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WO2019056865A1 - 云台及具有此云台的无人机 - Google Patents

云台及具有此云台的无人机 Download PDF

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Publication number
WO2019056865A1
WO2019056865A1 PCT/CN2018/098340 CN2018098340W WO2019056865A1 WO 2019056865 A1 WO2019056865 A1 WO 2019056865A1 CN 2018098340 W CN2018098340 W CN 2018098340W WO 2019056865 A1 WO2019056865 A1 WO 2019056865A1
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WO
WIPO (PCT)
Prior art keywords
motor assembly
fixing portion
pan
platform
load
Prior art date
Application number
PCT/CN2018/098340
Other languages
English (en)
French (fr)
Inventor
余春
Original Assignee
深圳市道通智能航空技术有限公司
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Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019056865A1 publication Critical patent/WO2019056865A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to the field of aircraft technology, and in particular, to a cloud platform and a drone having the same.
  • the drone referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order.
  • the field of anti-terrorism and other fields are widely used.
  • the inventors have found that at least the following problems exist in the prior art: in the existing pan/tilt design, a cable for providing signals to the load and the pan/tilt motor separately needs to be disposed on the pan/tilt head.
  • the existing cloud platform has many wirings and complicated winding, which makes the structure of the existing cloud platform complex and uncoordinated, affecting the appearance of the cloud platform.
  • a plurality of signal lines are arranged on the gimbal, so that the size and weight of the gimbal are relatively large.
  • an embodiment of the present invention provides a cloud platform with a simple wiring and a compact structure, and a drone having the same.
  • the embodiment of the present invention provides the following technical solutions:
  • a pan/tilt that includes:
  • a stabilizing assembly comprising a pitch axis motor assembly and a roll motor assembly
  • the load coupled to the stabilizing component, the load including a housing and a camera disposed within the housing;
  • the stabilization component and the load are both electrically connected to the signal transmission component;
  • the roll motor assembly is disposed within the housing, and the roll motor assembly is coupled to the camera to drive the camera to rotate relative to the housing.
  • the pitch axis motor assembly includes:
  • the first driving device including a first fixing portion and a first rotating portion connected to the first fixing portion and rotatable relative to the first fixing portion;
  • the pan/tilt further includes a yaw axis motor assembly, and the yaw axis motor assembly is coupled to the pitch axis motor assembly.
  • the yaw axis motor assembly includes:
  • the second driving device including a second fixing portion and a second rotating portion connected to the second fixing portion and rotatable relative to the second fixing portion;
  • one end of the second connecting arm is connected to the first rotating portion, and the other end is connected to the second fixing portion;
  • the outer casing is coupled to the second rotating portion.
  • the signal transmission component includes a circuit board and a signal line electrically connected to the circuit board, and the circuit board is disposed in the second connecting arm.
  • the camera includes a lens mount and a lens connected to the lens mount, and the roll motor assembly is coupled to the lens mount.
  • the roll motor assembly includes a third fixing portion connected to the outer casing and a third portion connected to the third fixing portion and rotatable relative to the third fixing portion a rotating portion, the third rotating portion being coupled to the lens mount.
  • the signal transmission component includes a circuit board and a signal line electrically connected to the circuit board.
  • the circuit board is disposed within the pitch axis motor assembly.
  • the signal line includes:
  • pitch axis winding portion is disposed in the pitch axis motor assembly
  • yaw axis winding portion a yaw axis winding portion, the yaw axis winding portion being disposed within the yaw axis motor assembly;
  • the roll motor winding portion being disposed in the roll motor assembly.
  • the signal line is a flexible circuit board cable.
  • the present invention also provides a drone, comprising: a fuselage, an arm connected to the fuselage, a power device disposed on the arm, and a pan/tilt as described above, The pan/tilt is connected to the fuselage.
  • the roll motor assembly in the pan/tilt in the embodiment of the present invention is disposed in the casing of the load for driving the camera in the load to rotate, and is connected to the body of the drone.
  • the pitch axis motor assembly makes the pan/tilt compact.
  • the pan/tilt head of the present invention uses only one signal line, so that the structure for accommodating the signal line can be smaller than the existing pan/tilt head; meanwhile, the signal line is provided with a roll-wound wire-wound portion, which is wound around
  • the lens mount in the load makes the signal line occupy less space on the pan/tilt, making the structure of the pan/tilt more compact.
  • FIG. 1 is a schematic perspective view showing a three-dimensional structure of a pan/tilt head according to one embodiment of the present invention
  • FIG. 2 is a schematic perspective view showing another perspective of the pan/tilt head shown in FIG. 1;
  • FIG. 3 is a schematic perspective structural view of a signal transmission component in the cloud platform shown in FIG. 1;
  • FIG. 4 is a structural split view of the load and roll axis motor assembly of the pan/tilt shown in FIG. 1;
  • FIG. 5 is an assembly diagram of a signal line, a camera, and a lens mount in the pan/tilt shown in FIG. 1;
  • FIG. 6 is a schematic structural view of an embodiment of a drone according to the present invention.
  • an embodiment of the present invention provides a pan/tilt head 100, including a load 200, a stabilizing component 10, and a signal transmission component 20.
  • the stabilizing assembly 10 is configured to carry the load 200 to achieve fixation of the load 200, or to arbitrarily adjust the attitude of the load 200 (eg, change the height, inclination, and/or direction of the load 200) and to cause the load
  • the 200 is stably maintained in the set posture.
  • the load 200 may be an image acquisition device, such as a camera, a camera, a camera, or the like, or other portable electronic devices, such as a mobile phone, a tablet, etc., which may be understood as a sensor or the like.
  • the pan/tilt head 100 of the present invention can be used as an auxiliary device for photography, photography, monitoring, and sampling, and can be applied to, but not limited to, a handheld photographing device, a drone, an unmanned ship, or an unmanned vehicle.
  • the pan/tilt head 100 may be equipped with the image acquisition device and installed on the drone for aerial photography.
  • the pan/tilt head 100 can also mount the image acquisition device and mount it on a handle as a handheld camera device for photographing, recording, etc., and allow the user to manually operate the pan/tilt head 100 to control the image acquisition device.
  • the angle of shooting is a handheld photographing device, a drone, an unmanned ship, or an unmanned vehicle.
  • the present invention will be described in detail by taking the load 200 as a video camera and taking the cloud platform 100 as an unmanned aerial vehicle as an example.
  • the load 200 includes a housing 220 and a camera disposed within the housing 220.
  • the camera may further include a lens holder 230 and a lens 210 connected to the lens holder 230.
  • the pan/tilt head 100 is a three-axis pan/tilt
  • the stabilizing assembly 10 includes a pitch axis motor assembly 11, a yaw axis motor assembly 12, and a roll motor assembly 13.
  • the pitch axis motor assembly 11 is mounted to the fuselage of the drone, the pitch axis motor assembly 11 is coupled to the yaw axis motor assembly 12, the roll axis motor assembly 13 and the yaw axis motor assembly 12 is connected and the roll motor assembly 13 is disposed within the outer casing 220 of the load 200.
  • the pitch axis motor assembly 11 is selectively connected to the fuselage of the drone, and the roll motor assembly 13 is disposed in the outer casing 220 of the load 200, so that the volume of the platform 100 can be reduced, so that the structure of the platform 100 is more compact.
  • the pitch axis motor assembly 11, the yaw axis motor assembly 12, and the roll axis motor assembly 13 each include a drive device, each of which includes a fixed portion and a rotating portion, and the rotating portion is rotatable relative to the fixed portion.
  • each driving device of the stabilizing component 10 of the pan/tilt head 100 respectively responds to the received rotation control signal, and controls the rotating portion thereof to rotate clockwise or counterclockwise with respect to the fixing portion thereof according to the control signal. And adjusting the rotational speed of the rotating portion to achieve the adjustment of the corresponding direction. Further, control of the direction, orientation, and stability of the load 200 is achieved. In the above manner, the load 200 is enabled to obtain a stable video and/or picture of a corresponding viewing angle.
  • the stabilizing assembly 10 can also include a rotating member that rotates in one direction, two directions, or more.
  • the pitch axis motor assembly 11 includes a first driving device 111 and a first connecting arm 112 connected to the fuselage of the drone.
  • the first driving device 111 includes a first fixing portion 1111, a first rotating portion 1112, and a first rotating shaft (not shown).
  • One end of the first connecting arm 112 is for mounting on the unmanned airframe body, and the other end is fixedly connected to the first fixing portion 1111.
  • the first rotating shaft is movably connected to the first fixing portion 1111, the first rotating shaft is fixedly coupled to the first rotating portion 1112, and the first rotating portion 1112 is rotatable relative to the first rotating shaft
  • the first fixing portion 1111 rotates.
  • the yaw axis motor assembly 12 includes a second driving device 121 and a second connecting arm 122.
  • the second driving device 121 includes a second fixing portion 1211, a second rotating portion 1212, and a second rotating shaft (not shown).
  • the second rotating shaft is movably connected to the second fixing portion 1211, the second rotating shaft is fixedly coupled to the second rotating portion 1212, and the second rotating portion 1212 is rotatable relative to the second rotating shaft
  • the second fixing portion 1211 is rotated.
  • One end of the second connecting arm 122 is fixedly connected to the first rotating portion 1112 , and the other end is fixedly connected to the second fixing portion 1211 , so that the first rotating portion 1112 of the first driving device 111 rotates.
  • the yaw axis motor assembly 12 is rotatable relative to the first fixed portion 1111 of the pitch axis motor assembly 11.
  • the roll motor assembly 13 includes a third driving device 131, and the third driving device 131 includes a third fixing portion 1311, a third rotating portion 1312, and a third rotating shaft (not shown).
  • the third rotating shaft is movably connected to the third fixing portion 1311, the third rotating shaft is fixedly connected with the third rotating portion 1312, and the third rotating portion 1312 is rotatable relative to the third rotating shaft
  • the third fixing portion 1311 rotates.
  • the third fixing portion 1311 is fixedly connected to the outer casing 220, the third rotating portion 1312 is connected to the lens holder 230, and the optical axis of the load 200 and the roll axis (the R-axis direction shown in FIG. 2) )coincide.
  • the lens 210 When the third rotating portion 1312 rotates relative to the third fixing portion 1311, the lens 210 is rotated about its optical axis, and at this time, the outer casing 220 is not moved. Therefore, the load of the third driving device 131 of the roll motor assembly 13 is small, and the third driving device 131 can also be made small.
  • the pitch axis motor assembly 11 controls the load 200 to rotate about a pitch axis (P axis direction as shown in FIG. 2); the yaw axis motor assembly 12 controls the load 200 around a heading axis (rotating in the Y-axis direction as shown in FIG. 2); the roll motor assembly 13 controls the load 200 to rotate about a roll axis (in the R-axis direction as shown in FIG. 2).
  • the first driving device 111, the second driving device 121, and the third driving device 131 may be one of a brushless motor, a brush motor, or a pneumatic motor, respectively.
  • the signal transmission component 20 includes a signal line 21 and a circuit board 22.
  • the signal line 21 is inserted into the stabilizing component 10
  • the circuit board 22 is disposed in the second connecting arm 122 of the yaw axis motor assembly 12 .
  • the circuit board 22 can be disposed in the second connecting arm 122 in the pitch axis motor assembly 11. In other possible embodiments, the circuit board 22 can also be disposed within the first connecting arm 112.
  • the signal line 21 includes a pitch axis winding portion 211, a yaw axis winding portion 212, and a roll axis winding portion 213.
  • the pitch axis winding portion 211 is disposed in the first connecting arm 112 of the pitch axis motor assembly 11 and is disposed on the first rotating shaft in the first driving device 111.
  • One end of the pitch axis winding portion 211 is electrically connected to the circuit board 22, and the other end is for electrically connecting to a control module in the drone.
  • the number of turns of the pitch axis winding portion 211 corresponds to a maximum rotation angle of the first rotating portion 1112 with respect to the first fixing portion 1111, so that the first rotating portion 1112 is opposite to the first rotating portion 1112.
  • the first rotating portion 1111 is flexible in rotation during the process of rotating the first fixing portion 1111 in the first direction to the maximum limit angle or in the opposite direction to the first direction to the maximum limit angle.
  • the property is not limited by the length of the pitch axis winding portion 211; at the same time, the signal line 21 is not broken by the rotation of the first rotating portion 1112, nor is it within the first connecting arm 112. Stacked into a mass or entangled.
  • the yaw axis winding portion 212 is disposed in the second connecting arm 122 of the yaw axis motor assembly 12 and is disposed on the second rotating shaft of the second driving device 121. One end of the yaw axis winding portion 212 is electrically connected to the circuit board 22.
  • the number of turns of the yaw axis winding portion 212 corresponds to the maximum rotation angle of the second rotating portion 1212 with respect to the second fixing portion 1211, so that the second rotating portion 1212 is opposite to the The second rotating portion 1212 rotates during a process in which the second fixing portion 1211 is rotated in the first direction to the maximum limit angle or in a direction opposite to the first direction to the maximum limit angle.
  • the flexibility is not limited by the length of the yaw axis winding portion 212; at the same time, the signal line 21 is not broken by the rotation of the second rotating portion 1212, nor is it in the second connecting arm 122 is piled up or entangled.
  • the roll winding portion 213 is configured to be wound around a rotating shaft of the load 200 and used to transmit a signal to the load 200. Specifically, as shown in FIGS. 4 and 5, the roll axis winding portion 213 is wound around the lens holder 230, and one end of the roll axis winding portion 213 is wound with the yaw axis. The other end of the portion 212 is electrically connected, and the other end of the roll winding portion 213 is electrically connected to the camera 210.
  • the roll winding portion 213 is disposed on the lens holder 230, which can greatly reduce the space occupied by the roll winding portion 213 in the platform 100 and the outer casing 220, thereby The structure of the load 200 and the pan/tilt 100 is more compact.
  • the roll motor assembly 13 is located in the housing, the third rotating portion 1312 is for fixed connection with the camera 210, and the optical axis of the camera 210 and the roll axis (as shown in FIG. 2) The R-axis directions shown are coincident.
  • the roll motor assembly 13 When the roll motor assembly 13 is in operation, only the camera 210 is rotated, and the outer casing 220 is not moved. That is, the roll motor assembly 13 only needs to drive the camera 210 to rotate, and the load of the roll motor assembly 13 is small, so that the size of the third driving device 131 in the roll motor assembly 13 can be made. Smaller.
  • the control units of the first driving device 111, the second driving device 121, and the third driving device 131 are integrated on one circuit board 22, and the circuit board 22 is provided with a plurality of connectors, and the circuit board 22 is connected through multiple The device is connected to the first driving device 111, the second driving device 121, and the third driving device 131.
  • the stabilizing assembly 10 can include only the pitch axis motor assembly 11 and the roll axis motor assembly 13, wherein the pitch axis motor assembly 11 is mounted to the body of the drone.
  • the pitch axis motor assembly 11 is coupled to the roll motor assembly 13 and the roll motor assembly 13 is mounted within the load 200.
  • the pitch axis motor assembly 11 controls the load 200 to rotate about a pitch axis; the roll rotating member 13 controls the load 200 to rotate about a roll axis.
  • the signal line 21 is a flexible printed circuit board (FPCB) cable.
  • the FPCB cable is in the form of a sheet, which is suitable for bending and low cost. It can be understood that, in other embodiments, the signal line 21 can also use signal lines of the same material or different materials, such as a single core line, a very thin coaxial line or other types of signal lines, and various signals. The combination of lines.
  • the pan/tilt head 100 uses only one signal line 21, so that the structure for accommodating the signal line 21 can be smaller than the existing pan/tilt head.
  • the roll motor assembly 13 is disposed in the housing 220 in the load 200 and only drives the camera in the load 200 to rotate, so that the structure of the platform 100 is more compact and lighter in weight.
  • the present invention also provides a drone 30 including a fuselage 31 , an arm 32 connected to the body 31 , and a power unit disposed on the arm 32 . 33 and the pan/tilt head 100 described above.
  • the pan/tilt head 100 is connected to the body 31 via a connecting device 34 and a damping element 35.
  • the number of the arms 32 is four, that is, the aircraft is a quadrotor. In other possible embodiments, the number of the arms 32 may also be 3, 6, 8, 10, and the like.
  • the power unit 33 includes a motor 332 disposed at one end of the arm 32 and a propeller 331 connected to the rotating shaft of the motor 332.
  • the rotating shaft of the motor 332 is rotated to drive the propeller 331 to rotate to provide lift to the drone 30.
  • the pan/tilt 100 is used to reduce or even eliminate the vibration transmitted by the power unit 33 to the camera to ensure that the camera can capture a stable and clear image or video.
  • the camera can be a binocular camera, a monocular camera, an infrared imaging device, an ultraviolet imaging device, a camcorder, and the like.
  • the imaging device is mounted on the drone 30 by the pan/tilt head 100 as shown in this embodiment, and the pan-tilt head 100 allows the camera to rotate relative to the drone 30 about the pitch axis, the yaw axis, and the roll axis.

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

Abstract

本发明涉及飞行器技术领域，提供一种云台及具有此云台的无人机。所述云台包括增稳组件、负载和设置于所述增稳组件的信号传输组件。负载包括外壳和设于所述外壳内的摄像头。增稳组件包括俯仰轴电机组件和横滚轴电机组件。横滚轴电机组件设于所述负载的外壳内，并与摄像头相连，驱动摄像头绕横滚轴转动。将横滚轴电机组件设于负载的外壳内，可以减小云台的体积，使得云台的结构更加紧凑。

Description

云台及具有此云台的无人机
【相关申请的交叉引用】
本申请要求申请号为201710855113.3，申请日为2017年9月20日的中国专利申请的优先权，其全部内容通过引用结合于本文。
【技术领域】
本发明涉及飞行器技术领域，尤其涉及一种云台及具有此云台的无人机。
【背景技术】
无人驾驶飞机，简称无人机(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
在实现本发明的过程中，发明人发现现有技术至少存在以下问题：在现有的云台设计中，云台上需要设置分别给负载和云台电机提供信号的线缆。现有云台的布线繁多、绕线复杂凌乱，从而造成现有云台的结构复杂、不协调，影响云台外形的美观。此外，在云台上设置有多条信号线，使得云台的尺寸和重量均比较大。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种布线简洁、结构紧凑的云台及具有此云台的无人机。
为解决上述技术问题，本发明实施例提供以下技术方案：
一种云台，包括：
增稳组件，所述增稳组件包括俯仰轴电机组件和横滚轴电机组件；
负载，所述负载与所述增稳组件相连，所述负载包括外壳和设于所述外壳内的摄像头；以及
信号传输组件，所述增稳组件和所述负载均与所述信号传输组件电连接；
所述横滚轴电机组件设置于所述外壳内，且所述横滚轴电机组件与所述摄像头相连，以驱动所述摄像头相对于所述外壳转动。
在本发明的一实施例中，所述俯仰轴电机组件包括：
第一驱动装置，所述第一驱动装置包括第一固定部和与所述第一固定部相连且可相对于所述第一固定部转动的第一转动部；以及
第一连接臂，所述第一连接臂与所述第一固定部相连。
在本发明的一实施例中，所述云台还包括偏航轴电机组件，所述偏航轴电机组件与所述俯仰轴电机组件相连。
在本发明的一实施例中，所述偏航轴电机组件包括：
第二驱动装置，所述第二驱动装置包括第二固定部和与所述第二固定部相连且可相对于所述第二固定部转动的第二转动部；以及
第二连接臂，所述第二连接臂一端与所述第一转动部相连，另一端与所述第二固定部相连；
所述外壳与所述第二转动部相连。
在本发明的一实施例中，所述信号传输组件包括电路板和与所述电路板电连接的信号线，所述电路板设于所述第二连接臂内。
在本发明的一实施例中，所述摄像头包括镜头座和与所述镜头座相连的镜头，所述横滚轴电机组件与所述镜头座相连。
在本发明的一实施例中，所述横滚轴电机组件包括与所述外壳相连的第三固定部和与所述第三固定部相连且可相对于所述第三固定部转动的第三转动部，所述第三转动部与所述镜头座相连。
在本发明的一实施例中，所述信号传输组件包括电路板和与所述电路板电连接的信号线。
在本发明的一实施例中，所述电路板设置于所述俯仰轴电机组件内。
在本发明的一实施例中，所述信号线包括：
俯仰轴绕线部，所述俯仰轴绕线部绕设于所述俯仰轴电机组件内；
偏航轴绕线部，所述偏航轴绕线部绕设于所述偏航轴电机组件内；以及
横滚轴电机绕线部，所述横滚轴电机绕线部绕设于所述横滚轴电机组件内。
在本发明的一实施例中，所述信号线为柔性电路板排线。
为解决其技术问题，本发明还提供一种无人机，包括：机身、与所述机身相连的机臂、设于所述机臂上的动力装置以及如上述所述的云台，所述云台与所述机身相连。
与现有技术相比较，本发明实施例的云台中的横滚轴电机组件设置于所述负载的外壳内，用于带动所述负载中的摄像头转动，且与无人机机身相连的为俯仰轴电机组件，因此云台结构紧凑。此外，本发明的云台仅采用一条信号线，从而使得容纳所述信号线的结构可比现有的云台更小；同时，该信号线设置有横滚轴绕线部，绕设于所述负载中的镜头座上，使得所述信号线在云台上占据的空间更小，从而使得所述云台的结构更加紧凑。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为简化示出的本发明其中一实施例提供的一种云台的立体结构示意图；
图2为图1所示的云台另一角度的立体结构示意图；
图3为图1所示的云台中信号传输组件的立体结构示意图；
图4为图1所示的云台中负载和横滚轴电机组件的结构拆分图；
图5为图1所示的云台中信号线、摄像头及镜头座的装配图；
图6为本发明一种无人机其中一实施例的结构示意图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施方式，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接 在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1和图2，本发明其中一实施例提供一种云台100，包括负载200、增稳组件10和信号传输组件20。增稳组件10用于搭载负载200，以实现所述负载200的固定、或随意调节所述负载200的姿态(例如，改变所述负载200的高度、倾角和/或方向)以及使所述负载200稳定保持在设定的姿态上。所述负载200可以为图像获取装置，例如相机、摄影机、摄像头等，或为其它便携式电子装置，例如手机、平板电脑等，可以理解的，也可以为传感器等。本发明的云台100可作为摄影、照相、监测、采样的辅助装置，其可应用在但不限于，手持拍摄设备、无人机、无人船或者无人车等装置中。例如，所述云台100可搭载所述图像获取装置，并安装于无人机上，以进行航拍工作。或者，所述云台100也可搭载所述图像获取装置并安装于一手柄上作为手持式拍摄设备进行拍照、录像等工作，并允许用户手动操作所述云台100来控制所述图像获取装置的拍摄角度。
以下将以所述负载200为摄像机为例，并且以所述云台100应用于无人机为例来详细阐述本发明。
如图4所示，在本发明的实施例中，负载200包括外壳220和设于所述 外壳220内的摄像头。其中，在本发明的一实施例中，摄像头可以进一步包括镜头座230和与所述镜头座230相连的镜头210。
在本实施例中，所述云台100为三轴云台，所述增稳组件10包括俯仰轴电机组件11、偏航轴电机组件12和横滚轴电机组件13。其中，俯仰轴电机组件11安装于无人机的机身，所述俯仰轴电机组件11与所述偏航轴电机组件12连接，所述横滚轴电机组件13与所述偏航轴电机组件12连接，并且所述横滚轴电机组件13设于所述负载200的外壳220内。选择将俯仰轴电机组件11与无人机的机身相连，将横滚轴电机组件13设于负载200的外壳220内，可以减小云台100的体积，使得云台100的结构更加紧凑。
俯仰轴电机组件11、偏航轴电机组件12、横滚轴电机组件13均包括驱动装置，每个驱动装置均包括固定部和转动部，并且所述转动部可相对于所述固定部转动。
在本发明实施例中，所述云台100的增稳组件10的各个驱动装置分别响应接收到的转动控制信号，并根据控制信号控制其转动部相对于其固定部顺时针或逆时针转动，以及调节该转动部的转速，从而实现相应方向的调整。进而实现所述负载200的方向、方位及稳定性的控制。通过以上方式，使得所述负载200能够获得相应视角的、稳定的视频和/或图片。可以理解的是，所述增稳组件10也可包括一个方向转动、两个方向转动或更多方向转动的转动件。
具体的，如图2所示，所述俯仰轴电机组件11包括第一驱动装置111和与无人机的机身相连的第一连接臂112。所述第一驱动装置111包括第一固定部1111、第一转动部1112和第一转轴(图未示)。所述第一连接臂112一端用于安装于无人机机身，另一端与所述第一固定部1111固定连接。其中，所述第一转轴与所述第一固定部1111活动连接，所述第一转轴与所述第一转动部1112固定连接，并且所述第一转动部1112可以绕第一转轴相对于所述第一固定部1111转动。
在本实施例中，所述偏航轴电机组件12包括第二驱动装置121和第二连接臂122。所述第二驱动装置121包括第二固定部1211、第二转动部1212和第二转轴(图未示)。其中，所述第二转轴与所述第二固定部1211活动连接，所述第二转轴与所述第二转动部1212固定连接，并且所述第二转动部1212 可以绕第二转轴相对于所述第二固定部1211转动。所述第二连接臂122的一端与所述第一转动部1112固定连接，另一端与所述第二固定部1211固定连接，从而使得在所述第一驱动装置111的第一转动部1112转动时，可带动所述偏航轴电机组件12相对于所述俯仰轴电机组件11中的第一固定部1111转动。
在本实施例中，所述横滚轴电机组件13包括第三驱动装置131，所述第三驱动装置131包括第三固定部1311、第三转动部1312和第三转轴(图未示)。其中，所述第三转轴与所述第三固定部1311活动连接，所述第三转轴与所述第三转动部1312固定连接，并且所述第三转动部1312可以绕第三转轴相对于所述第三固定部1311转动。所述第三固定部1311与外壳220固定连接，所述第三转动部1312与镜头座230相连，并且所述负载200的光轴与所述横滚轴(如图2所示的R轴方向)重合。当第三转动部1312相对于所述第三固定部1311转动时，带动镜头210绕其光轴转动，此时，外壳220不动。因此横滚轴电机组件13的第三驱动装置131的负载很小，第三驱动装置131也可以做的很小。
在本实施例中，所述俯仰轴电机组件11控制所述负载200绕俯仰轴(如图2所示的P轴方向)转动；所述偏航轴电机组件12控制所述负载200绕航向轴(如图2所示的Y轴方向)转动；所述横滚轴电机组件13控制所述负载200绕横滚轴(如图2所示的R轴方向)转动。
其中，所述第一驱动装置111、第二驱动装置121、第三驱动装置131可以分别为无刷电机、有刷电机或气动马达中的一种。
如图3所示，所述信号传输组件20包括信号线21和电路板22。其中，所述信号线21贯穿于所述增稳组件10内，所述电路板22设置于所述偏航轴电机组件12中的第二连接臂122内。
可以理解的是，在其它一些实施例中，所述电路板22可设置于所述俯仰轴电机组件11中的第二连接臂122内。在其他可能的实施例中，电路板22也可以设置在第一连接臂112内。
具体的，如图3所示，所述信号线21包括俯仰轴绕线部211、偏航轴绕线部212和横滚轴绕线部213。所述俯仰轴绕线部211设置于所述俯仰轴电机组件11中的第一连接臂112内，并绕设于所述第一驱动装置111中的第一转轴上。所述俯仰轴绕线部211的一端与电路板22电连接，另一端用于与无人 机内的控制模块电连接。所述俯仰轴绕线部211的绕设圈数与所述第一转动部1112相对于所述第一固定部1111的最大转动角度相对应，以使所述第一转动部1112相对于所述第一固定部1111由一初始状态沿第一方向转动至最大极限角度的过程中，或沿与第一方向相反的方向转动至最大极限角度的过程中，所述第一转动部1112转动的灵活性不会被所述俯仰轴绕线部211的长度限制；同时，所述信号线21不会由于所述第一转动部1112的转动而断裂，也不会在所述第一连接臂112内堆积成团或发生缠绕。
所述偏航轴绕线部212设置于所述偏航轴电机组件12中的第二连接臂122内，并绕设于所述第二驱动装置121中的第二转轴上。所述偏航轴绕线部212的一端与所述电路板22电连接。所述偏航轴绕线部212的绕设圈数与所述第二转动部1212相对于所述第二固定部1211的最大转动角度相对应，以使所述第二转动部1212相对于所述第二固定部1211由一初始状态沿第一方向转动至最大极限角度的过程中，或沿与第一方向相反的方向转动至最大极限角度的过程中，所述第二转动部1212转动的灵活性不会被所述偏航轴绕线部212的长度限制；同时，所述信号线21不会由于所述第二转动部1212的转动而断裂，也不会在所述第二连接臂122内堆积成团或发生缠绕。
所述横滚轴绕线部213用于绕设于所述负载200的转动轴上，并用于为所述负载200传输信号。具体的，如图4和5所示，所述横滚轴绕线部213绕设于所述镜头座230上，并且所述横滚轴绕线部213的一端与所述偏航轴绕线部212的另一端电连接，所述横滚轴绕线部213的另一端与所述摄像头210电连接。所述横滚轴绕线部213绕设于所述镜头座230上，可极大的减少所述横滚轴绕线部213在所述云台100和外壳220内占据的空间，从而使得所述负载200以及云台100的结构更加的紧凑。所述横滚轴电机组件13位于所述外壳内，所述第三转动部1312用于与所述摄像头210固定连接，并且所述摄像头210的光轴与所述横滚轴(如图2所示的R轴方向)重合。所述横滚轴电机组件13工作时，仅带动所述摄像头210转动，而所述外壳220不动。即，所述横滚轴电机组件13仅需带动所述摄像头210转动，所述横滚轴电机组件13的负载很小，可使得所述横滚轴电机组件13中的第三驱动装置131尺寸较小。
第一驱动装置111、第二驱动装置121和第三驱动装置131的控制单元集 成在一个电路板22上，所述电路板22上设置有多个连接器，所述电路板22通过多个连接器与所述第一驱动装置111、第二驱动装置121和第三驱动装置131连接。
可以理解的是，在其它一些实施例中，所述增稳组件10可以仅包括俯仰轴电机组件11和横滚轴电机组件13，其中俯仰轴电机组件11安装于无人机的机身，所述俯仰轴电机组件11与所述横滚轴电机组件13连接，并且所述横滚轴电机组件13安装于所述负载200内。所述俯仰轴电机组件11控制所述负载200绕俯仰轴转动；所述横滚转动件13控制所述负载200绕横滚轴转动。
在本实施例中，所述信号线21为柔性电路板(Flexible Printed Circuit Board，FPCB)排线。FPCB排线呈薄片状，具有适合弯折，成本低的特点。可以理解的是，在其它一些实施例中，所述信号线21也可以采用相同材质或不同材质的信号线，如采用单芯线，极细同轴线或者其它类型的信号线以及多种信号线的组合。
相较于现有技术，本发明实施例所述的云台100仅采用一条信号线21，从而使得容纳所述信号线21的结构可比现有的云台更小。同时，横滚轴电机组件13设置于所述负载200中的外壳220内，并且仅带动所述负载200中的摄像头转动，使得所述云台100的结构更紧凑，重量更轻。
如图6所示，本发明还提出了一种无人机30，该无人机30包括机身31、与所述机身31相连的机臂32、设于所述机臂32的动力装置33和上述所述的云台100。云台100通过连接装置34和减振元件35与机身31相连。
在本实施例中，机臂32的数量为4，即该飞行器为四旋翼飞行器，在其他可能的实施例中，机臂32的数量也可以为3、6、8、10等。
动力装置33包括设置在机臂32一端的电机332以及与电机332的转轴相连的螺旋桨331。电机332的转轴转动以带动螺旋桨331旋转从而给无人机30提供升力。
云台100用于减轻甚至消除动力装置33传递给摄像机的振动，以保证摄像机能够拍摄出稳定清晰的图像或视频。
摄像机可以是双目摄像头、单目摄像头、红外线影像设备、紫外线影像 设备、摄录机等类似的设备。摄像装置通过如本实施例所示的云台100搭载在无人机30上，云台100允许摄像机相对于无人机30绕俯仰轴、偏航轴和横滚轴转动。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (12)

  1. 一种云台(100)，其特征在于，包括：
    增稳组件(10)，所述增稳组件(10)包括俯仰轴电机组件(11)和横滚轴电机组件(13)；
    负载(200)，所述负载(200)与所述增稳组件(10)相连，所述负载(200)包括外壳(220)和设于所述外壳(220)内的摄像头；以及
    信号传输组件(20)，所述增稳组件(10)和所述负载(200)均与所述信号传输组件(20)电连接；
    所述横滚轴电机组件(13)设置于所述外壳(220)内，且所述横滚轴电机组件(13)与所述摄像头相连，以驱动所述摄像头相对于所述外壳(200)转动。
  2. 根据权利要求1所述的云台(100)，其特征在于，
    所述俯仰轴电机组件(11)包括：
    第一驱动装置(111)，所述第一驱动装置(111)包括第一固定部(1111)和与所述第一固定部(1111)相连且可相对于所述第一固定部(1111)转动的第一转动部(1112)；以及
    第一连接臂(112)，所述第一连接臂(112)与所述第一固定部(1111)相连。
  3. 根据权利要求2所述的云台(100)，其特征在于，所述云台(100)还包括偏航轴电机组件(12)，所述偏航轴电机组件(12)与所述俯仰轴电机组件(11)相连。
  4. 根据权利要求3所述的云台(100)，其特征在于，所述偏航轴电机组件(12)包括：
    第二驱动装置(121)，所述第二驱动装置(121)包括第二固定部(1211)和与所述第二固定部(1211)相连且可相对于所述第二固定部(1211)转动的第二转动部(1212)；以及
    第二连接臂(122)，所述第二连接臂(122)一端与所述第一转动部(1112)相连，另一端与所述第二固定部(1211)相连；
    所述外壳(220)与所述第二转动部(1212)相连。
  5. 根据权利要求4所述的云台(100)，其特征在于，所述信号传输组件(20)包括电路板(22)和与所述电路板(22)电连接的信号线(21)，所述电路板(22)设于所述第二连接臂(122)内。
  6. 根据权利要求1-5中任一项所述的云台(100)，其特征在于，所述摄像头包括镜头座(230)和与所述镜头座(230)相连的镜头(210)，所述横滚轴电机组件(13)与所述镜头座(230)相连。
  7. 根据权利要求6所述的云台(100)，其特征在于，所述横滚轴电机组件(13)包括与所述外壳(200)相连的第三固定部(1131)和与所述第三固定部(1131)相连且可相对于所述第三固定部(1131)转动的第三转动部(1132)，所述第三转动部(1132)与所述镜头座(230)相连。
  8. 根据权利要求1-4,6或7所述的云台(100)，其特征在于，
    所述信号传输组件(20)包括电路板(22)和与所述电路板(22)电连接的信号线(21)。
  9. 根据权利要求8所述的云台(100)，其特征在于，所述电路板(22)设置于所述俯仰轴电机组件(11)内。
  10. 根据权利要求5,7-9中任一项所述的云台(100)，其特征在于，所述信号线(21)包括：
    俯仰轴绕线部(211)，所述俯仰轴绕线部(211)绕设于所述俯仰轴电机组件(11)内；
    偏航轴绕线部(212)，所述偏航轴绕线部(212)绕设于所述偏航轴电机组件(12)内；以及
    横滚轴电机绕线部(213)，所述横滚轴电机绕线部(213)绕设于所述横滚轴电机组件(13)内。
  11. 根据权利要求5,7-10中任一项所述的云台(100)，其特征在于，所述信号线(21)为柔性电路板排线。
  12. 一种无人机，其特征在于，包括：机身、与所述机身相连的机臂、设于所述机臂上的动力装置以及如权利要求1-11中任一项所述云台(100)，所述云台(100)与所述机身相连。
PCT/CN2018/098340 2017-09-20 2018-08-02 云台及具有此云台的无人机 WO2019056865A1 (zh)

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