管1022与插接部1012固定连接，例如，在一些实施例中，参见图9，插接部1012可设有固定槽10121，热管1022远离导热块1021的一端插接于固定槽10121，如此，还能够增大热管1022和插接部1012之间的接触面积，提高了热传导效率；在另一些实施例中，热管1022远离导热块1021的一端也可通过诸如导热胶、扣接或者其他方式固定在插接部1012上。
本申请实施例中，热管1022为异形热管。参见图7和图10，本申请一些实施例中，热管1022可以包括蒸发端10221和冷凝端10222，蒸发端10221连接于冷凝端10222的一端，蒸发端10221连接于导热块1021，冷凝端10222远离蒸发端10221的一端与插接部1012接触连接。如图10所示，本申请实施例的热管1022大致呈“T”型，方便对热管1022进行固定。
其中，可采用插接、胶粘、扣接或其他方式将蒸发端10221固定在导热块1021上，例如，导热块1021远离主体部162的一侧可设有安装槽(图中未标出)，安装槽与蒸发端10221配合，如蒸发端10221与安装槽过盈配合，将热管1022稳定连接在导 热块1021上。
冷凝端10222可以为扁平状，从而减少冷凝端10222对空间的占用，并确保热传导的效率。
为方便将冷凝端10222插接在固定槽10121中，冷凝端10222远离蒸发端10221的一端可设计为尖头。
蒸发端10221可包括第一蒸发段和两个第二蒸发段，第一蒸发段与导热块1021接触连接，第一蒸发段的两端分别与两个第二蒸发段的一端连接，两个第二蒸发段的另一端相对设置。冷凝端10222可包括第一冷凝段和第二冷凝段，第一冷凝段与第二冷凝段并排设置且第一冷凝段与第二冷凝段相接触，第一冷凝段、第二冷凝段均大致垂直于第一蒸发段。其中一个第二蒸发段的另一端与第一冷凝段的对应端连接，另一个第二蒸发段的另一端与第二冷凝段的对应端连接。其中，第一蒸发段、第二蒸发段、第一冷凝段以及第二冷凝段可一体成型设置。第二蒸发段与第一蒸发段的连接处可形成圆弧状空间。
为加快主体部162的散热效率，导热块1021覆盖主体部162朝向回转件17的一侧，也即导热块1021与主体部162朝向回转件17的一侧表面的接触面积大于或等于主体部162朝向回转件17的一侧表面的面积。
参见图8，本申请的一些实施例中，拍摄装置10还可包括信号传输线103，信号传输线103的一端与图像传感器13电连接，另一端用于与外部设备电连接，信号传输线103用于将图像传感器13采集的图像信号传输至外部设备。外部设备可以包括诸如存储设备和/或显示设备等，从而通过存储设备存储图像信号和/或通过显示设备显示图像信号。其中，存储设备和/或显示设备可以为拍摄装置10自身的结构，也可以为搭载拍摄装置10的云台20的结构。
其中，信号传输线103的一端夹设于导热组件102上与主体部162接触连接的部分和回转件17之间，信号传输线103的另一端夹设于散热件101和电机14的固定部分之间，实现对信号传输线103的固定。
参见图6，本申请的一些实施例中，信号传输线103穿设于第一通孔172和第二通孔1421，并且信号传输线103的一端伸出第一通孔172，以夹设于导热组件102上与主体部162接触连接的部分和回转件17之间，信号传输线103的另一端伸出第二通孔1421，以夹设于散热件101和电机14的固定部分之间。将信号传输线103穿设在回转件17内和转轴142内，能够避免信号传输线103在电机14转动过程中发生缠绕。
本申请一些实施例中，信号传输线103夹设在热管1022分别与第一通孔172的侧壁、第二通孔1421的侧壁之间。
信号传输线103可以为弹簧线等可变形的线材，这样，在电机14的转动部分相对于其固定部分转动时，使得信号传输线103在运动过程中不易扯断。
为减少信号传输线103在运动过程中对导热组件102和/或回转件17产生的摩擦阻力，导热组件102上与主体部162接触连接的部分朝向回转件17的一侧和/或回转件17朝向主体部162的一侧设有第一隔板104。其中，在一些实施例中，第一隔板104覆盖导热组件102上与主体部162接触连接的部分朝向回转件17的一侧和/或回转件17朝向主体部162的一侧。示例性地，参见图7和图8，拍摄装置10包括两个第一隔板104，其中一个第一隔板104覆盖导热块1021朝向回转件17的一侧，另一个第一隔板104覆盖回转件17朝向主体部162的一侧。
其中，第一隔板104可为耐磨材料制作。
参见图6至图8，本申请一些实施例中的拍摄装置10还可包括密封线卡105，密封线卡105套设于散热件101，并且密封线卡105夹设于散热件101和电机14的固定部分之间。如图7所示，密封线卡105套设于插接部1012。其中，密封线卡105可包括套设孔，插接部1012与套设孔相配合。可选地，插接部1012与套设孔过盈配合，从而固定密封线卡105。
参见图11，本申请实施例的密封线卡105可以包括卡接孔1051，信号传输线103伸出电机14的固定部分的一端穿设于卡接孔1051，从而通过密封线卡105固定信号传输线103，防止信号传输线103窜动。
又参见图11，本申请实施例的卡接孔1051可以包括第一开口10511和第二开口10512，第一开口10511朝向电机14的固定部分设置，第一开口10511和第二开口10512分别设在密封线卡105的两个相邻表面上，其中，密封线卡105上设有第一开口10511的表面朝向第二通孔1421设置，密封线卡105上设有第二开口10512的表面朝向电机14的固定部分和散热主体1011之间的空间，且第一开口10511的大小不同于第二开口10512的大小。本申请实施例中，第一开口10511和第二开口10512相连通，信号传输线103伸出电机14的固定部分的一端穿设于第一开口10511和第二开口10512中，并通过第一开口10511和第二开口10512中较小的开口固定信号传输线103，防止信号传输线103窜动。如图11所示，第一开口10511的大小小于第二开口10512的大小。另外，第一开口10511和第二开口10512分别设在密封线卡105的两个相邻表面上，能够改变信号传输线103的布设方向，防止信号传输线103干扰其他结构的排布。
可通过散热主体1011与外界进行气流交换的方式来实现散热，为防止气流交换带入的灰尘等杂质污染图像传感器13，参见图3，本申请一些实施例中的拍摄装置10还可包括第二隔板106，第二隔板106可套设于插接部1012，并且第二隔板106的周侧壁连接于壳体11的内侧壁，以将收容腔111分隔成第一腔体1111和第一腔体1112。 其中，图像传感器13、电机14、框组件16及回转件17收容于第一腔体1111，散热主体1011收容于第一腔体1112。通过第二隔板106的隔档，能够避免灰尘等杂质侵入第一腔体1111内而影响图像传感器13的洁净度，保证图像传感器13的光学成像质量。
可选地，第一腔体1111为密闭腔体，第二腔体1112可与外部交换气流，一方面，散热主体1011可以通过第二腔体1112与外界连通从而实现散热；另一方面，第一腔体1111完全密闭，避免了灰尘等杂质进入第一腔体1111内而污染图像传感器13。
第二隔板106与散热主体1011间隔设置，可选的，第二隔板106与散热主体1011平行间隔设置；当然，第二隔板106与散热主体1011之间也可不平行地间隔设置。
可选地，在一些实施例中，在设有第二隔板106的情况下，插接部1012和第二隔板106为一体结构，以确保第一腔体1111的密封效果，其中，插接部1012可以与凸出于第二隔板106背对热管1022的一侧，以够与散热主体1011接触，并将热管1022传递的热量传递至散热主体1011；在另一些实施例中，插接部1012和第二隔板106为相互独立的两个结构，插接部1012可以穿过第二隔板，以使得插接部1012能够与散热主体1011接触，并将热管1022传递的热量传递至散热主体1011，其中，为确保第一腔体1111的密封效果，可以在插接部1012和第二隔板106的连接处设置密封层。
为实现第一腔体1112与外部进行气流交换，请结合参见图1和图3，本申请实施例中的壳体11还可设有气流出口112，通过气流出口112将第一腔体1112内的气流导出。
气流出口112的形状可以为圆形、方形或其他形状，气流出口112可以设置在壳体11的侧壁和/或端部，气流出口112可以包括一个或多个。可根据散热需求、外观等设置气流出口112的形状、数量以及设置位置。
本申请一些实施例中，参见图2和图3，壳体11可包括主壳体114和盖设主壳体114一端的后端盖115，收容腔111设于主壳体114，第二隔板106的周侧壁连接于主壳体114的内侧壁。结合图1，气流出口112可包括多个，多个气流出口112沿着主壳体114的周向间隔排布，从而提高散热效率。如图3所示，散热主体1011与后端盖115间隔设置，可选的，散热主体1011与后端盖115平行间隔设置；可以理解的，散热主体1011与后端盖115也可不平行地设置。另外，散热鳍片1013与后端盖115之间也可接触或者不接触，从而满足不同的散热需求。可以理解，在一些实施例中，也可以不包括后端盖115，而将散热主体1011作为壳体的一部分，以加快散热。为提高散热效率，参见图2、图3以及图12，本申请一些实施例中的拍摄装置10还可包括散热风扇107，散热风扇107收容于第一腔体1112。其中，如图3和图14所示，壳体 11还设有气流入口113，散热风扇107的进风口与气流入口113配合，散热风扇107的出风口与气流出口112配合。
本申请一些实施例中，参见图2和图3，壳体11可包括主壳体114和盖设主壳体114一端的后端盖115，收容腔111设于主壳体114，第二隔板106的周侧壁连接于主壳体114的内侧壁。结合图1和图3，气流入口113设于后端盖115，气流出口112设于主壳体114，方便布设散热风扇107。其中，散热风扇107的进风口与气流入口113相对设置，例如，散热风扇107的进风口与气流入口113正对。
应当理解地是，气流入口113、气流出口112的设置位置也可设置为其他，例如，气流入口113和气流出口112均设置于主壳体114。在一些实施例中，可以在不设置散热风扇107的情况下，设置气流入口113、气流出口112，以保证散热主体1011与后端盖115之间的散热气流的流通而达到散热的目的。
气流入口113的形状可以为圆形、方形或其他形状，气流入口113可以设置在主壳体114和/或后端盖115，气流入口113可以包括一个或多个。可根据散热需求、外观等设置气流入口113的形状、数量以及设置位置。
在另一些实施例中，拍摄装置10可以不设置上述实施例中的第二隔板106，为防止气流交换带入的灰尘等杂质污染图像传感器13，收容腔111可以为一密闭腔体。可通过热传导方式将散热主体1011的热量传导至外部，例如，散热主体1011与壳体11的内侧壁接触连接，这样散热主体1011的热量即通过壳体11散至外部。参见图2和图3，壳体11可包括主壳体114和盖设主壳体114一端的后端盖115，收容腔111设于主壳体114，散热主体1011可通过散热鳍片1013与后端盖115接触连接，从而将热量通过后端盖115散至外部，后端盖115可以选择散热性较好地材质制作。
其中，当拍摄装置10不设置第二隔板106时，拍摄装置的收容腔111内也可设置上述实施例中的散热风扇107，通过散热风扇107进风口与壳体11上的气流入口113配合，散热风扇107的出风口与壳体11上的气流出口112配合，将收容腔111内的热量散出。
参见图13，本申请一些实施例中，镜头组件12还可以包括镜头座121，镜头座121用于可拆卸地安装镜头，镜头座121连接于壳体11一端的开口处。镜头可拆卸安装的方式，方便更换镜头，从而满足不同的使用需求。参见图2和图3，壳体11可包括主壳体114和盖设主壳体114一端的后端盖115，镜头座121连接于主壳体114远离后端盖115一端的开口处。
其中，镜头设有与镜头座121相适配的卡口，该卡口相对壳体11一侧的安装基准面基本与镜头的光轴垂直，用于将镜头连接于镜头座121。其中，利用第二调节结构19调节图像传感器13的成像面与卡口的安装基准面的平行度，以使得卡口的安装基准面与图像传感器13的成像面基本平行，可以保证镜头的光轴与图像传感器13 的成像面基本垂直。
图像传感器13的成像面与上述开口相对而设，镜头安装在镜头座121上后，镜头与图像传感器13的成像面正对，并且镜头与图像传感器13的成像面之间不存在遮挡。
其中，镜头可包括筒体以及安装于筒体内的至少一个透镜，镜头通过筒体可拆卸地连接于镜头座121，透镜与图像传感器13的成像面正对，并且至少一个透镜与图像传感器13的成像面之间不存在遮挡。筒体可通过螺纹连接、螺丝或卡扣等方式可拆卸地连接于镜头座121上。
参见图12和图13，本申请的一些实施例中，壳体11的外侧壁设有至少一个重心调节导轨108，至少一个重心调节导轨108用于与拍摄装置10的搭载设备配合。其中，当拍摄装置10搭载于搭载设备上时，至少一个重心调节导轨108能够相对搭载设备移动，以调节拍摄装置10的重心，从而确保拍摄装置10在搭载于搭载设备上时的重心满足需求。搭载设备可以为云台20，如手持云台20或机载云台20；搭载设备也可为其他，如无人飞行器、无人车、可移动机器人等可移动平台或者可穿戴设备等。
在某些实施例中，拍摄装置10与搭载设备可拆卸连接；在某些实施例中，拍摄装置10与搭载设备固连。
其中，至少一个重心调节导轨108能够沿着平行于拍摄装置10的光轴的方向和/或沿着拍摄装置10的其他方向(与拍摄装置10的光轴相交)相对搭载设备移动，以调节拍摄装置10的重心。示例性地，如图12和图13所示，至少一个重心调节导轨108能够沿着平行于拍摄装置10的光轴的方向相对搭载设备移动，以调节拍摄装置10的重心。
重心调节导轨108可以包括一个或多个，本申请实施例中，重心调节导轨108包括多个，多个重心调节导轨108用于与搭载设备的对应位置移动配合，可选地，搭载设备包括至少一个滑动槽，至少一个重心调节导轨108与至少一个滑动槽对应配合。多个重心调节导轨108的设置，使得拍摄装置10在调节重心的过程中平稳移动。如图12和图13所示，重心调节导轨108包括两个，每个重心调节导轨108均沿着拍摄装置10的光轴的方向延伸，两个重心调节导轨108设于壳体11的两侧。两个重心调节导轨108可以对称设于壳体11的两侧，也可以非对称设于壳体11的两侧。应当理解地是，重心调节导轨108和滑动槽的位置也可互换，即重心调节导轨108设于搭载设备上，滑动槽设于壳体11的外侧壁。
下述实施例中，以重心调节导轨108设于壳体11的外侧壁，滑动槽设于搭载设备上为例进行说明。
其中，以搭载设备为云台20为例，在云台20中转轴电机为直驱的情况下，拍摄装置10的重心调至平衡时，拍摄装置10的重心基本位于云台20中转轴电机的转动 轴上。
参见图12至图14，本申请的一些实施例中，拍摄装置10还可包括重心标记结构109，可选的，重心标记结构109可移动连接于至少一个重心调节导轨108，或者重心标记结构109可移动连接于至少一个滑动槽内。以重心标记结构109可移动连接于至少一个重心调节导轨108为例，当拍摄装置10搭载于搭载设备上时，重心标记结构109能够锁定于至少一个重心调节导轨108，以指示拍摄装置10的重心平衡时，至少一个重心调节导轨108相对搭载设备的位置。对特定镜头，经过一次调平后可将重心标记结构109锁定于至少一个重心调节导轨108的对应位置，拍摄装置10再次使用该镜头，并重新搭载在搭载设备上时，可直接将至少一个重心调节导轨108移动至重心标记结构109与搭载设备配合的位置，从而避免同一种类的镜头的重复调平。
在重心调节导轨108包括多个的情况下，至少部分重心调节导轨108可移动地连接重心标记结构109。例如，在一些实施例中，每个重心调节导轨108均可移动地连接重心标记结构109，如图12和图13所示，重心调节导轨108包括两个，两个重心调节导轨108分别可移动地连接重心标记结构109，当拍摄装置10搭载于搭载设备上且拍摄装置10的重心平衡时，将重心标记结构109锁定在重心调节导轨108上指示拍摄装置10的重心平衡的位置，如此，可确定拍摄装置10的重心平衡时，每个重心调节导轨108相对搭载设备的位置。下一次在搭载设备上搭载拍摄装置10后，将每个重心调节导轨108上锁定重心标记结构109的位置移动至搭载设备的对应位置，即可使得拍摄装置10的重心平衡，无需重复进行调平操作。
可以理解，在拍摄装置10搭载于诸如云台20，且需要对拍摄装置10进行多个方向的重心调平操作时，可以在至少两个调平方向对应的重心调节导轨108上设置重心标记结构109。
在另一些实施例中，部分调节导轨可移动地连接重心标记结构109，如多个重心调节导轨108对称对设置于壳体11的两侧，当拍摄装置10搭载于搭载设备上且拍摄装置10的重心平衡时，通过一个重心标记结构109锁定在其中一个重心调节导轨108(为方便描述，下文将该重心调节导轨108称作为指示导轨)上指示拍摄装置10的重心平衡的位置。下一次在搭载设备上搭载拍摄装置10后，将指示导轨上锁定重心标记结构109的位置移动至搭载设备的对应位置，其他重心调节导轨108在指示导轨的带动下移动至搭载设备的对应位置，即可使得拍摄装置10的重心平衡，无需重复进行调平操作。
搭载设备可设有锁定件，锁定件用于锁定拍摄装置10的重心标记结构109。锁定件一方面能够辅助标记拍摄装置10的重心平衡位置；另一方面，锁定件与重心标记结构109锁定配合，能够将拍摄装置10锁定在搭载设备上。
拍摄装置10首次进行调平可包括：移动至少一个重心调节导轨108，直至拍摄 装置10的重心平衡，将重心标记结构109移动至至少一个重心调节导上相对锁定件的位置，并锁定重心标记结构109，即通过重心标记结构109标记拍摄装置10的重心平衡位置。
在重新将拍摄装置10搭载在搭载设备上后，将重心调节导轨108上锁定重心标记结构109的位置移动至使得重心标记结构109与锁定件锁定配合，即使得拍摄装置10的重心平衡。需要说明的是，本申请实施例中，锁定件在搭载设备上的位置是固定不变的，确保调平的准确性。
该锁定件可以为柱塞，重心标记结构109设有柱塞孔，用于与柱塞锁定配合。当然，锁定件不限于柱塞结构，也可以为其他类型的锁定件。
上述实施例中的中心调平过程适用于使用相同种类的镜头的拍摄装置10。
而不同种类的镜头(如长焦镜头和短焦镜头)对应的拍摄装置10的重心位置可能不相同，对此，本申请的一些实施例中，重心标记结构109可包括多个，多个重心标记结构109用于标记不同种类的镜头对应的至少一个重心调节导轨108相对搭载设备的位置，从而避免相同种类的镜头的重复调平，提高操作便捷度。可选地，在一些实施例中，每个重心调节导轨108均可移动连接多个重心标记结构109，多个重心标记结构109用于标记不同种类的镜头对应的至少一个重心调节导轨108相对搭载设备的位置；在另外一些实施例中，多个重心标记结构109中的至少部分可移动地连接于不同的重心调节导轨108上，多个重心标记结构109用于标记不同种类的镜头对应的至少一个重心调节导轨108相对搭载设备的位置。
如图12和图13所示，重心调节导轨108包括两个，两个重心调节导轨108分别可移动地连接多个重心标记结构109，多个重心标记结构109用于标记不同种类的镜头对应的至少一个重心调节导轨108相对搭载设备的位置。
而在其他实施例中，重心标记结构109也可包括一个，在同一时刻，可通过该重心标记结构109标记一种镜头对应的至少一个重心调节导轨108相对搭载设备的位置。
需要说明的是，重心标记结构109及锁定件的位置也可互换，即重心标记结构109可移动地连接于搭载设备上，锁定件设于拍摄装置10的壳体11上，锁定件在壳体11的位置固定不变。重心标记结构109标记拍摄装置10的重心平衡位置的过程与上述实施例相类似，不再赘述。
参见图12至图14，本申请一些实施例中的拍摄装置10还可包括锁定机构1010，该锁定机构1010用于将至少一个重心调节导轨108锁定于搭载设备，从而通过锁定机构1010对至少一个重心调节导轨108限位。可选地，锁定机构1010与重心调节导轨108的数量相等且一一对应配合，从而将拍摄装置10稳定连接在搭载设备上。
参见图13，锁定机构1010可以包括旋钮10101和旋钮10101连接的抵接件10102，抵接件10102能够随旋钮10101的转动而抵接对应的重心调节导轨108或搭载设备，以将至少一个重心调节导轨108锁定于搭载设备。可选地，锁定机构1010设于对应的重心调节导轨108，或者，如图13所示，锁定机构1010设于滑动槽的侧壁上，旋钮10101和至少部分抵接件10102分别位于至少一个重心调节导轨108的内外两侧。参见图13，搭载设备包括滑动槽(图中未标出)，重心调节导轨108与滑动槽移动配合，抵接件10102穿过滑动槽的侧壁抵接重心调节导轨108，旋钮10101连接在抵接件10102的一端，并且，旋钮10101位于重心调节导轨108的外部。
其中，抵接件10102可以为螺纹轴或其他类型的插接件。
应当理解地是，锁定机构1010不限于上述结构组成，也可以为其他锁定结构，如螺母。
参见图2、图3及图14，本申请一些实施例中的拍摄装置10还可包括配重块1020，配重块1020能够可拆卸连接于壳体11，以调节拍摄装置10的重心。对于在至少一个重心调节导轨108的极限行程处仍无法调平的拍摄装置10的重心的情况，可使用配重块1020辅助拍摄装置10的重心调平，从而扩大了拍摄装置10所支持镜头的范围。
配重块1020可以通过卡扣、螺纹或其他方式可拆卸地连接于壳体11。
参见图2和图3，本申请一些实施例中的壳体11可包括主壳体114和盖设主壳体114一端的后端盖115，收容腔111设于主壳体114，配重块1020能够可拆卸地连接于后端盖115。其中，配重块1020可以为配重环，配中环可拆卸地套设于后端盖115。当然，配重块1020的结构也可为其他。
参见图15和图16，本申请一些实施例中的电机14可以包括转动部分、固定部分143以及限位机构145，其中，转动部分包括一转轴142(如图8)，转轴142套设于固定部分143，并且固定部分143与转轴142相对转动连接，固定部分143和转动部分包围形成一容纳空间144，转轴142收容于容纳空间144。限位机构145收容于容纳空间144，本申请实施例的限位机构145用于限定转动部分相对于所固定部分143的转动角度。本实施例中，将限位机构145内置于电机14，能够在不额外增大电机14尺寸的前提下，可以限定电机14的转动范围。
参见图15至图18，本申请一些实施例中的固定部分143可以包括定子壳1431及套设于定子壳1431的绕组1432，转轴142套设于绕组1432。
参见图15、图16以及图19，本申请一些实施例中的限位机构145可以包括第一拨杆1451、第二拨杆1452和限位块1453，其中，第一拨杆1451固定连接于转轴142，第一拨杆1451可包括第一拨动部14511，第一拨动部14511围绕转轴142的轴心转动形成第一运动轨道N1。第二拨杆1452转动连接于第一拨杆1451，第二拨杆1452 可包括第二拨动部14521，第二拨动部14521至少部分落入第一运动轨道N1内，第一拨动部14511能够带动第二拨动部14521围绕转轴142的轴心转动，并形成第二运动轨道N2(如图19所示)。限位块1453位于第一运动轨道N1的外围，且限位块1453位部分落入第二运动轨道N2内。其中，第一拨杆1451沿着转动轴的转动方向转动，使得第一拨杆1451转动的总角度大于330度，这样，拍摄装置10的转动角度范围为±330度，该转动角度范围能够使得在图像传感器13转动至不同的位置时，拍摄装置10处于不同的拍摄模式，从而使得拍摄装置10拍摄出天旋地转的画面。
本申请实施例中，如图19所示，第一运动轨道N1为圆周轨道，即第一拨动部14511绕转轴142的轴心转动一圈；应当理解地是，在其他实施例中，第一运动轨道N1也可以为圆弧。
第一拨杆1451可套设于转轴142，或者第一拨杆1451可通过其他连接方式固定连接于转轴142，从而使得转轴142带动第一拨杆1451转动。
第一拨动部14511可以为圆柱形结构，也可以为其他结构，如杆状结构。
第二拨杆1452可套设于第一拨杆1451上，可选地，第二拨杆1452与第一拨杆1451间隙配合，使得第一拨杆1451转动时，第二拨杆1452不会带动第二拨动部14521同时转动。
第二拨动部14521可以为杆状结构，也可以为其他结构，如圆柱体结构。
可选地，第一拨动部14511一体成型于第一拨杆1451，第二拨动部14521一体成型于第二拨杆1452，方便加工。
限位块1453可以为限位凸台，或其他形状的结构，如圆柱体结构或U形块结构。
转轴142绕第一方向(如图19中的箭头方向)转动，带动第一拨杆1451及第二拨杆1452转动，当转轴142转动带动第一拨杆1451转动至第一拨动部14511与第二拨动部14521接触时，第一拨动部14511给予第二拨动部14521推力，使得第二拨动部14521受推力作用，在第一拨杆1451的带动下沿第一方向转动。转轴142转动的过程中，当第一拨动部14511与第二拨动部14521的一侧边接触时，第一拨动部14511与第二拨动部14521一起随转轴142的转动而转动，直至第二拨动部14521与限位块1453接触，第二拨杆1452停止转动，而第一拨动部14511继续围绕转轴142的轴心转动并再次靠近第二拨动部14521；当第一拨动部14511与第二拨动部14521的另一侧边接触时，转轴142、第一拨杆1451及第二拨杆1452停止转动，进而使得第一拨杆1451转动的总角度大于330度。
当第二拨杆1452转动至第二拨动部14521与限位块1453接触时，第二拨杆1452由于限位块1453的限位作业而停止运动，第一拨杆1451继续转动直至与第二拨 杆1452接触并停止转动。此时，转轴142绕第二方向转动，从而带动第一拨杆1451及第二拨杆1452沿第二方向转动，直至第二拨动部14521再次与限位块1453接触，从而使第二拨杆1452停止运动，第一拨杆1451继续围绕转轴142的轴心转动并再次靠近第二拨杆1452，直至第一拨杆1451与第二拨杆1452接触。此时，转轴142再次沿第一方向转动，从而带动第一拨杆1451与第二拨杆1452沿第一方向转动，以此循环。通过转轴142的换向转动，使得第一拨杆1451及第二拨杆1452换向转动。
其中，第一方向与第二方向为相反的两个方向。例如，第一方向为顺时针方向，第二方向为逆时针方向；或者第一方向为逆时针方向，第二方向为顺时针方向。
第一拨动部14511至转轴142的中心的距离小于限位块1453至转轴142的中心的距离，从而使得第一拨杆1451不受限位块1453的限位作用，进而当第二拨杆1452受到限位块1453的限位作用停止运动时，第一拨杆1451能够继续绕转轴142的轴心转动。当然，在其他实施例中，也可通过定义限位块1453在容纳空间144中的高度与第一拨动部14511的高度关系来使得第一拨杆1451不受限位块1453的限位作用。
第二拨动部14521至转轴142的中心的距离大于限位块1453至转轴142的中心的距离，从而使得第二拨杆1452在运动时，受到限位块1453的限位作用，从而使得第二拨杆1452的运动位置得到限制。当然，在其他实施例中，可通过定义第二拨动部14521与限位块1453的高度关系，从而也可达到本实施例的限位效果。
参见图15及图18，本申请一些实施例中的电机14还可包括套设件1454，该套设件1454连接于第一拨杆1451和第二拨杆1452之间，以减小第一拨杆1451和第二拨杆1452之间的转动摩擦力。其中，套设件1454可以为铜套或轴承或导套等套设结构。
本申请实施例中的套设件1454的一端端面与第一转动部的端面配合，第二拨杆1452套设于套设件1454的外周，并且第二拨杆1452相对套设件1454转动，从而通过套设件1454来减小第一拨杆1451和第二拨杆1452之间的转动摩擦力。
参见图15，本申请一些实施例中的电机14还可包括锁紧螺母1455，锁紧螺母1455连接于转轴142，并设于第二拨杆1452远离第一拨杆1451的一端，第二拨杆1452在锁紧螺母1455提供的轴向预紧力下转动连接于第一拨杆1451。通过锁紧螺母1455提供的轴系预紧力防止第二拨杆1452从第一拨杆1451滑脱。此外，锁紧螺母1455也可用于提供预紧力使得固定部分143和转动部分固定连接。
参见图6，本申请一些实施例中的拍摄装置10还可以包括惯性测量单元IMU(Inertial Measurement Unit)1030，用于检测图像传感器13的姿态信息，控制器15可根据IMU1030检测获得的姿态信息来驱动电机14转动，实现相应的姿态切换或增稳的目的。
IMU1030可以收容于收容腔111内，也可以设置在壳体11的外部。需要说明 的是，当IMU1030设置在壳体11的外部时，IMU1030检测获得的是拍摄装置10的姿态信息，可以根据拍摄装置10的姿态信息解算获得图像传感器13的姿态信息。
本申请一些实施例中，IMU1030收容于收容腔111内，且安装于框组件16上。
在另一些实施例中，惯性测量单元IMU1030为搭载设备的一部分，即惯性测量单元IMU1030设置在搭载设备的承载部上，承载部用于承载拍摄装置10，从而通过搭载设备的IMU检测拍摄装置10的姿态信息，并根据拍摄装置10的姿态信息解算出图像传感器13的姿态信息。
本申请一些实施例还提供一种拍摄装置10的调节方法，该方法可以包括如下步骤：
(1)、调节预定轴的轴向相对拍摄装置10的图像传感器13的成像面的垂直度，其中，拍摄装置10内设有电机14，电机14用于驱动图像传感器13绕预定轴转动，且图像传感器13与拍摄装置10的镜头间隔设置；
可通过上述实施例中的第一调节结构18来调节预定轴的轴向相对拍摄装置10的图像传感器13的成像面的垂直度，具体参见上述实施例中相应部分的描述，不再赘述。
(2)、在预定轴相对图像传感器13的成像面垂直之后，调节镜头的光轴相对图像传感器13的成像面的垂直度，使得镜头的光轴相对图像传感器13的成像面垂直。
可通过上述实施例中的第二调节结构19来调节镜头的光轴相对图像传感器13的成像面的垂直度，具体参见上述实施例中相应部分的描述，不再赘述。
参见图1至图4，本申请实施例还提供一种拍摄装置10，该拍摄装置10可以包括壳体11、镜头组件12、图像传感器13和电机14，其中，壳体11设有收容腔111，镜头组件12连接于壳体11的一端。图像传感器13以及电机14均安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动时，图像传感器的转动角度大于等于90度。预定轴的轴向与图像传感器13的成像面基本垂直，且镜头的光轴与图像传感器13的成像面基本垂直。在镜头与图像传感器13保持一定间隔的情况下，需要保持镜头的光轴与图像传感器13的成像面的基本垂直，以保证成像的清晰度，否则仅成像面的部分区域是成像清晰的，而其它部分成像并不清晰。通过调节预定轴的轴向相对图像传感器13的成像面的垂直度，是使得图像传感器13旋转到任意角度都能保持镜头的光轴相对图像传感器的成像面的垂直度。如此，通过两级调节结构，解决了仅旋转图像传感器13所引入的像面运动问题，确保拍摄装置10拍摄获得的图像的清晰度。
参见图1至图4，本申请实施例还提供一种拍摄装置10，该拍摄装置10可以包括壳体11、镜头组件12、图像传感器13和电机14，其中，壳体11设有收容腔111， 镜头组件12连接于壳体11的一端。图像传感器13以及电机14均安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动时，镜头组件12能够相对于壳体11固定。其中，电机14的转动角度范围能够使得在图像传感器13转动至不同的位置时，拍摄装置10处于不同的拍摄模式。
参见图1至图4，本申请实施例还提供一种拍摄装置10，该拍摄装置10可以包括壳体11、镜头组件12、图像传感器13和电机14，其中，壳体11设有收容腔111，镜头组件12连接于壳体11的一端。图像传感器13以及电机14均安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动。其中，电机14能够基于外部的控制指令转动，以通过图像传感器13的转动调整拍摄装置10的拍摄角度，并能够基于拍摄装置10的姿态信息转动，以通过图像传感器13的转动对拍摄装置10进行增稳。
参见图1、图2以及图12至图14，本申请实施例还提供一种拍摄系统，该拍摄系统可以包括上述任一实施例中的拍摄装置10和搭载设备，拍摄装置10设于搭载设备。本申请实施例中的拍摄装置10可以为云台20，云台20被配置为绕至少一个转动轴转动。
参见图1至图4，本申请实施例还提供一种拍摄装置10，该拍摄装置10可以包括壳体11、镜头组件12、图像传感器13和电机14，其中，壳体11设有收容腔111，镜头组件12连接于壳体11的一端。图像传感器13以及电机14均安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动。控制器15安装于收容腔111内，并且控制器15与图像传感器13以及电机14电连接。其中，拍摄装置10用于可拆卸地搭载于云台20，云台20被配置为绕至少一个转动轴转动，转动轴的轴向方向与预定轴的轴向方向相交；在拍摄装置10搭载于云台20时，控制器15能够控制电机14以及云台20中的转轴电机的转动；在拍摄装置10拆卸于云台20时，控制器15能够控制电机14的转动。
可选地，在电机14用于驱动图像传感器13绕预定轴转动时，镜头组件12能够相对于壳体11固定，通过电机14驱动图像传感器13绕预定轴转动，镜头组件12无需转动，从而极大地降低了预定轴的负载惯量。
参见图1、图2以及图12至图14，本申请实施例还提供一种拍摄系统，该拍摄系统可以包括拍摄装置10和云台20，拍摄装置10能够设于云台20，云台20被配置为绕至少一个转动轴转动。又参见图3至图5，拍摄装置10可以包括壳体11、镜头组件12、图像传感器13和电机14，其中，壳体11设有收容腔111，镜头组件12连接于壳体11的一端。图像传感器13以及电机14均安装于收容腔111内，且电机14用于驱动图像传感器13绕预定轴转动。控制器15安装于收容腔111内，并且控制器15与图像传感器13以及电机14电连接。其中，转动轴的轴向方向与预定轴的轴向方向相交；在拍摄装置10搭载于云台20(如图1和图2所示)时，控制器15能够控制 电机14以及云台20中的转轴电机的转动；在拍摄装置10拆卸于云台20(未图示)时，控制器15能够控制电机14的转动。
可选地，在电机14用于驱动图像传感器13绕预定轴转动时，镜头组件12能够相对于壳体11固定，通过电机14驱动图像传感器13绕预定轴转动，镜头组件12无需转动，从而极大地降低了预定轴的负载惯量。
控制器15可以设置在拍摄装置10和/或云台20中。例如，在一些实施例中，控制器15安装于收容腔111内，即控制器15为拍摄装置10的控制器，无论是拍摄装置10搭载于云台20，还是拍摄装置10拆卸于云台20，均通过拍摄装置10的控制器来控制电机14的转动。当拍摄装置10搭载于云台20时，云台20中的转轴电机的转动由拍摄装置10的控制器来控制。
在另外一些实施例中，控制器15包括拍摄装置10的控制器和云台20的控制器，在拍摄装置10搭载于云台20时，电机14的转动以及云台20中的转轴电机的转动由云台20的控制器来控制；在拍摄装置10拆卸于云台20时，电机14的转动由拍摄装置10的控制器来控制。即可根据拍摄装置10的使用状态来切换电机14的控制主体。
拍摄装置10的结构可以参见上述实施例中相应部分的描述，此处不再赘述。
参见图1、图2以及图12至图14，本申请一些实施例中的云台20可以包括至少一个驱动电机，至少一个驱动电机绕至少一个转动轴转动，壳体11的外侧壁安装于其中一个驱动电机。本申请实施例中，壳体11的外侧壁可拆卸地安装于其中一个驱动电机的转动部分。
本申请实施例的云台20可以为单轴云台20，也可以为多轴云台20，相应地，驱动电机可包括一个，也可包括多个，多个驱动电机的转动轴的轴向方向相交。
示例性地，参见图1以及图12至图14，至少一个驱动电机包括第一驱动电机21和第二驱动电机22，第二驱动电机22的固定部分143连接于第二驱动电机22的转动部分，第一驱动电机21的转动轴的轴向方向与第二驱动电机22的转动轴的轴向方向相交。壳体11的外侧壁安装于第二驱动电机22的转动部分，即壳体11外侧壁可拆卸地安装于第二驱动电机22的转动部分。
可选地，第一驱动电机21的转动轴的轴向方向、第二驱动电机22的转动轴的轴向方向以及预定轴的轴向方向两两正交，或者至少两个轴向方向斜交。
如图1以及图12至图14所示，在电机14用于驱动图像传感器13绕横滚轴转动时，第一驱动电机21用于驱动拍摄装置10绕偏航轴转动，第二驱动电机22用于驱动拍摄装置10绕俯仰轴转动。常规YRP构型的云台20通常由于连接电机14的固定部分143与偏航电机的转动部分的轴臂为长悬臂，刚度较差，通常会成为云台20的短 板。本申请实施例通过将电机14内置于拍摄装置10，使得云台20省去了连接电机14的固定部分143与偏航电机的转动部分的轴臂，从而极大地降低了云台20重量并提高了云台20的系统刚度，使得云台20能够支持更大的镜头。
应当理解地是，在其他实施例中，第一驱动电机21可用于驱动拍摄装置10绕俯仰轴转动，第二驱动电机22可用于驱动拍摄装置10绕偏航轴转动。
参见图1、图2以及图12至图14，本申请一些实施例中的云台20还包括轴臂23，轴臂23的一端连接于第一驱动电机21的转动部分，另一端连接于第二驱动电机22的固定部分143。其中，第二驱动电机22可以包括一个或两个，如图1以及图12至图13所示，第二驱动电机22包括两个，轴臂23呈U型，轴臂23的中部套设于第一驱动电机21的转动部分，两个第二驱动电机22分别设于轴臂23的两端，当拍摄装置10搭载于云台20时，壳体11夹设于两个第二驱动电机22之间。
第二驱动电机22的转动部分包括至少一个滑动槽，至少一个滑动槽用于与拍摄装置10的至少一个重心调节导轨108对应配合，具体可以参见上述实施例中相应部分的描述，不再赘述。
第二驱动电机22的转动部分还包括锁定件，锁定件用于锁定拍摄装置10的重心标记结构109，具体可以参见上述实施例中相应部分的描述，不再赘述。
此外，如图1所示，云台20还可包括通信接口24，用于与其他设备或承载平台(如手柄)通信连接。可选的，该通信接口24可设于第二驱动电机22的固定部分143。
可选的，在一些实施例中，云台20与拍摄装置10之间可通过导线与通信接口配合实现电连接，从而实现云台20与拍摄装置10之间的通信。具体的，云台20和拍摄装置10的连接处分别设有相互配合的第一电连接部和第二电连接部，当拍摄装置10搭载于云台20上时，第一电连接部和第二电连接部通过导线连接以实现云台20和拍摄装置10之间的电连接，第一电连接部和第二电连接部配合形成的通信链路可用于传输云台20发送给拍摄装置10的控制指令和/或拍摄装置10反馈给云台20的拍摄装置10的工作参数等。其中，第一电连接部和第二电连接部可为相互适配的公头和母头或者专有的电连接端子。
可选的，在另一些实施例中，云台20与拍摄装置10之间也可以是无线通信连接。
进一步的，上述拍摄系统中的云台还可以被配置为对负载，如上述的拍摄装置在平动方向上进行增稳，如竖直方向。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作 之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的拍摄装置和拍摄系统进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。

Claims (80)

  1. 一种拍摄装置，其特征在于，所述拍摄装置包括：
    壳体，设有收容腔；
    镜头组件，连接于所述壳体的一端，所述镜头组件包括镜头；
    传感器模组，安装于所述收容腔内，所述传感器模组包括图像传感器及用于安装所述图像传感器的框组件，所述图像传感器与所述镜头间隔设置；
    电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动；
    回转件，所述回转件的一侧连接于所述框组件，另一侧连接于所述电机的转动部分；
    第一调节结构，设于所述框组件与所述回转件的连接处，用于调节所述预定轴的轴向相对所述图像传感器的成像面的垂直度，以使得所述预定轴的轴向与所述图像传感器的成像面基本垂直；
    第二调节结构，设于所述电机的固定部分和所述壳体的连接处，用于调节所述镜头的光轴相对所述图像传感器的成像面的垂直度，以使得所述镜头的光轴与所述图像传感器的成像面基本垂直。
  2. 根据权利要求1所述的拍摄装置，其特征在于，在所述电机驱动所述图像传感器绕所述预定轴转动时，所述镜头组件能够相对于所述壳体固定。
  3. 根据权利要求1或2所述的拍摄装置，其特征在于，所述镜头组件还包括镜头座，用于可拆卸地安装所述镜头，所述镜头座连接于所述壳体一端的开口处。
  4. 根据权利要求1至3中任一项所述的拍摄装置，其特征在于，所述镜头的光轴、所述图像传感器的成像面的中心轴与所述预定轴的轴向共轴。
  5. 根据权利要求1至4中任一项所述的拍摄装置，其特征在于，所述预定轴为横滚轴，所述电机的转动角度范围能够使得在所述图像传感器转动至不同的位置时，所述拍摄装置处于不同的拍摄模式。
  6. 根据权利要求5所述的拍摄装置，其特征在于，所述拍摄模式包括以水平取向捕捉图像的横拍模式、以竖直取向捕捉图像的竖拍模式，或以水平取向与竖直取向之间的角度捕捉图像的中间模式。
  7. 根据权利要求1至6中任一项所述的拍摄装置，其特征在于，所述电机能够基于外部的控制指令转动，以通过所述图像传感器的转动调整所述拍摄装置的拍摄角度，并能够基于所述拍摄装置的姿态信息转动，以通过所述图像传感器的转动对所述拍摄装置进行增稳。
  8. 根据权利要求1至7中任一项所述的拍摄装置，其特征在于，还包括：
    控制器，安装于所述收容腔内，所述控制器与所述图像传感器以及所述电机电连接；
    其中，所述拍摄装置用于可拆卸地搭载于云台，所述云台被配置为绕至少一个转动轴转动，所述转动轴的轴向方向与所述预定轴的轴向方向相交；在所述拍摄装置搭 载于所述云台时，所述控制器能够控制所述电机以及所述云台中的转轴电机的转动；在所述拍摄装置拆卸于所述云台时，所述控制器能够控制所述电机的转动。
  9. 根据权利要求1至8中任一项所述的拍摄装置，其特征在于，所述回转件朝向所述框组件的一侧设有第一固定部，所述框组件的对应位置设有第二固定部，所述第一固定部与所述第二固定部对应连接，所述第一固定部与所述第二固定部的连接处设有所述第一调节结构。
  10. 根据权利要求9所述的拍摄装置，其特征在于，所述第一固定部包括三个，三个所述第一固定部沿所述回转件的中心呈三角形排列。
  11. 根据权利要求9所述的拍摄装置，其特征在于，所述第一固定部和所述第二固定部中的一个包括第一固定柱和第二固定柱，所述第一固定部和所述第二固定部中的另一个包括第一固定孔和第二固定孔；
    所述第一固定柱设有第一安装孔，所述第一调节结构插接在所述第一固定孔和所述第一安装孔中，所述第二固定柱插接在所述第二固定孔中。
  12. 根据权利要求11所述的拍摄装置，其特征在于，所述第一调节结构包括第一紧固件和第一弹性件，所述第一紧固件插接在所述第一固定孔和所述第一安装孔中，所述第一弹性件收容于所述第一安装孔内，并套设于所述第一紧固件。
  13. 根据权利要求12所述的拍摄装置，其特征在于，所述第一紧固件为螺丝。
  14. 根据权利要求1至13中任一项所述的拍摄装置，其特征在于，所述壳体设有第三固定部，所述电机的固定部分的对应位置设有第四固定部，第三固定部与所述第四固定部对应连接，所述第三固定部与所述第四固定部的连接处设有所述第二调节结构。
  15. 根据权利要求14所述的拍摄装置，其特征在于，所述第四固定部包括三个，三个所述第四固定部沿所述电机的固定部分的中心呈三角形排列。
  16. 根据权利要求14所述的拍摄装置，其特征在于，所述第三固定部和所述第四固定部中的一个包括第三固定柱和第四固定柱，所述第三固定部和所述第四固定部中的另一个包括第三固定孔和第四固定孔；
    所述第三固定柱设有第二安装孔，所述第二调节结构插接在所述第三固定孔和所述第二安装孔中，所述第四固定柱插接在所述第四固定孔中。
  17. 根据权利要求16所述的拍摄装置，其特征在于，所述第二调节结构包括第二紧固件和第二弹性件，所述第二紧固件插接在所述第三固定孔和所述第二安装孔中，所述第二弹性件收容于所述第二安装孔内，并套设于所述第二紧固件。
  18. 根据权利要求17所述的拍摄装置，其特征在于，所述第二紧固件为螺丝。
  19. 根据权利要求1至17中任一项所述的拍摄装置，其特征在于，所述框组件包括主体部和设于所述主体部远离所述回转件一侧的传感器安装框，所述传感器安装框连接于所述回转件，且所述传感器安装框用于安装所述图像传感器。
  20. 根据权利要求19所述的拍摄装置，其特征在于，还包括：
    散热件，连接于所述电机的固定部分；和
    导热组件，所述导热组件的一端与所述主体部朝向所述回转件的一侧接触连接，且另一端与所述散热件接触连接。
  21. 根据权利要求20所述的拍摄装置，其特征在于，所述导热组件至少部分设于所述回转件内和/或部分设于所述电机内，以与所述散热件接触连接；和/或，
    所述散热件部分设于所述电机内和/或所述回转件内，以与所述导热组件接触连接。
  22. 根据权利要求21所述的拍摄装置，其特征在于，所述回转件设有第一通孔，所述回转件朝向所述横滚电机的转动部分的一侧设有容纳腔，所述第一通孔与所述容纳腔连通；
    所述电机的转动部分包括转轴，所述转轴收容于所述容纳腔，所述转轴设有第二通孔，且所述第二通孔的中心轴平平行于所述转轴的轴向方向，所述第一通孔与所述第二通孔连通；
    所述导热组件的另一端穿设于所述第一通孔和所述第二通孔，并与所述散热件接触连接。
  23. 根据权利要求20至22中任一项所述的拍摄装置，其特征在于，所述散热件包括散热主体、设于所述散热主体朝向所述电机的固定部分一侧的插接部，所述插接部插接在所述电机的固定部分中，并与所述导热组件的另一端接触连接。
  24. 根据权利要求23所述的拍摄装置，其特征在于，所述散热主体远离所述电机的固定部分一侧设有多个散热鳍片。
  25. 根据权利要求23所述的拍摄装置，其特征在于，所述导热组件包括导热块和热管，所述导热块与所述主体部朝向所述回转件的一侧接触连接，所述热管的一端连接于所述导热块，且所述热管远离所述导热块的一端与所述散热件接触连接。
  26. 根据权利要求25所述的拍摄装置，其特征在于，所述插接部设有固定槽，所述热管远离所述导热块的一端插接于所述固定槽。
  27. 根据权利要求25或26所述的拍摄装置，其特征在于，所述热管包括连接部和冷凝端，所述蒸发端连接于所述冷凝端的一端，所述蒸发端连接于所述导热块，所述冷凝端远离所述蒸发端的一端与所述插接部接触连接。
  28. 根据权利要求27所述的拍摄装置，其特征在于，所述冷凝端为扁平状。
  29. 根据权利要求27所述的拍摄装置，其特征在于，所述导热块远离所述主体部的一侧设有安装槽，所述安装槽与所述蒸发端配合。
  30. 根据权利要求25所述的拍摄装置，其特征在于，所述导热块覆盖所述主体部朝向所述回转件的一侧。
  31. 根据权利要求20至30中任一项所述的拍摄装置，其特征在于，还包括：
    信号传输线，所述信号传输线的一端与所述图像传感器电连接，另一端用于与外部设备电连接，用于将所述图像传感器采集的图像信号传输至外部设备。
  32. 根据权利要求31所述的拍摄装置，其特征在于，所述信号传输线的一端夹设于所述导热组件上与所述主体部接触连接的部分和所述回转件之间，所述信号传输线的另一端夹设于所述散热件和所述横滚电机的固定部分之间。
  33. 根据权利要求32所述的拍摄装置，其特征在于，所述回转件设有第一通孔，所述回转件朝向所述横滚电机的转动部分的一侧设有容纳腔，所述第一通孔与所述容纳腔连通；
    所述横滚电机的转动部分包括转轴，所述转轴收容于所述容纳腔，所述转轴设有第二通孔，且所述第二通孔的中心轴平平行于所述转轴的轴向方向，所述第一通孔与所述第二通孔连通；
    其中，所述信号传输线穿设于所述第一通孔和所述第二通孔，并且所述信号传输线的一端伸出所述第一通孔，以夹设于所述导热组件上与所述主体部接触连接的部分和所述回转件之间，所述信号传输线的另一端伸出所述第二通孔，以夹设于所述散热件和所述横滚电机的固定部分之间。
  34. 根据权利要求31至33中任一项所述的拍摄装置，其特征在于，所述导热组件上与所述主体部接触连接的部分朝向所述回转件的一侧和/或所述回转件朝向所述主体部的一侧设有第一隔板。
  35. 根据权利要求34所述的拍摄装置，其特征在于，所述第一隔板覆盖所述导热组件上与所述主体部接触连接的部分朝向所述回转件的一侧和/或所述回转件朝向所述主体部的一侧。
  36. 根据权利要求31至35中任一项所述的拍摄装置，其特征在于，还包括：
    密封线卡，套设于所述散热件，并夹设于所述散热件和所述横滚电机的固定部分之间。
  37. 根据权利要求36所述的拍摄装置，其特征在于，所述密封线卡包括卡接孔，所述信号传输线伸出所述横滚电机的固定部分的一端穿设于所述卡接孔。
  38. 根据权利要求37所述的拍摄装置，其特征在于，所述卡接孔包括第一开口和第二开口，所述第一开口朝向所述横滚电机的固定部分设置，所述第二开口朝向所述散热件设置，所述第一开口的朝向和所述第二开口的朝向相背，且所述第一开口的大小不同于所述第二开口的大小。
  39. 根据权利要求23至30中任一项所述的拍摄装置，其特征在于，还包括：
    第二隔板，套设于所述插接部，并且所述第二隔板的周侧壁连接于所述壳体的内侧壁，以将所述收容腔分隔成第一腔体和第二腔体；
    其中，所述图像传感器、所述横滚电机、所述框组件及所述回转件收容于所述第一腔体，所述散热主体收容于所述第二腔体。
  40. 根据权利要求39所述的拍摄装置，其特征在于，所述插接部和所述第二隔板为一体结构；和/或，
    所述壳体还设有气流出口，用于将所述第二腔体内的气流导出。
  41. 根据权利要求40所述的拍摄装置，其特征在于，还包括：
    散热风扇，收容于所述第二腔体；
    其中，所述壳体还设有气流入口，所述散热风扇的进风口与所述气流入口配合，所述散热风扇的出风口与所述气流出口配合。
  42. 根据权利要求41所述的拍摄装置，其特征在于，所述壳体包括主壳体和盖设所述主壳体一端的后端盖，所述收容腔设于所述主壳体，所述第二隔板的周侧壁连接于所述主壳体的内侧壁，所述气流入口设于所述后端盖，所述气流出口设于所述主壳体。
  43. 根据权利要求42所述的拍摄装置，其特征在于，所述气流出口包括多个，多个所述气流出口沿着所述主壳体的周向间隔排布。
  44. 根据权利要求1至43中任一项所述的拍摄装置，其特征在于，所述壳体的外侧壁设有至少一个重心调节导轨，至少一个所述重心调节导轨用于与所述拍摄装置的搭载设备配合；
    其中，当所述拍摄装置搭载于所述搭载设备上时，至少一个所述重心调节导轨能够相对所述搭载设备移动，以调节所述拍摄装置的重心。
  45. 根据权利要求44所述的拍摄装置，其特征在于，所述拍摄装置与所述搭载设备可拆卸连接。
  46. 根据权利要求44所述的拍摄装置，其特征在于，至少一个所述重心调节导轨能够沿着平行于所述拍摄装置的光轴的方向相对所述搭载设备移动，以调节所述拍摄装置的重心。
  47. 根据权利要求44所述的拍摄装置，其特征在于，还包括：
    重心标记结构，可移动连接于至少一个所述重心调节导轨；
    其中，当所述拍摄装置搭载于所述搭载设备上时，所述重心标记结构能够锁定于至少一个所述重心调节导轨，以指示所述拍摄装置的重心平衡时，至少一个所述重心调节导轨相对所述搭载设备的位置。
  48. 根据权利要求47所述的拍摄装置，其特征在于，所述重心标记结构包括多个，用于标记不同种类的所述镜头对应的至少一个所述重心调节导轨相对所述搭载设备的位置。
  49. 根据权利要求44所述的拍摄装置，其特征在于，还包括：
    锁定机构，用于将至少一个所述重心调节导轨锁定于所述搭载设备。
  50. 根据权利要求49所述的拍摄装置，其特征在于，所述锁定机构包括旋钮和所述旋钮连接的抵接件，所述抵接件能够随所述旋钮的转动而抵接至少一个所述重心调节导轨或所述搭载设备，以将至少一个所述重心调节导轨锁定于所述搭载设备。
  51. 根据权利要求49所述的拍摄装置，其特征在于，所述锁定机构设于至少一个所述重心调节导轨，所述旋钮和至少部分所述抵接件分别位于至少一个所述重心调节导轨的内外两侧。
  52. 根据权利要求1至51中任一项所述的拍摄装置，其特征在于，还包括：
    配重块，能够可拆卸连接于所述壳体，以调节所述拍摄装置的重心。
  53. 根据权利要求52所述的拍摄装置，其特征在于，所述壳体包括主壳体和盖设所述主壳体一端的后端盖，所述收容腔设于所述主壳体，所述配重块能够可拆卸地连接于所述后端盖。
  54. 根据权利要求1至53中任一项所述的拍摄装置，其特征在于，所述电机包括：
    转动部分，包括一转轴；
    固定部分，与所述转轴相对转动连接，所述转轴套设于所述固定部分，并且所述固定部分和所述转动部分包围形成一容纳空间，所述转轴收容于所述容纳空间；
    限位机构，所述限位机构收容于所述容纳空间，用于限定所述转动部分相对于所固定部分的转动角度。
  55. 根据权利要求54所述的拍摄装置，其特征在于，所述限位机构包括：
    第一拨杆，固定连接于所述转轴，所述第一拨杆包括第一拨动部，所述第一拨动部围绕所述转轴的轴心转动形成第一运动轨道；
    第二拨杆，转动连接于所述第一拨杆，所述第二拨杆包括第二拨动部，所述第二拨动部至少部分落入所述第一运动轨道内，所述第一拨动部能够带动所述第二拨动部围绕所述转轴的轴心转动，并形成第二运动轨道；和
    限位块，所述限位块位于所述第一运动轨道的外围，且部分落入所述第二运动轨道内；
    其中，所述第一拨杆沿着所述转动轴的转动方向转动，使得所述第一拨杆转动的总角度大于330度。
  56. 根据权利要求55所述的拍摄装置，其特征在于，所述第一拨动部至所述转轴的中心的距离小于所述限位块至所述转轴的中心的距离，所述第二拨动部至所述转轴的中心的距离大于所述限位块至所述转轴的中心的距离。
  57. 根据权利要求55所述的拍摄装置，其特征在于，所述第一拨杆套设于所述转轴。
  58. 根据权利要求55所述的拍摄装置，其特征在于，所述电机还包括：
    套设件，连接于所述第一拨杆和所述第二拨杆之间。
  59. 根据权利要求55至58中任一项所述的拍摄装置，其特征在于，所述套设件的一端端面与所述第一转动部的端面配合，所述第二拨杆套设于所述套设件的外周，并相对所述套设件转动。
  60. 根据权利要求55至59中任一项所述的拍摄装置，其特征在于，所述电机还包括：
    锁紧螺母，连接于所述转轴，并设于所述第二拨杆远离所述第一拨杆的一端，所述第二拨杆在所述锁紧螺母提供的轴向预紧力下转动连接于所述第一拨杆。
  61. 根据权利要求1至60中任一项所述的拍摄装置，其特征在于，还包括：
    惯性测量单元IMU，用于检测所述图像传感器的姿态信息。
  62. 一种拍摄装置，其特征在于，所述拍摄装置包括：
    壳体，设有收容腔；
    镜头组件，连接于所述壳体的一端，所述镜头组件包括镜头；
    图像传感器，安装于所述收容腔内；
    电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动时，所述图像传感器的转动角度大于等于90度；
    其中，所述预定轴的轴向与所述图像传感器的成像面基本垂直，且所述镜头的光轴与所述图像传感器的成像面基本垂直。
  63. 一种拍摄装置，其特征在于，所述拍摄装置包括：
    壳体，设有收容腔；
    镜头组件，连接于所述壳体的一端；
    图像传感器，安装于所述收容腔内；和
    电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕横滚轴转动时，所述镜头组件能够相对于所述壳体固定；
    其中，所述电机的转动角度范围能够使得在所述图像传感器转动至不同的位置时，所述拍摄装置处于不同的拍摄模式。
  64. 根据权利要求63所述的拍摄装置，其特征在于，所述电机能够基于外部的控制指令转动，以通过所述图像传感器的转动调整所述拍摄装置的拍摄角度，并能够基于所述拍摄装置的姿态信息转动，以通过所述图像传感器的转动对所述拍摄装置进行增稳。
  65. 根据权利要求63或64所述的拍摄装置，其特征在于，还包括：
    控制器，安装于所述收容腔内，所述控制器与所述图像传感器以及所述电机电连接；
    其中，所述拍摄装置用于可拆卸地搭载于云台，所述云台被配置为绕至少一个转动轴转动，所述转动轴的轴向方向与所述横滚轴的轴向方向相交；在所述拍摄装置搭载于所述云台时，所述控制器能够控制所述电机以及所述云台中的转轴电机的转动；在所述拍摄装置拆卸于所述云台时，所述控制器能够控制所述电机的转动。
  66. 一种拍摄装置，其特征在于，所述拍摄装置包括：
    壳体，设有收容腔；
    镜头组件，连接于所述壳体的一端；
    图像传感器，安装于所述收容腔内；和
    电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动时，所述镜头组件能够相对于所述壳体固定；
    其中，所述电机能够基于外部的控制指令转动，以通过所述图像传感器的转动调整所述拍摄装置的拍摄角度，并能够基于所述拍摄装置的姿态信息转动，以通过所述 图像传感器的转动对所述拍摄装置进行增稳。
  67. 根据权利要求66所述的拍摄装置，其特征在于，还包括：
    控制器，安装于所述收容腔内，所述控制器与所述图像传感器以及所述电机电连接；
    其中，所述拍摄装置用于可拆卸地搭载于云台，所述云台被配置为绕至少一个转动轴转动，所述转动轴的轴向方向与所述预定轴的轴向方向相交；在所述拍摄装置搭载于所述云台时，所述控制器能够控制所述电机以及所述云台中的转轴电机的转动；在所述拍摄装置拆卸于所述云台时，所述控制器能够控制所述电机的转动。
  68. 一种拍摄装置，其特征在于，包括：
    壳体，设有收容腔；
    镜头组件，连接于所述壳体的一端；
    图像传感器，安装于所述收容腔内；和
    电机，安装于所述收容腔内，所述电机用于驱动所述图像传感器绕预定轴转动；
    控制器，安装于所述收容腔内，所述控制器与所述图像传感器以及所述电机电连接；
    其中，所述拍摄装置用于可拆卸地搭载于云台，所述云台被配置为绕至少一个转动轴转动，所述转动轴的轴向方向与所述预定轴的轴向方向相交；在所述拍摄装置搭载于所述云台时，所述控制器能够控制所述电机以及所述云台中的转轴电机的转动；在所述拍摄装置拆卸于所述云台时，所述控制器能够控制所述电机的转动。
  69. 根据权利要求68所述的拍摄装置，其特征在于，在所述电机用于驱动所述图像传感器绕预定轴转动时，所述镜头组件能够相对于所述壳体固定。
  70. 一种拍摄系统，其特征在于，包括：
    权利要求1至67中任一项所述拍摄装置；和
    搭载设备，所述拍摄装置设于所述搭载设备。
  71. 根据权利要求70所述的拍摄系统，其特征在于，所述搭载设备为云台，所述云台被配置为绕至少一个转动轴转动。
  72. 一种拍摄系统，其特征在于，包括：
    权利要求68至69中任一项所述的拍摄装置；和
    云台，所述拍摄装置设于所述云台，所述云台被配置为绕至少一个转动轴转动。
  73. 根据权利要求71或72所述的拍摄系统，其特征在于，所述云台包括：
    至少一个驱动电机，至少一个所述驱动电机绕至少一个所述转动轴转动；
    所述壳体的外侧壁安装于其中一个驱动电机。
  74. 根据权利要求73所述的拍摄系统，其特征在于，至少一个所述驱动电机包括第一驱动电机和第二驱动电机，所述第二驱动电机的固定部分连接于所述第二驱动电机的转动部分，所述第一驱动电机的转动轴的轴向方向与所述第二驱动电机的转动轴的轴向方向相交；
    所述壳体的外侧壁安装于所述第二驱动电机的转动部分。
  75. 根据权利要求74所述的拍摄系统，其特征在于，在所述电机用于驱动所述图像传感器绕横滚轴转动时，所述第一驱动电机用于驱动所述拍摄装置绕偏航轴转动，所述第二驱动电机用于驱动所述拍摄装置绕俯仰轴转动。
  76. 根据权利要求74或75所述的拍摄系统，其特征在于，所述云台还包括：
    轴臂，所述轴臂的一端连接于所述第一驱动电机的转动部分，另一端连接于所述第二驱动电机的固定部分。
  77. 根据权利要求76所述的拍摄系统，其特征在于，所述第二驱动电机包括两个，所述轴臂呈U型，所述轴臂的中部套设于所述第一驱动电机的转动部分，两个所述第二驱动电机分别设于所述轴臂的两端，
    当所述拍摄装置搭载于所述云台时，所述壳体夹设于两个所述第二驱动电机之间。
  78. 根据权利要求74至77中任一项所述的拍摄系统，其特征在于，所述第二驱动电机的转动部分包括至少一个滑动槽，用于与所述拍摄装置的至少一个重心调节导轨对应配合。
  79. 根据权利要求78所述的拍摄系统，其特征在于，所述第二驱动电机的转动部分还包括锁定件，用于锁定所述拍摄装置的重心标记结构。
  80. 根据权利要求73至79中任一项所述的拍摄系统，其特征在于，所述云台为手持云台。
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