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WO2017128051A1 - Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile - Google Patents

Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile Download PDF

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Publication number
WO2017128051A1
WO2017128051A1 PCT/CN2016/072218 CN2016072218W WO2017128051A1 WO 2017128051 A1 WO2017128051 A1 WO 2017128051A1 CN 2016072218 W CN2016072218 W CN 2016072218W WO 2017128051 A1 WO2017128051 A1 WO 2017128051A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
electrically connected
signal transmission
support arm
driving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/072218
Other languages
English (en)
Chinese (zh)
Inventor
陈子寒
潘大虎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to CN201680006901.9A priority Critical patent/CN107250908B/zh
Priority to PCT/CN2016/072218 priority patent/WO2017128051A1/fr
Priority to CN201910219515.3A priority patent/CN109823557B/zh
Publication of WO2017128051A1 publication Critical patent/WO2017128051A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the invention relates to a connection structure of an airborne platform, in particular to a cloud platform, an unmanned aerial vehicle, a photographing device and a movable device.
  • the airborne pan/tilt mostly adopts a single-arm support structure, especially a pitch (Pitch) axis design.
  • Pitch pitch
  • the unmanned aerial vehicle equipped with the pan/tilt is accelerated or decelerated in different directions, the pan/tilt is likely to be shaken due to the imbalance of the center of gravity, which is disadvantageous for controlling the pan/tilt and the load mounted on the pan/tilt.
  • a pan/tilt head includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:
  • first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;
  • a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly
  • the pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
  • the load includes a carrying portion and an image acquiring portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, the bearing A receiving chamber is disposed between the opposite ends, and the receiving chamber is configured to receive the electronic components of the image acquiring portion and fix the image acquiring portion.
  • the load is a camera
  • the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the ends of the first driving device and the second supporting arm away from the body,
  • the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
  • the first signal transmission member includes a first end portion and a second end portion, a first end portion of the first signal transmission member is disposed on the body, and the second end portion is from the first The first end of the second support arm extends along the arm portion of the second support arm to the second end of the second support arm and is disposed around the second end of the second support arm.
  • the second end of the second support arm is provided with a mounting portion and a winding box, the winding box is fixed on the mounting portion, and the winding box is provided with a receiving portion, the carrying portion
  • the connecting shaft is disposed in the receiving portion, and the second end of the first signal transmitting member is disposed around the outer circumference of the connecting shaft and received in the receiving portion.
  • the second end of the first signal transmitting member is wound around the outer circumference of the connecting shaft by at least one turn, and the maximum driving amount of the first driving device for driving the load is not more than one week.
  • the shape of the first signal transmission member is adapted to the shape of the arm portion of the second support arm such that the first signal transmission member is closely attached to the second support arm.
  • a circuit board is disposed in the receiving chamber, and the circuit board is provided with at least a load circuit, and the load circuit is electrically connected to the image acquiring unit or the camera housed in the receiving room, the first signal a second end of the transmission member is electrically connected to a circuit board disposed in the accommodation chamber to achieve electrical connection with the image acquisition portion or camera, the first signal transmission member for receiving and transmitting the image acquisition The image signal collected by the camera or camera.
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component
  • the third end portion is electrically connected
  • the second end of the second signal transmission member is electrically connected to the image disposed in a mounting platform
  • the second signal transmission member is configured to receive the first signal transmission member for transmission Image signal and transmit the image signal to the image.
  • the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component
  • the load control signal sent by the control device is transmitted, and the load control signal is transmitted to the image acquisition unit or the camera to control an operation state and an operation parameter of the image acquisition unit or the camera.
  • the pan/tilt further includes an inertial sensor and a controller, the controller is electrically connected to the inertial sensor and the first signal transmitting member, and the inertial sensor is configured to detect posture information of the load;
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting
  • the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;
  • the controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
  • the first driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to an end of the first supporting arm away from the body, and the rotating portion is fixedly connected to one end of the carrying portion;
  • the pan/tilt further includes a first electronic governor electrically connected to the first driving device and the controller, the first electronic governor for receiving the control
  • the driving control signal of the device drives the rotating portion to rotate relative to the fixing portion, and adjusts the rotation speed of the rotating portion; the rotation of the rotating portion of the first driving device can drive the bearing portion to rotate.
  • a circuit board is disposed in the receiving chamber, and the first electronic governor, the controller, and the inertial sensor are disposed on a circuit board in the receiving chamber.
  • the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber
  • the pan/tilt further includes a third signal transmitting member, and the first end of the third signal transmitting member is inserted into the Electrically connecting to the circuit board in the socket to achieve electrical connection with the first electronic governor, the second end of the third signal transmitting member being electrically connected to the first driving device, thereby An electronic governor is electrically connected to the first driving device through the third signal transmitting member.
  • a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, so that the rotating shaft drives the rotating portion relative to The fixing portion rotates.
  • one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, and the carrying portion can be driven by the rotating portion The rotating portions rotate together.
  • the body includes a second bracket assembly
  • the second bracket assembly includes a connecting member and a second driving device
  • the second driving device is fixedly coupled to one end of the connecting member, and is rotatably coupled to the a first end of the first support arm and a first end of the second support arm, the second drive means for driving the first support arm and the second support arm to rotate relative to the connector.
  • the rotation axis of the second driving device is substantially perpendicular to the rotation axis of the first driving device.
  • the second driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, the rotating portion is fixedly coupled to the first end of the first supporting arm, and the a first end of the second support arm;
  • the pan/tilt further includes a second electronic governor, the second electronic governor being electrically connected to the second driving device and the controller, the second An electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion; The rotation of the rotating portion can drive the first support arm and the second support arm to rotate.
  • a circuit board is disposed on the connector, and the second electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal transmitting member and the second driving device and
  • the controller implements an electrical connection.
  • the body further includes a third driving device rotatably coupled to the other end of the connecting member for driving the second bracket assembly to rotate.
  • the rotation axis of the third driving device is substantially perpendicular to the rotation axis of the second driving device.
  • the third driving device includes a fixing portion for mounting the pan/tilt head integrally on a mounting platform, and the rotating portion is fixedly connected to the connecting member away from the One end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor being electrically connected to the third driving device and the controller, the third electronic tuning The speed controller is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixing portion, and adjust a rotation speed of the rotating portion relative to the fixing portion, the rotation of the third driving device The rotation of the portion can drive the second bracket assembly to rotate.
  • a circuit board is disposed on the connector, and the third electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected, and the third end of the first signal transmission member is disposed on the third driving device and electrically connected to the third driving device, so that the third electronic governor passes
  • the first signal transmission member is electrically connected to the third driving device and the controller.
  • first signal transmission member and the second signal transmission member are flexible circuit boards for transmitting power and/or data; or
  • the first signal transmitting component and the second signal transmitting component are data lines for transmitting power and/or transmitting data.
  • the third signal transmission member is a flexible circuit board for transmitting power and/or data
  • the third signal transmission component is a data line for transmitting power and/or transmitting data.
  • the driving device is a brushless motor, a brush motor or a motor.
  • the pan/tilt is applied to a mobile device
  • the movable device includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, and a handheld photographing device.
  • An unmanned aerial vehicle includes a body and a pan/tilt head disposed on the body, the pan/tilt includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:
  • first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;
  • a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly
  • the pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
  • the load includes a carrying portion and an image acquiring portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, the bearing A receiving chamber is disposed between the opposite ends, and the receiving chamber is configured to receive the electronic components of the image acquiring portion and fix the image acquiring portion.
  • the load is a camera
  • the pan/tilt further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device,
  • the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
  • the first signal transmission member includes a first end portion and a second end portion, a first end portion of the first signal transmission member is disposed on the body, and the second end portion is from the first The first end of the second support arm extends along the arm portion of the second support arm to the second end of the second support arm and is disposed around the second end of the second support arm.
  • the second end of the second support arm is provided with a mounting portion and a winding box, the winding box is fixed on the mounting portion, and the winding box is provided with a receiving portion, the carrying portion
  • the connecting shaft is disposed in the receiving portion, and the second end of the first signal transmitting member is disposed around the outer circumference of the connecting shaft and received in the receiving portion.
  • the second end of the first signal transmitting member is wound around the outer circumference of the connecting shaft by at least one turn, and the maximum driving amount of the first driving device for driving the load is not more than one week.
  • the shape of the first signal transmission member is adapted to the shape of the arm portion of the second support arm such that the first signal transmission member is closely attached to the second support arm.
  • a circuit board is disposed in the receiving chamber, and the circuit board is provided with at least a load circuit, and the load circuit is electrically connected to the image acquiring unit or the camera housed in the receiving room, the first signal a second end of the transmitting member is electrically connected to a circuit board disposed in the receiving chamber after being wound around an outer circumference of the connecting shaft to realize electrical connection with the image acquiring portion or the camera, the first signal transmission
  • the piece is configured to receive and transmit an image signal collected by the image acquisition unit or the camera.
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component The three ends are electrically connected
  • the second end of the second signal transmitting member is electrically connected to a picture disposed in a mounting platform
  • the second signal transmitting member is configured to receive the transmission of the first signal transmitting member An image signal and transmitting the image signal to the image.
  • the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component
  • the load control signal sent by the control device is transmitted, and the load control signal is transmitted to the image acquisition unit or the camera to control an operation state and an operation parameter of the image acquisition unit or the camera.
  • the pan/tilt further includes an inertial sensor and a controller, the controller is electrically connected to the inertial sensor and the first signal transmitting member, and the inertial sensor is configured to detect posture information of the load;
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting
  • the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;
  • the controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
  • the first driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to an end of the first supporting arm away from the body, and the rotating portion is fixedly connected to one end of the carrying portion;
  • the pan/tilt further includes a first electronic governor electrically connected to the first driving device and the controller, the first electronic governor for receiving the control
  • the driving control signal of the device drives the rotating portion to rotate relative to the fixing portion, and adjusts the rotation speed of the rotating portion; the rotation of the rotating portion of the first driving device can drive the bearing portion to rotate.
  • a circuit board is disposed in the receiving chamber, and the first electronic governor, the controller, and the inertial sensor are disposed on a circuit board in the receiving chamber.
  • the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber
  • the pan/tilt further includes a third signal transmitting member, and the first end of the third signal transmitting member is inserted into the Electrically connecting to the circuit board in the socket to achieve electrical connection with the first electronic governor, the second end of the third signal transmitting member being electrically connected to the first driving device, thereby An electronic governor is electrically connected to the first driving device through the third signal transmitting member.
  • a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, so that the rotating shaft drives the rotating portion relative to The fixing portion rotates.
  • one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, and the carrying portion can be driven by the rotating portion The rotating portions rotate together.
  • the body includes a second bracket assembly
  • the second bracket assembly includes a connecting member and a second driving device
  • the second driving device is fixedly coupled to one end of the connecting member, and is rotatably coupled to the a first end of the first support arm and a first end of the second support arm, the second drive means for driving the first support arm and the second support arm to rotate relative to the connector.
  • the rotation axis of the second driving device is substantially perpendicular to the rotation axis of the first driving device.
  • the second driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, the rotating portion is fixedly coupled to the first end of the first supporting arm, and the a first end of the second support arm;
  • the pan/tilt further includes a second electronic governor, the second electronic governor being electrically connected to the second driving device and the controller, the second An electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion; The rotation of the rotating portion can drive the first support arm and the second support arm to rotate.
  • a circuit board is disposed on the connector, and the second electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal transmitting member and the second driving device and
  • the controller implements an electrical connection.
  • the body further includes a third driving device rotatably coupled to the other end of the connecting member for driving the second bracket assembly to rotate.
  • the rotation axis of the third driving device is substantially perpendicular to the rotation axis of the second driving device.
  • the third driving device includes a fixing portion for mounting the pan/tilt head integrally on the body of the unmanned aerial vehicle, and a rotating portion fixedly connected to the The connecting member is away from one end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor is electrically connected to the third driving device and the controller, a third electronic governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion relative to the fixed portion, the third drive The rotation of the rotating portion of the device can drive the second bracket assembly to rotate.
  • a circuit board is disposed on the connector, and the third electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected, and the third end of the first signal transmission member is disposed on the third driving device and electrically connected to the third driving device, so that the third electronic governor passes
  • the first signal transmission member is electrically connected to the third driving device and the controller.
  • a photographing device includes a pan/tilt head and an image capturing device disposed on the pan/tilt head, the pan/tilt head includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:
  • the acquisition device is rotatably sandwiched therebetween;
  • a first driving device disposed at an end of the first supporting arm away from the body for driving the image acquiring device to rotate relative to the first bracket assembly
  • the pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the image acquisition device.
  • the image acquisition device is a camera, a camera or a lens.
  • the photographing device is a handheld photographing device, and the photographing device further includes a handle, and the pan/tilt is mounted on the handle.
  • the photographing apparatus is applied to a mobile device
  • the movable device includes at least one of the following: an unmanned aerial vehicle, an unmanned vehicle, and an unmanned ship.
  • the photographing apparatus further includes a carrying portion, the opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device, and the carrying portion is in the A receiving chamber is provided between the opposite ends for receiving the electronic components of the image capturing device and fixing the image capturing device.
  • the first signal transmission member includes a first end portion and a second end portion, a first end portion of the first signal transmission member is disposed on the body, and the second end portion is from the first The first end of the second support arm extends along the arm portion of the second support arm to the second end of the second support arm and is disposed around the second end of the second support arm.
  • the second end of the second support arm is provided with a mounting portion and a winding box, the winding box is fixed on the mounting portion, and the winding box is provided with a receiving portion, the carrying portion
  • the connecting shaft is disposed in the receiving portion, and the second end of the first signal transmitting member is disposed around the outer circumference of the connecting shaft and received in the receiving portion.
  • the shape of the first signal transmission member is adapted to the shape of the arm portion of the second support arm such that the first signal transmission member is closely attached to the second support arm.
  • a circuit board is disposed in the accommodating chamber, and at least a load circuit is disposed on the circuit board, and the load circuit is electrically connected to the image acquiring device housed in the accommodating chamber, the first signal transmitting component a second end portion is electrically connected to a circuit board disposed in the receiving chamber after being wound around an outer circumference of the connecting shaft to achieve electrical connection with the image acquiring device, and the first signal transmitting member is configured to receive And transmitting an image signal collected by the image acquisition device.
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component The three ends are electrically connected
  • the second end of the second signal transmitting member is electrically connected to a picture disposed in a mounting platform
  • the second signal transmitting member is configured to receive the transmission of the first signal transmitting member An image signal and transmitting the image signal to the image.
  • the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component
  • the load control signal sent by the control device is transmitted, and the load control signal is transmitted to the image acquisition device to control an operation state and an operation parameter of the image acquisition device.
  • the pan/tilt further includes an inertial sensor and a controller, the controller is electrically connected to the inertial sensor and the first signal transmitting member, and the inertial sensor is configured to detect posture information of the load;
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting
  • the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;
  • the controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
  • the first driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to an end of the first supporting arm away from the body, and the rotating portion is fixedly connected to one end of the carrying portion;
  • the pan/tilt further includes a first electronic governor electrically connected to the first driving device and the controller, the first electronic governor for receiving the control
  • the driving control signal of the device drives the rotating portion to rotate relative to the fixing portion, and adjusts the rotation speed of the rotating portion; the rotation of the rotating portion of the first driving device can drive the bearing portion to rotate.
  • a circuit board is disposed in the receiving chamber, and the first electronic governor, the controller, and the inertial sensor are disposed on a circuit board in the receiving chamber.
  • the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber
  • the pan/tilt further includes a third signal transmitting member, and the first end of the third signal transmitting member is inserted into the Electrically connecting to the circuit board in the socket to achieve electrical connection with the first electronic governor, the second end of the third signal transmitting member being electrically connected to the first driving device, thereby An electronic governor is electrically connected to the first driving device through the third signal transmitting member.
  • a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, so that the rotating shaft drives the rotating portion relative to The fixing portion rotates.
  • the body includes a second bracket assembly
  • the second bracket assembly includes a connecting member and a second driving device
  • the second driving device is fixedly coupled to one end of the connecting member, and is rotatably coupled to the a first end of the first support arm and a first end of the second support arm, the second drive means for driving the first support arm and the second support arm to rotate relative to the connector.
  • the rotation axis of the second driving device is substantially perpendicular to the rotation axis of the first driving device.
  • the second driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, the rotating portion is fixedly coupled to the first end of the first supporting arm, and the a first end of the second support arm;
  • the pan/tilt further includes a second electronic governor, the second electronic governor being electrically connected to the second driving device and the controller, the second An electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion; The rotation of the rotating portion can drive the first support arm and the second support arm to rotate.
  • a circuit board is disposed on the connector, and the second electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal transmitting member and the second driving device and
  • the controller implements an electrical connection.
  • the body further includes a third driving device rotatably coupled to the other end of the connecting member for driving the second bracket assembly to rotate.
  • the rotation axis of the third driving device is substantially perpendicular to the rotation axis of the second driving device.
  • the third driving device includes a fixing portion for mounting the pan/tilt head integrally on a mounting platform, and the rotating portion is fixedly connected to the connecting member away from the One end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor being electrically connected to the third driving device and the controller, the third electronic tuning The speed controller is configured to receive a driving control signal of the controller to drive the rotating portion to rotate relative to the fixing portion, and adjust a rotation speed of the rotating portion relative to the fixing portion, the rotation of the third driving device The rotation of the portion can drive the second bracket assembly to rotate.
  • a circuit board is disposed on the connector, and the third electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected, and the third end of the first signal transmission member is disposed on the third driving device and electrically connected to the third driving device, so that the third electronic governor passes
  • the first signal transmission member is electrically connected to the third driving device and the controller.
  • a movable device includes a mounting platform and a pan/tilt mounted on the mounting platform, the pan/tilt includes a body and a first bracket assembly disposed on the body, the first bracket assembly comprising:
  • first support arm and a second support arm extending from the body and rotatable relative to the body, the ends of the first support arm and the second support arm are oppositely disposed, and a load can be Rotatingly sandwiched therebetween;
  • a first driving device disposed at an end of the first supporting arm away from the body for driving the load to rotate relative to the first bracket assembly
  • the pan/tilt head further includes a first signal transmission member extending along the second support arm and capable of being electrically connected to the load.
  • the movable device is a handheld photographing device
  • the mounting platform is a handle
  • the pan/tilt is mounted on the handle.
  • the movable device is an unmanned aerial vehicle, an unmanned ship, or an unmanned vehicle
  • the installation platform is a casing of the movable device, and the pan/tilt is mounted on the casing.
  • the load is a camera
  • the movable device further includes a carrying portion, and opposite ends of the carrying portion are respectively connected to the end of the second supporting arm away from the body and the first driving device
  • the carrying portion is provided with a receiving chamber between the opposite ends for receiving and fixing the camera.
  • the first signal transmission member includes a first end portion and a second end portion, a first end portion of the first signal transmission member is disposed on the body, and the second end portion is from the first The first end of the second support arm extends along the arm portion of the second support arm to the second end of the second support arm and is disposed around the second end of the second support arm.
  • the second end of the second support arm is provided with a mounting portion and a winding box, the winding box is fixed on the mounting portion, and the winding box is provided with a receiving portion, the carrying portion
  • the connecting shaft is disposed in the receiving portion, and the second end of the first signal transmitting member is disposed around the outer circumference of the connecting shaft and received in the receiving portion.
  • the shape of the first signal transmission member is adapted to the shape of the arm portion of the second support arm such that the first signal transmission member is closely attached to the second support arm.
  • a circuit board is disposed in the accommodating chamber, and at least a load circuit is disposed on the circuit board, and the load circuit is electrically connected to the camera housed in the accommodating chamber, and the first signal transmitting component is The two ends are electrically connected to a circuit board disposed in the receiving chamber after being wound around the outer circumference of the connecting shaft to realize electrical connection with the camera, and the first signal transmitting member is configured to receive and transmit the The image signal captured by the camera.
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the first signal transmission component
  • the third end portion is electrically connected
  • the second end of the second signal transmission member is electrically connected to the image disposed in a mounting platform
  • the second signal transmission member is configured to receive the first signal transmission member for transmission Image signal and transmit the image signal to the image.
  • the second end of the second signal transmitting component is further electrically connected to a control device disposed in the mounting platform, and the first signal transmitting component is further configured to receive by the second signal transmitting component A load control signal sent by the control device is transmitted, and the load control signal is transmitted to the camera to control an operating state of the camera and an operating parameter.
  • the pan/tilt further includes an inertial sensor and a controller, the controller is electrically connected to the inertial sensor and the first signal transmitting member, and the inertial sensor is configured to detect posture information of the load;
  • the first signal transmission component further includes a third end
  • the pan/tilt further includes a second signal transmission component, the first end of the second signal transmission component and the third end of the first signal transmission component Electrically connecting
  • the second end of the second signal transmitting member is electrically connected to a control device disposed in a mounting platform, and the first signal transmitting member is further configured to receive the Controlling a pan-tilt control signal sent by the device, and transmitting the pan-tilt control signal to the controller;
  • the controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
  • the first driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to an end of the first supporting arm away from the body, and the rotating portion is fixedly connected to one end of the carrying portion;
  • the pan/tilt further includes a first electronic governor electrically connected to the first driving device and the controller, the first electronic governor for receiving the control
  • the driving control signal of the device drives the rotating portion to rotate relative to the fixing portion, and adjusts the rotation speed of the rotating portion; the rotation of the rotating portion of the first driving device can drive the bearing portion to rotate.
  • a circuit board is disposed in the receiving chamber, and the first electronic governor, the controller, and the inertial sensor are disposed on a circuit board in the receiving chamber.
  • the carrying portion is further provided with a socket electrically connected to the circuit board in the receiving chamber
  • the pan/tilt further includes a third signal transmitting member, and the first end of the third signal transmitting member is inserted into the Electrically connecting to the circuit board in the socket to achieve electrical connection with the first electronic governor, the second end of the third signal transmitting member being electrically connected to the first driving device, thereby An electronic governor is electrically connected to the first driving device through the third signal transmitting member.
  • a rotating shaft is further disposed on the rotating portion of the first driving device, and the first electronic governor is specifically configured to drive the rotating shaft to rotate, so that the rotating shaft drives the rotating portion relative to The fixing portion rotates.
  • one end of the supporting portion fixedly connected to the rotating portion is provided with a receiving hole, and the other end of the rotating shaft is inserted into the receiving hole, and the carrying portion can be driven by the rotating portion The rotating portions rotate together.
  • the body includes a second bracket assembly
  • the second bracket assembly includes a connecting member and a second driving device
  • the second driving device is fixedly coupled to one end of the connecting member, and is rotatably coupled to the a first end of the first support arm and a first end of the second support arm, the second drive means for driving the first support arm and the second support arm to rotate relative to the connector.
  • the rotation axis of the second driving device is substantially perpendicular to the rotation axis of the first driving device.
  • the second driving device includes a fixing portion and a rotating portion, the fixing portion is fixedly connected to one end of the connecting member, the rotating portion is fixedly coupled to the first end of the first supporting arm, and the a first end of the second support arm;
  • the pan/tilt further includes a second electronic governor, the second electronic governor being electrically connected to the second driving device and the controller, the second An electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjust a rotational speed of the rotating portion relative to the fixed portion; The rotation of the rotating portion can drive the first support arm and the second support arm to rotate.
  • a circuit board is disposed on the connector, and the second electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected to achieve electrical connection with the second electronic governor, such that the second electronic governor passes the first signal transmitting member and the second driving device and
  • the controller implements an electrical connection.
  • the body further includes a third driving device rotatably coupled to the other end of the connecting member for driving the second bracket assembly to rotate.
  • the rotation axis of the third driving device is substantially perpendicular to the rotation axis of the second driving device.
  • the third driving device includes a fixing portion for mounting the pan/tilt head integrally on the mounting platform, and the rotating portion fixedly connected to the connecting member away from the One end of the second driving device, the pan/tilt further includes a third electronic governor, the third electronic governor is electrically connected to the third driving device and the controller, the third electronic a governor for receiving a drive control signal of the controller to drive the rotating portion to rotate relative to the fixed portion, and adjusting a rotational speed of the rotating portion relative to the fixed portion, the said third driving device The rotation of the rotating portion can drive the second bracket assembly to rotate.
  • a circuit board is disposed on the connector, and the third electronic governor is disposed on the circuit board of the connector, and the first end of the first signal transmission component is disposed on the connection
  • the circuit board on the device is electrically connected, and the third end of the first signal transmission member is disposed on the third driving device and electrically connected to the third driving device, so that the third electronic governor passes
  • the first signal transmission member is electrically connected to the third driving device and the controller.
  • the pan/tilt in the embodiment of the invention adopts two-arm design, and the motor and the control line are respectively disposed on the two arms, so that the overall appearance structure and the weight distribution of the gimbal are relatively symmetrical, thereby being able to resist the application platform such as the unmanned aerial vehicle. Shake or other disturbances that occur when flying or moving in different directions to accelerate or decelerate.
  • FIG. 1 is a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention, the unmanned aerial vehicle including a pan/tilt.
  • FIG. 2 is a perspective view showing a partial structure of the unmanned aerial vehicle of FIG. 1.
  • FIG. 3 is an exploded perspective view of the platform of FIG. 2.
  • FIG. 4 is a schematic structural view of a first signal transmission member of the cloud platform of FIG. 3.
  • Figure 5 is an exploded perspective view of another perspective of the platform of Figure 3;
  • Fig. 6 is a partial schematic structural view of the pan/tilt of Fig. 2;
  • FIG. 1 is a perspective view of an unmanned aerial vehicle 1000 according to an embodiment of the present invention.
  • the UAV 1000 is a rotorcraft.
  • the rotor may be a single rotor, a double rotor, a three-rotor, a quadrotor, a six-rotor and an eight-rotor.
  • the UAV 1000 can be a fixed wing aircraft or an aircraft in which the fixed wing and the rotor are mixed.
  • the UAV 1000 includes a body 300 and a platform 100 mounted on the body 300. The pan/tilt head 100 is used to carry a load 200 and control the orientation of the load 200.
  • the load 200 includes an image acquisition unit 21.
  • the pan/tilt head 100 can carry the image acquisition unit 21 to constitute a photographing device, and the photographing device can be applied to a mobile device.
  • the mobile device includes, but is not limited to, an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, a handheld photographing device.
  • the photographing device may be installed on the unmanned aerial vehicle 1000 for aerial photography, or the photographing device may be disposed on a handle as a handheld photographing device for photographing, recording, etc., and allowing the user to
  • the pan/tilt head 100 is manually operated to control the photographing angle of the image acquisition section 21.
  • the photographing apparatus may be mounted on a housing of other movable equipment such as an unmanned boat or an unmanned vehicle.
  • the image acquisition unit 21 is mounted on the pan/tilt head 100 and attached to the body 300 of the unmanned aerial vehicle 1000 as an example.
  • the platform 100 includes a body 40 and a first bracket assembly 30 disposed on the body 40.
  • the first bracket assembly 30 is configured to carry the load 200.
  • the first bracket assembly 30 includes a first support arm 32, a second support arm 33, and a first driving device 31.
  • the first support arm 32 and the second support arm 33 respectively extend from the body 40 and are rotatable relative to the body 40.
  • the ends of the first support arm 32 and the second support arm 33 are oppositely disposed, and the load 200 can be rotatably interposed therebetween.
  • the first driving device 31 is disposed at an end of the first supporting arm 32 away from the body 40 for driving the load 200 to rotate relative to the first bracket assembly 30.
  • the load 200 may be a device having a photographing function, and includes a carrying portion 36 and an image acquiring portion 21.
  • the opposite ends of the carrying portion 36 are respectively connected to the end of the second supporting arm 33 away from the body 40 and the first driving device 31.
  • the carrying portion 36 is provided with a receiving chamber 361 for accommodating the electronic components (such as CCD or CMOS, image) of the image acquiring portion 21 between the opposite ends.
  • the processor or the like) fixes the image acquisition unit 21.
  • the load 200 is a camera
  • the platform 100 further includes a carrying portion for receiving and fixing the camera, that is, the carrying portion and the camera are two independent components.
  • the carrier portion for housing and securing the camera may be omitted, and the load 200 is directly mounted between the first driving device 31 and the second support arm 33.
  • the carrying portion may be integrally formed with the image acquiring portion 21 to constitute a whole as the load 200 of the pan/tilt head 100.
  • the load 200 can be an image acquisition device such as a camera or a lens.
  • the platform 100 further includes a first signal transmission member 35 that extends along the second support arm 33 and is electrically connectable to the load 200.
  • the first signal transmission member 35 includes a first end portion 351, a second end portion 352, and a third end portion 353, the first signal transmission member 35 a first end portion 351 is disposed on the body 40, and the second end portion 352 extends from the first end of the second support arm 33 along the arm portion 331 of the second support arm 33 to the The second end of the second support arm 33 is wound around the second end of the second support arm 33.
  • the second end of the second support arm 33 is provided with a mounting portion 332 and a winding box 333, and the winding box 333 is fixed on the mounting portion 332 on the winding box 333.
  • a housing portion 334 is provided.
  • one end of the carrying portion 36 is provided with a connecting shaft 363.
  • the connecting shaft 363 is sleeved in the receiving portion 334, and the second end portion 352 of the first signal transmitting member 35 is disposed. The outer periphery of the connecting shaft 363 is received in the receiving portion 334.
  • the winding box 333 can be omitted, and the receiving portion 334 is disposed on the mounting portion 332.
  • the shape of the first signal transmission member 35 is adapted to the shape of the arm portion 331 of the second support arm 33, so that the first signal transmission member 35 can be closely attached to the The second support arm 33 is described.
  • the second end portion 352 of the first signal transmitting member 35 is wound around the outer circumference of the connecting shaft 363 at least one turn, and the first driving device 31 drives the maximum rotation of the load 200.
  • the amount is no more than one week.
  • the first signal transmission member 35 is movably wound around the second end of the second support arm 33, and the number of turns of the winding is at least one turn to the bearing portion.
  • the flexibility and freedom of rotation of the carrying portion 36 are not limited by the length of the first signal transmitting member 35, and the first signal transmitting member 35 is not broken by the rotation of the carrying portion 36. There is also no accumulation or entanglement in the winding box 333.
  • a circuit board (not shown) is disposed in the accommodating chamber 361, and at least a load circuit (not shown), such as a camera circuit, is disposed on the circuit board.
  • the load circuit is electrically connected to the image acquisition unit 21 or the camera housed in the storage chamber 361.
  • the second end portion 352 of the first signal transmitting member 35 is electrically connected to the circuit board disposed in the accommodating chamber 361 after being wound around the outer circumference of the connecting shaft 363 to realize the image acquiring portion 21 or An electrical connection of the camera, the first signal transmitting member 35 is configured to receive and transmit an image signal acquired by the image acquiring unit 21 or a camera.
  • the platform 100 further includes a second signal transmitting member 43 , and the first end of the second signal transmitting member 43 is electrically connected to the third end portion 353 of the first signal transmitting member 35 .
  • the second end of the second signal transmitting member 43 is electrically connected to a picture (not shown) provided in the body 300 of the mounting platform, such as the UAV 1000.
  • the second signal transmitting component 43 is configured to receive an image signal transmitted by the first signal transmitting component 35 and transmit the image signal to the image transmission.
  • the second end of the second signal transmitting member 43 is further electrically connected to a control device (not shown) provided in the mounting platform, and the first signal transmitting member 35 is also used for Receiving, by the second signal transmitting unit 43 , a load control signal sent by the control device, for example, a shooting control signal, and transmitting the load control signal to the image acquiring unit 21 or a camera to control the image acquiring unit. 21 or the working state of the camera and working parameters.
  • the second signal transmitting member 43 and the first signal transmitting member 35 are disposed separately. It can be understood that, in other embodiments, the second signal transmitting member 43 can be integrally formed with the first signal transmitting member 35.
  • the platform 100 further includes an inertial sensor (IMU, not shown) and a controller (not shown).
  • the controller is electrically connected to the inertial sensor and the first signal transmitting member 35.
  • the inertial sensor is used to detect attitude information of the load 200.
  • the first signal transmitting component 35 is further configured to receive, by the second signal transmitting component, a pan-tilt control signal sent by the control device, and transmit the pan-tilt control signal to the control Device.
  • the controller issues a drive control signal based on the attitude information detected by the inertial sensor and/or the pan/tilt control signal.
  • the first driving device 31 includes a fixing portion 311 and a rotating portion 312.
  • the fixing portion 311 is fixedly connected to the end of the first supporting arm 32 away from the body 40
  • the rotating portion 312 is fixedly connected to the other end of the carrying portion 36 .
  • the fixing portion 311 and the end of the first supporting arm 32 away from the body 40 are respectively provided with opposite mounting holes 3111, 321 and are passed through the mounting by screws (not shown).
  • the holes 3111, 321 fix the fixing portion 311 and the first support arm 32 away from the end of the body 40.
  • the rotating portion 312 and the other end of the carrying portion 36 are respectively provided with opposite mounting holes 3121, 365, and the rotating portion 312 is passed through the mounting holes 3121, 365 by screws (not shown).
  • the other end of the carrying portion 36 is fixed together.
  • the pan/tilt head 100 further includes a first electronic governor (not shown), and the first electronic governor is electrically connected to the first driving device 31 and the controller.
  • the first electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 312 to rotate relative to the fixed portion 311, and adjust a rotational speed of the rotating portion 312 relative to the fixed portion 311.
  • the rotation of the rotating portion 312 of the first driving device 31 can drive the carrying portion 36 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as the pitch axis angle, to adapt the image acquiring portion 21 to various types. attitude.
  • the first electronic governor, the controller, and the inertial sensor are all disposed on a circuit board in the accommodating chamber 361.
  • the carrying portion 36 is further provided with a socket 364 electrically connected to the circuit board in the receiving chamber 361
  • the cloud platform 100 further includes a third signal transmitting member 34, the first of the third signal transmitting member 34 The end is inserted into the socket 364 to be electrically connected to the circuit board to achieve electrical connection with the first electronic governor, and the second end of the third signal transmitting member is electrically connected to the first driving device 31
  • the first electronic governor is electrically connected to the first drive device 31 via the third signal transmission member 34.
  • the rotating portion 312 of the first driving device 31 is further provided with a rotating shaft 313, and the first electronic governor is specifically configured to drive the rotating shaft 313 to rotate, so that the rotating shaft 313 drives the rotating portion 312 to rotate relative to the fixing portion 311.
  • one end of the support portion 36 that is fixedly connected to the rotating portion 312 is provided with a receiving hole 362 , and the other end of the rotating shaft 313 is inserted into the receiving hole 362 .
  • the carrying portion 36 can be rotated together with the rotating portion 312 by the rotating portion 312.
  • the rotating portion 312 can be omitted, and the other end of the rotating shaft 313 is inserted into the receiving hole 362 and fixed in the receiving hole 362, so that the bearing is driven by the rotating shaft 313.
  • the portion 36 rotates.
  • the first signal transmitting member 35, the second signal transmitting member 43, and the third signal transmitting member 34 are flexible circuit boards for transmitting power and/or data. In other embodiments, one or more of the first signal transmitting member 35, the second signal transmitting member 43, and the third signal transmitting member 34 may be data lines for transmitting power and/or transfer data.
  • the body 40 includes a second bracket assembly 41 that includes a connector 411 and a second drive device 412.
  • the second driving device 412 is fixedly connected to one end of the connecting member 411 and rotatably connected to the first end of the first supporting arm 32 and the second supporting arm 33. First end.
  • the second driving device 412 is configured to drive the first support arm 32 and the second support arm 33 to rotate relative to the connecting member 411.
  • the second driving device 412 includes a fixing portion 4121 and a rotating portion 4122.
  • the fixing portion 4121 is fixedly connected to one end of the connecting member 411
  • the rotating portion 4122 is fixedly coupled to the first end of the first supporting arm 32 and the first end of the second supporting arm 33 .
  • the first end of the first support arm 32 and the first end of the second support arm 33 can be sleeved on the rotating portion 4122 of the second driving device 412, thereby simplifying the second driving.
  • the rotating portion 4122 is integrally formed with the first support arm 32 and the second support arm 33.
  • the pan/tilt further includes a second electronic governor (not shown), and the second electronic governor is electrically connected to the second driving device 412 and the controller.
  • the second electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 4122 to rotate relative to the fixed portion 4121, and adjust a rotational speed of the rotating portion 4122 relative to the fixed portion 4121.
  • the rotation of the rotating portion 4122 of the second driving device 412 can drive the first supporting arm 32 and the second supporting arm 33 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as a roll axis.
  • the angle is such that the image acquisition section 21 adapts to various postures.
  • the connecting member 411 is provided with a circuit board (not shown), and the second electronic governor is disposed on the circuit board on the connecting member 411.
  • the first end portion 351 of the first signal transmitting member 35 is electrically connected to a circuit board disposed on the connecting member 411 to achieve electrical connection with the second electronic governor, thereby the second electronic
  • the governor is electrically connected to the second driving device 412 and the controller through the first signal transmitting member 35.
  • the body 40 further includes a third driving device 42 rotatably coupled to the other end of the connecting member 411 for driving the second bracket assembly 41 to rotate. .
  • the third driving device 42 includes a fixing portion 421 and a rotating portion 422, and the fixing portion 421 is used to integrally mount the pan/tilt head 100.
  • the mounting platform is the body 300 of the UAV 1000.
  • the mounting platform may be a handle (not shown) of a handheld camera (not shown) or other movable device, such as a housing of an unmanned or unmanned vehicle.
  • the rotating portion 422 is fixedly connected to one end of the connecting member 411 away from the second driving device 412.
  • the one end of the connecting member 411 away from the second driving device 412 can be sleeved on the rotating portion 422 of the third driving device 42 , so that the third driving device 42 and the connecting member 411 can be simplified.
  • the pan/tilt further includes a third electronic governor (not shown), and the third electronic governor is electrically connected to the third driving device 42 and the controller.
  • the third electronic governor is configured to receive a drive control signal of the controller to drive the rotating portion 422 to rotate relative to the fixed portion 421, and to adjust a rotational speed of the rotating portion 422 relative to the fixed portion 421.
  • the rotation of the rotating portion 422 of the third driving device 42 can drive the second bracket assembly 41 to rotate, thereby adjusting the shooting angle of the image acquiring portion 21, such as a heading axis or a translation axis angle, so that the The image acquisition unit 21 adapts to various postures.
  • the third electronic governor is disposed on a circuit board on the second bracket assembly 41.
  • the third end portion 353 of the first signal transmitting member 35 is disposed on the third driving device 42 and electrically connected to the third driving device 42 such that the third electronic governor passes the first
  • the signal transmission member 35 is electrically connected to the third driving device 42 and the controller.
  • the first driving device 31, the second driving device 412, and the third driving device 42 are all brushless motors. It can be understood that in other embodiments, one or more of the first driving device 31, the second driving device 412, and the third driving device 42 may also be a brush motor, a motor, or the like. It is not limited to this embodiment.
  • the second bracket assembly 41 further includes a cover 413 disposed on the connecting member 411 for covering and protecting the second and third electronic switches provided on the connecting member 411. Speeder.
  • the controller and the first electronic governor are disposed on a circuit board in the carrying portion 36, and the second electronic governor and the third electronic governor are disposed at the same
  • the circuit board of the second bracket assembly 41 is described, and a control signal is sent to each electronic governor through the controller to implement control of each driving device, thereby achieving control of the orientation of the load 200.
  • the controller and the first, second, and third electronic governors may also be disposed in the receiving chamber 361 of the carrying portion 36, or the control
  • the first, second, and third electronic governors may also be disposed on the circuit board of the second bracket assembly 41.
  • the pan/tilt head 100 is a three-axis pan/tilt, and the rotation axis of the second driving device 412 is substantially perpendicular to the rotation axis of the first driving device 31, and the rotation of the third driving device 42 is The shaft is substantially perpendicular to the axis of rotation of the second drive unit 412.
  • the pan/tilt head 100 can adjust the photographing angle of the image acquiring unit 21 in the direction of the pitch axis by the first driving device 31, and the image capturing unit 21 can be adjusted in the roll axis by the second driving device 412.
  • the photographing angle in the direction can be adjusted by the third driving device 42 in the photographing angle of the image capturing portion 21 in the heading axis or the translation axis direction.
  • the pan/tilt head 100 in the embodiment of the invention adopts a double-arm design, and the motor and the control line are respectively disposed on the two arms, so that the overall appearance structure and the weight distribution of the gimbal are relatively symmetrical, thereby being able to resist application platforms such as an unmanned aerial vehicle. Shake or other disturbances that occur when flying or moving in different directions.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Toys (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention a trait à un panoramique horizontal-vertical (100), et à un véhicule aérien sans pilote (1000), un dispositif de photographie et un dispositif mobile utilisant le panoramique horizontal-vertical (100). Ce panoramique horizontal-vertical (100) comprend un corps (40), et un premier ensemble de support (30) situé sur le corps (40). Le premier ensemble de support (30) comporte un premier bras de support (32) et un second bras de support (33) qui s'étendent séparément à partir du corps (40) et qui peuvent tourner par rapport audit corps (40). Les extrémités arrière du premier bras de support (32) et du second bras de support (33) sont disposées en regard l'une de l'autre, et une charge (200) peut être serrée rotative entre les extrémités arrière des premier et second bras de support. Ce premier ensemble de support (30) inclut en outre un premier moyen d'entraînement (31) situé sur une extrémité arrière, qui est éloignée du corps (40), du premier bras de support (32) et servant à entraîner la charge (200) afin qu'elle tourne par rapport au premier ensemble de support (30). Le panoramique horizontal-vertical (100) comprend en outre un premier élément de transmission de signaux (35) qui s'étend le long du second bras de support (33) et qui peut être connecté électriquement à la charge (200).
PCT/CN2016/072218 2016-01-26 2016-01-26 Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile Ceased WO2017128051A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680006901.9A CN107250908B (zh) 2016-01-26 2016-01-26 云台、无人飞行器、拍摄设备以及可移动设备
PCT/CN2016/072218 WO2017128051A1 (fr) 2016-01-26 2016-01-26 Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile
CN201910219515.3A CN109823557B (zh) 2016-01-26 2016-01-26 云台、无人飞行器、拍摄设备以及可移动设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/072218 WO2017128051A1 (fr) 2016-01-26 2016-01-26 Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile

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PCT/CN2016/072218 Ceased WO2017128051A1 (fr) 2016-01-26 2016-01-26 Panoramique horizontal-vertical, véhicule aérien sans pilote, dispositif de photographie, et dispositif mobile

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CN204647758U (zh) * 2015-05-15 2015-09-16 深圳市大疆创新科技有限公司 云台

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CN110352331A (zh) * 2018-04-25 2019-10-18 深圳市大疆创新科技有限公司 手持云台的姿态解算的方法和云台系统
CN111294430A (zh) * 2018-12-10 2020-06-16 Oppo广东移动通信有限公司 电子设备及电子设备的控制方法
CN111294430B (zh) * 2018-12-10 2024-03-08 Oppo广东移动通信有限公司 电子设备及电子设备的控制方法
WO2022083426A1 (fr) * 2020-10-19 2022-04-28 深圳市大疆创新科技有限公司 Mécanisme de support et système d'appareil de prise de vues

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