CN108263626B - Bearing device and aircraft - Google Patents
Bearing device and aircraft Download PDFInfo
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- CN108263626B CN108263626B CN201710005124.2A CN201710005124A CN108263626B CN 108263626 B CN108263626 B CN 108263626B CN 201710005124 A CN201710005124 A CN 201710005124A CN 108263626 B CN108263626 B CN 108263626B
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- obstacle avoidance
- carrier
- inertial measurement
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- 238000005259 measurement Methods 0.000 claims abstract description 155
- 238000013016 damping Methods 0.000 claims abstract description 32
- 230000035939 shock Effects 0.000 claims description 84
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000004378 air conditioning Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 15
- 230000000694 effects Effects 0.000 description 17
- 238000010521 absorption reaction Methods 0.000 description 9
- 230000007488 abnormal function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000002035 prolonged effect Effects 0.000 description 6
- 230000004888 barrier function Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Testing Of Balance (AREA)
Abstract
The invention provides a carrier device for mounting on a fuselage of an aircraft, the carrier device comprising: the cradle head is used for installing the obstacle avoidance positioning component and the inertial measurement component of the aircraft; and the damping component is arranged on the cradle head, and the cradle head is arranged on the body of the aircraft through the damping component. The cradle head is used for enabling the obstacle avoidance positioning assembly to be rigidly connected with the inertial measurement assembly, the obstacle avoidance positioning assembly and the inertial measurement assembly are further shock-absorbing by adopting the same shock-absorbing assembly, the data fed back by the obstacle avoidance positioning assembly and the inertial measurement assembly can be accurately synchronous, the problem that the data fed back by the obstacle avoidance positioning assembly and the inertial measurement assembly are inconsistent is effectively solved, the flight attitude of the aircraft is guaranteed, the aircraft can fly stably, and the satisfaction degree of users in use is improved. The invention also provides an aircraft.
Description
Technical Field
The invention relates to the technical field of aircraft equipment, in particular to a bearing device and an aircraft.
Background
For current aircraft, the binocular heads on the aircraft are usually fixed on the aircraft body, the binocular heads are not damped, and the inertial measurement units matched with the binocular heads are damped. Therefore, the binocular lens and the data fed back by the inertial measurement unit cannot be accurately synchronized, and further the images acquired by the binocular lens are inconsistent with the image information fed back by the inertial measurement unit, so that the phenomenon of unstable flight exists when the aircraft flies, the flight attitude of the aircraft is affected, and the using satisfaction of a user is further affected.
Disclosure of Invention
Based on this, it is necessary to provide a carrying device capable of accurately synchronizing the eyepiece head with the data fed back by the inertial measurement unit, and an aircraft comprising the carrying device, aiming at the problem that the binocular lens of the current aircraft and the data fed back by the inertial measurement unit cannot be synchronized.
The above purpose is achieved by the following technical scheme:
a carrier for mounting on a fuselage of an aircraft, the carrier comprising:
the cradle head is used for installing the obstacle avoidance positioning component and the inertial measurement component of the aircraft; a kind of electronic device with high-pressure air-conditioning system
And the damping component is arranged on the cradle head, and the cradle head is arranged on the body of the aircraft through the damping component.
In one embodiment, the cradle head comprises a main body support and a connecting support, the inertial measurement assembly is arranged on the main body support, and the obstacle avoidance positioning assembly is arranged on the connecting support;
the connecting support is fixedly connected with the main body support or is of an integrated structure.
In one embodiment, the shock absorbing assembly is mounted to the body mount.
In one embodiment, the main body support is further provided with a circuit board, the circuit board is electrically connected with the inertial measurement assembly, and the inertial measurement assembly is mounted on the main body support through the circuit board.
In one embodiment, the circuit board is also electrically connected to the obstacle avoidance positioning assembly.
In one embodiment, the shock absorbing assembly is disposed on the circuit board.
In one embodiment, the vertical line in which the center of gravity of the carrying device is located is collinear with the vertical line in which the center of the shock absorbing assembly is located.
In one embodiment, the damper assembly includes a plurality of dampers, and the plurality of dampers are uniformly distributed.
In one embodiment, the number of the shock absorbing members is four, the four shock absorbing members are distributed in a square shape, and the four shock absorbing members are arranged at four corners of the square shape.
In one embodiment, the carrier further comprises a mounting plate mounted on the damper assembly, and the carrier is mounted on the fuselage of the aircraft via the mounting plate.
In one embodiment, the number of the mounting plates is plural, and plural mounting plates are respectively provided corresponding to one or plural shock absorbing members.
In one embodiment, the cradle head further comprises a camera support for mounting a main camera assembly of the aircraft;
The main body support and the camera support are fixedly connected or are of an integrated structure.
In one embodiment, the obstacle avoidance positioning component is a binocular lens, the connecting bracket comprises two parts symmetrically arranged on two sides of the main body bracket, and the binocular lens is respectively arranged on the two parts.
The utility model also relates to a bearing device, including cloud platform, keep away barrier locating component, inertial measurement subassembly and damper, keep away barrier locating component inertial measurement subassembly with damper all set up in on the cloud platform.
In one embodiment, the cradle head comprises a main body support and a connecting support, the inertial measurement assembly is arranged on the main body support, and the obstacle avoidance positioning assembly is arranged on the connecting support;
the connecting support is fixedly connected with the main body support or is of an integrated structure.
In one embodiment, the damping component is mounted on the main body bracket and is used for connecting the bearing device and a firmware matched with the bearing device for use.
In one embodiment, the bearing device further comprises a circuit board arranged on the main body support, the circuit board is electrically connected with the inertial measurement assembly, and the inertial measurement assembly is mounted on the main body support through the circuit board.
In one embodiment, the shock absorbing assembly is disposed on the circuit board.
In one embodiment, the carrying device further includes a main camera assembly disposed on the pan-tilt.
In one embodiment, the cradle head further comprises a camera bracket, and the main camera assembly is arranged on the camera bracket; the main body support and the camera support are fixedly connected or are of an integrated structure.
The aircraft further comprises a fuselage and the bearing device according to any technical characteristic, wherein the bearing device is arranged on the fuselage.
In one embodiment, a flight control board is disposed in the fuselage, the flight control board being electrically or communicatively connected to an inertial measurement assembly.
In one embodiment, the carrying device is mounted on the bottom or peripheral side of the fuselage.
The beneficial effects of the invention are as follows:
the bearing device disclosed by the invention has the advantages that the structural design is simple and reasonable, the obstacle avoidance positioning component and the inertial measurement component of the aircraft can be arranged on the cradle head, namely, the connection relationship between the obstacle avoidance positioning component and the inertial measurement component is established through the cradle head, so that the connection between the obstacle avoidance positioning component and the inertial measurement component is rigid, the consistency of the data fed back by the obstacle avoidance positioning component and the inertial measurement component is ensured, the accurate synchronization of the data of the obstacle avoidance positioning component and the data of the inertial measurement component is further ensured, the flight attitude of the aircraft is ensured, the aircraft flies stably, and the satisfaction degree of a user in use is improved. Meanwhile, the cradle head is arranged on the body of the aircraft through the damping component, so that the obstacle avoidance positioning component and the inertial measurement component can be simultaneously shock-absorbing, the effect that the inertial measurement component obtains image data is guaranteed, the mechanical vibration is prevented from affecting the abnormal function of the inertial measurement component, and the obstacle avoidance positioning component and the inertial measurement component are accurately synchronous in data. Furthermore, the obstacle avoidance positioning assembly and the inertial measurement assembly share a cradle head and a damping assembly, so that the number of parts can be reduced, the size of the bearing device is reduced, the weight of the bearing device is reduced, the flight time of the aircraft is prolonged, and the flight safety of the aircraft is improved. According to the bearing device, the obstacle avoidance positioning component and the inertia measurement component are rigidly connected through the cradle head, the same shock absorption component is adopted for shock absorption by the obstacle avoidance positioning component and the inertia measurement component, so that the data fed back by the obstacle avoidance positioning component and the inertia measurement component can be accurately synchronized, the problem that the data fed back by the obstacle avoidance positioning component and the inertia measurement component are inconsistent is effectively solved, the flight attitude of the aircraft is ensured, the aircraft can fly stably, and the satisfaction degree of a user in use is improved.
Because the bearing device has the technical effects, the aircraft comprising the bearing device also has corresponding technical effects.
Drawings
FIG. 1 is a perspective view of a cradle head, obstacle avoidance positioning assembly and main camera assembly connection in a carrying device according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a front view structure of a connection between a pan-tilt and obstacle avoidance positioning assembly and a main camera assembly in the bearing device shown in fig. 1;
fig. 3 is a schematic rear view of a connection between a pan-tilt and obstacle avoidance positioning assembly and a main camera assembly in the bearing device shown in fig. 1;
FIG. 4 is a perspective view of the circuit board and inertial measurement unit of the carrier shown in FIG. 1 mounted on a cradle head;
FIG. 5 is a perspective view of the circuit board of the carrier of FIG. 4 with a shock absorbing assembly mounted thereon;
FIG. 6 is a perspective view of the mounting plate of the carrying device of FIG. 5 mounted to a shock absorbing assembly;
FIG. 7 is a schematic rear view of the mounting plate of the carrier of FIG. 6 mounted to a shock absorbing assembly;
wherein:
100-carrying devices;
110-cradle head;
111-a main body stent;
112-connecting a bracket;
113-a camera support;
120-obstacle avoidance positioning assembly;
130-an inertial measurement assembly;
140-a shock absorbing assembly;
141-a shock absorbing member;
150-a circuit board;
160-mounting plates;
170-main camera assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the following embodiments are used to further describe the carrying device and the aircraft according to the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1 and 5, a carrying device 100 provided by the present invention includes a pan-tilt 110 and a shock absorbing assembly 140. The cradle head 110 is used for bearing and supporting, and the obstacle avoidance positioning component 120 and the inertial measurement component 130 of the aircraft are both mounted on the cradle head 110. The cradle head 110 can establish a connection relationship between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130, that is, the obstacle avoidance positioning assembly 120 is connected with the inertial measurement assembly 130 through the cradle head 110, so that the connection between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 can be ensured to be rigid connection, and further, the data of the obstacle avoidance positioning assembly 120 can be accurately synchronized with the data of the inertial measurement assembly 130, so that the obstacle avoidance performance of the obstacle avoidance positioning assembly 120 is ensured, the stable flight of an aircraft is ensured, and the flight safety of the aircraft is improved. Meanwhile, the damper assembly 140 is also mounted on the cradle head 110, and the cradle head 110 is mounted on the body of the aircraft through the damper assembly 140. The damping component 140 can play a damping role to avoid abnormal functions of the inertial measurement component 130 caused by vibration of the aircraft, ensure accuracy of acquired data, and further ensure usability of the inertial measurement component 130. Because the obstacle avoidance positioning component 120 and the inertial measurement component 130 are both mounted on the pan-tilt 110, and the damping component 140 is also mounted on the pan-tilt 110, the obstacle avoidance positioning component 120 and the inertial measurement component 130 can be guaranteed to absorb shock through the same damping component 140, and further data fed back by the obstacle avoidance positioning component 120 are consistent with data fed back by the inertial measurement component 130.
Moreover, the inertial measurement unit 130 and the obstacle avoidance positioning unit 120 share the same pan-tilt 110 for supporting connection, so that the number of parts of the bearing device 100 is reduced while the consistency of feedback data is ensured, the weight of the bearing device 100 is lightened, the structure of the bearing device 100 is compact, the space occupied by the bearing device 100 is further reduced, the bearing device 100 can meet the requirements of a small or miniature aircraft, the load of the aircraft is lightened, the endurance of the aircraft is prolonged, the flight safety of the aircraft is improved, and the satisfaction degree of users in use is improved. And, keep away barrier positioning assembly 120 and inertial measurement unit 130 share a damper 140 and move away to avoid possible earthquakes, reduced damper 140's quantity, saved assembly process, improve assembly efficiency, simultaneously, can also reduce the volume of carrying device 100, alleviate the weight of carrying device 100, prolong the flight time of aircraft, improve the security of aircraft flight.
The bearing device 100 is arranged on the fuselage of the aircraft, the bearing device 100 can rigidly fix the obstacle avoidance positioning component 120 and the inertial measurement component 130 together, so that the accurate synchronization of data between the obstacle avoidance positioning component 120 and the inertial measurement component 130 is ensured, meanwhile, the obstacle avoidance positioning component 120 and the inertial measurement component 130 absorb shock through the same shock absorption component 140, the consistency of the data fed back by the obstacle avoidance positioning component 120 and the inertial measurement component 130 can be ensured, so that the stable flight of the aircraft is ensured, the flight attitude of the aircraft is ensured, the flight time of the aircraft is prolonged, the flight safety of the aircraft is improved, and the satisfaction degree of a user in use is improved. The inertial measurement unit 130 can detect the operation gesture of the aircraft, so that the data of the operation gesture of the aircraft is consistent with the data fed back by the shooting element, the aircraft is ensured to fly stably, and the safety of the aircraft during flight is improved. The obstacle avoidance positioning assembly 120 is used for obstacle avoidance positioning to avoid the aircraft striking objects and improve the safety of the aircraft during flight.
Referring to fig. 1 to 3, specifically, a cradle head 110 includes a main body support 111 and a connection support 112. The inertial measurement unit 130 is disposed on the main body support 111, and the obstacle avoidance positioning unit 120 is disposed on the connection support 112. The connection bracket 112 is fixedly connected with the main body bracket 111 or is an integral structure. In this way, the main body support 111 and the connecting support 112 can be guaranteed to be rigidly connected, and further the inertial measurement assembly 130 on the main body support 111 and the obstacle avoidance positioning assembly 120 on the connecting support 112 are guaranteed to be rigidly connected, so that the positions of the inertial measurement assembly 130 and the binocular support are relatively fixed. That is, the inertial measurement unit 130 and the obstacle avoidance positioning unit 120 are rigidly fixed, so that the obstacle avoidance positioning unit 120 and the inertial measurement unit 130 feed back data are consistent, so that the obstacle avoidance positioning unit 120 and the inertial measurement unit 130 feed back data of the operation gesture can be accurately synchronized, the flight gesture of the aircraft is ensured, and the stable flight of the aircraft is ensured. Meanwhile, the connecting support 112 and the main body support 111 are fixedly connected or integrally formed, so that the connection reliability between the connecting support 112 and the main body support 111 can be ensured, the reliability of rigid connection between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 can be further ensured, the flight time of the aircraft can be prolonged, and the flight safety of the aircraft can be improved.
Referring to fig. 5, as an alternative embodiment, a damper assembly 140 is mounted to the body bracket 111. The damping component 140 can play a damping role, and mainly dampens the obstacle avoidance positioning component 120 and the inertial measurement component 130, and ensures that the obstacle avoidance positioning component 120 and the inertial measurement component 130 are damped through the same damping component 140, so that the running track of the inertial measurement component 120 and the running track of the obstacle avoidance positioning component 120 are consistent, the accuracy of the acquired flight attitude of the aircraft is ensured, and further, the accurate synchronization of the data fed back by the obstacle avoidance positioning component 120 and the inertial measurement component 130 is ensured. Meanwhile, the shock absorption effect of the inertial measurement unit 130 can be guaranteed by the shock absorption unit 140, and the abnormal function of the inertial measurement unit 130 caused by the mechanical vibration of the body of the aircraft is avoided, so that the flying attitude of the aircraft is guaranteed, and the aircraft flies stably.
Referring to fig. 4, as an embodiment, a circuit board 150 is further disposed on the main body bracket 111, and the circuit board 150 is electrically connected to the inertial measurement unit 130, and the inertial measurement unit 130 is mounted on the main body bracket 111 through the circuit board 150. The circuit board 150 can control the inertial measurement assembly 130 to detect the operational attitude of the aircraft. The circuit board 150 enables data of the flying attitude of the aircraft detected by the inertial measurement assembly 130 to be fed back to a control system, which adjusts the flying attitude of the aircraft based on the fed back data. Further, the circuit board 150 is also electrically connected to the obstacle avoidance positioning assembly 120. In this way, the circuit board 150 can control the obstacle avoidance positioning assembly 120 to perform obstacle avoidance positioning performance detection, and feed back the data of the obstacle avoidance positioning to ensure the safety of the aircraft during flight. The circuit board 150 also enables the obstacle avoidance positioning assembly 120 to feed back obstacle avoidance positioning data to the control system. Because the obstacle avoidance positioning component 120 is rigidly connected with the inertial measurement component 130, the data fed back by the obstacle avoidance positioning component 120 and the data fed back by the inertial measurement component 130 received by the controller can be accurately synchronized, so that the flying of the aircraft is stable, the flying safety of the aircraft is improved, and the satisfaction degree in use is improved. If the data fed back by the obstacle avoidance positioning component 120 is inconsistent with the data fed back by the inertial measurement component 130, the aircraft may have a phenomenon of deflected flight or unstable flight, which affects the safety of the aircraft, and further affects the satisfaction degree of the user.
In an embodiment of the present invention, when the area of the circuit board 150 is smaller, the circuit board 150 can only be used to mount the inertial measurement unit 130 to the main body support 111, and the circuit board 150 can only partially cover the main body support 111, and at this time, the shock absorbing unit 140 is disposed on the main body support 111 to ensure the shock absorbing performance of the inertial measurement unit 130 and the obstacle avoidance positioning unit 120, and the carrying device 100 is connected to the fuselage of the aircraft through the shock absorbing unit 140 on the main body support 111. Of course, in still another embodiment of the present invention, when the area of the circuit board 150 is not greatly different from that of the main body bracket 111, the circuit board 150 is used to mount the inertial measurement unit 130 to the main body bracket 111, and also can function as a load bearing unit 140, where the load bearing unit 140 is disposed on the circuit board 150 to ensure the damping performance of the inertial measurement unit 130 and the obstacle avoidance positioning unit 120, and the load bearing device 100 is connected to the fuselage of the aircraft through the load bearing unit 140 on the circuit board 150. Meanwhile, the circuit board 150 and the main body support 111 can be connected and fixed through a threaded connector, so that the circuit board 150 is ensured to be fixed and reliable, and further rigid connection between the inertial measurement assembly 130 and the obstacle avoidance positioning assembly 120 on the circuit board 150 is ensured.
Referring to fig. 5, still further, the vertical line in which the center of gravity of the carrier 100 is located is collinear with the vertical line in which the center of the shock absorbing assembly 140 is located. Thus, the balance of the bearing device 100 can be ensured, and the influence of the deflection of the bearing device 100 on the shooting effect of the main shooting assembly 170 and the obstacle avoidance positioning effect of the obstacle avoidance positioning assembly 120 mounted on the bearing device 100 is avoided. Meanwhile, when the bearing device 100 is mounted on the body of the aircraft through the shock absorbing assembly 140, the center of the bearing device 100 needs to be guaranteed to be close to the center of gravity of the body of the aircraft, the shooting angle of the main shooting assembly 170 is guaranteed, and then the shooting effect is guaranteed. Meanwhile, the main camera assembly 170 and the obstacle avoidance positioning assembly 120 are ensured to avoid the fuselage and the propeller of the aircraft, so that the interference between the main camera assembly 170 and the obstacle avoidance positioning assembly 120 and the fuselage or the propeller of the aircraft is avoided, and the flight safety of the aircraft is improved.
As one embodiment, the damper assembly 140 includes a plurality of damper members 141, and the plurality of damper members 141 are uniformly distributed. This allows for a cost savings in production, while reducing the weight of the shock assembly 140, which in turn reduces the weight of the pan-tilt 110 and extends the flight time of the aircraft. The damping member 141 is used for damping, so as to ensure the shockproof performance of the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130, ensure that the data fed back by the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 are consistent, and further ensure that the aircraft flies stably. Further, the shock absorbing members 141 are provided in a cylindrical, spherical, kidney-shaped or tapered shape. Therefore, the shock absorbing member 141 can play a role in shock absorption and buffering, and the shock resistance of the obstacle avoidance positioning assembly 120 and the inertia measurement assembly 130 is guaranteed. In the present embodiment, the number of the shock absorbing members 141 is four, and the four shock absorbing members 141 are disposed in a square shape and distributed at four corners of the square shape, and the shock absorbing members 141 are spherical. In addition, in an embodiment of the present invention, four mounting holes for mounting the shock absorbing members 141 are respectively provided at four corners of the main body bracket 111, and the shock absorbing members 141 are mounted to the mounting holes and protrude from the surface of the main body bracket 111 so as to be connected with the body of the unmanned aerial vehicle. In another embodiment of the present invention, four mounting holes for mounting the shock absorbing members 141 are respectively provided at four corners of the circuit board 150, and the shock absorbing members 141 are mounted at the mounting holes and protrude from the surface of the circuit board 150 so as to be connected with the unmanned aerial vehicle. Of course, in other embodiments of the present invention, the plurality of shock absorbing members 141 are connected as an integral structure, so that the assembly process can be saved and the assembly efficiency can be improved.
Referring to fig. 6 and 7, as an alternative embodiment, the carrying device 100 further comprises a mounting plate 160, the mounting plate 160 being mounted on the damper assembly 140, the damper assembly 140 being mounted on the fuselage of the aircraft by means of the mounting plate 160. The mounting plate 160 is configured to be mounted to the shock absorbing assembly 140 to mount the shock absorbing assembly 140 to the fuselage of an aircraft to effect attachment of the shock absorbing assembly 140 to the fuselage of the aircraft. The mounting plate 160 can ensure reliable mounting of the carrier 100. Further, the number of the mounting plates 160 is plural, the plurality of mounting plates 160 are respectively connected to one or more shock absorbing members 141, and the mounting plates 160 can also be connected to the fuselage of the aircraft. This ensures a reliable connection between the mounting plate 160 and the fuselage of the aircraft. In this embodiment, the number of the mounting plates 160 is two, the two mounting plates 160 are respectively connected with the two shock absorbing members 141, one end of the spherical shock absorbing member 141 is installed in the mounting hole, the other end of the spherical shock absorbing member 141 is installed on the mounting plate 160, and the mounting plate 160 is provided with a connecting portion connected with the fuselage of the aircraft, so as to ensure reliable connection between the bearing device 100 and the fuselage of the aircraft. Of course, in other embodiments of the present invention, the plurality of mounting plates 160 are connected as an integral structure, so that the assembly process can be saved and the assembly efficiency can be improved.
Referring to fig. 1 to 3, as an embodiment, the cradle head 110 further includes a camera stand 113, and the camera stand 113 is used to mount a main camera assembly 170 of an aircraft. The main camera assembly 170 is used to perform the camera functions of the aircraft. The main body support 111 is fixedly connected with the camera support 113 or is of an integral structure. This can ensure the reliability of the connection between the main body bracket 111 and the imaging bracket 113. Further, the obstacle avoidance positioning assembly 120 is a binocular lens. The binocular head is mainly based on the parallax principle, two images of an object are acquired at different positions by utilizing a binocular lens, and three-dimensional geometric information of the object is acquired by calculating position deviation between corresponding points of the images. Based on the three-dimensional geometric information of the object can be obtained through the binocular lens, so that the aircraft can be positioned forwards and avoid the obstacle, the object is prevented from being impacted when the aircraft flies, and the flight safety of the aircraft is ensured. The connecting bracket 112 includes two parts symmetrically disposed on both sides of the main body bracket 111, and the binocular heads are respectively mounted on the two parts. In order to ensure that the shooting angles of the binocular lenses of the two parts of the connecting support 112 are consistent, and ensure that the binocular lenses are accurately synchronous with the data fed back by the inertial measurement assembly 130, the two parts are symmetrically arranged to ensure that the binocular lenses are positioned at the same horizontal position, ensure that the shooting angles of the binocular lenses are consistent, further ensure that the motion tracks of the binocular lenses are consistent, ensure that the binocular lenses accurately acquire the three-dimensional geometric information of an object, effectively play roles of forward positioning and obstacle avoidance, and further ensure the flight safety of an aircraft. The binocular heads are respectively installed on the two parts to ensure the safety of the flight of the aircraft, and further ensure the shooting effect of the main shooting assembly 170 between the two parts.
As an embodiment, the two end portions are provided with a mounting groove for mounting the binocular heads, and the binocular heads are mounted in the mounting groove. Thus, the binocular lens can be conveniently installed and fixed. Meanwhile, the connection bracket 112 is made of a metal material, so that the accuracy of the connection bracket 112 can be ensured, and further the photographing angles of the binocular lenses on the connection bracket 112 are the same. Further, the carrying device 100 further includes a fixing member, and the fixing member is disposed in the mounting groove. The fixing piece is used for installing and fixing the binocular lens, so that the binocular lens is installed in the installation groove. The fixing piece is fixed in the mounting groove through the threaded connection piece, so that the position of the binocular lens on the binocular support is fixed, the position of the binocular lens is further fixed, and the shooting angles of the binocular lens are consistent.
Referring to fig. 1 and 5, the present invention further provides a carrying device 100, where the carrying device 100 includes a pan-tilt 110, an obstacle avoidance positioning assembly 120, an inertial measurement assembly 130, and a shock absorbing assembly 140. The cradle head 110 is used for bearing and supporting, and the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 are mounted on the cradle head 110. The cradle head 110 can establish a connection relationship between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130, that is, the obstacle avoidance positioning assembly 120 is connected with the inertial measurement assembly 130 through the cradle head 110, so that the connection between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 can be ensured to be rigid, and further, the data of the obstacle avoidance positioning assembly 120 can be accurately synchronized with the data of the inertial measurement assembly 130, so as to ensure the obstacle avoidance performance of the obstacle avoidance positioning assembly 120. Meanwhile, the damping component 140 is also mounted on the pan-tilt head 110 for connecting the carrying device 100 and a firmware used in cooperation with the carrying device 100. The damping component 140 can play a damping role to avoid abnormal functions of the inertial measurement component 130 caused by vibration of the aircraft, ensure accuracy of acquired data, and further ensure usability of the inertial measurement component 130. Because the obstacle avoidance positioning component 120 and the inertial measurement component 130 are both mounted on the pan-tilt 110, and the damping component 140 is also mounted on the pan-tilt 110, the obstacle avoidance positioning component 120 and the inertial measurement component 130 can be guaranteed to absorb shock through the same damping component 140, and further data fed back by the obstacle avoidance positioning component 120 are consistent with data fed back by the inertial measurement component 130. In particular, the inertial measurement assembly 130 includes an accelerometer and a gyroscope to facilitate detection of the attitude of the aircraft, ensuring that the aircraft is flying stationary. In the present invention, the firmware used with the carrier 100 is an aircraft. Of course, in other embodiments of the present invention, other devices may be used with the firmware used with the carrier 100.
Moreover, the inertial measurement unit 130 and the obstacle avoidance positioning unit 120 share the same pan-tilt 110 for supporting connection, so that the number of parts of the bearing device 100 is reduced while the consistency of feedback data is ensured, the weight of the bearing device 100 is lightened, the structure of the bearing device 100 is compact, the space occupied by the bearing device 100 is further reduced, the bearing device 100 can meet the requirements of a small or miniature aircraft, the load of the aircraft is lightened, the endurance of the aircraft is prolonged, the flight safety of the aircraft is improved, and the satisfaction degree of users in use is improved. And, keep away barrier positioning assembly 120 and inertial measurement unit 130 share a damper 140 and move away to avoid possible earthquakes, reduced damper 140's quantity, saved assembly process, improve assembly efficiency, simultaneously, can also reduce the volume of carrying device 100, alleviate the weight of carrying device 100, prolong the flight time of aircraft, improve the security of aircraft flight.
Referring to fig. 1 to 3, specifically, a cradle head 110 includes a main body support 111 and a connection support 112. The inertial measurement unit 130 is disposed on the main body support 111, and the obstacle avoidance positioning unit 120 is disposed on the connection support 112. The connection bracket 112 is fixedly connected with the main body bracket 111 or is an integral structure. In this way, the main body support 111 and the connecting support 112 can be guaranteed to be rigidly connected, and further the inertial measurement assembly 130 on the main body support 111 and the obstacle avoidance positioning assembly 120 on the connecting support 112 are guaranteed to be rigidly connected, so that the positions of the inertial measurement assembly 130 and the binocular support are relatively fixed. That is, the inertial measurement unit 130 and the obstacle avoidance positioning unit 120 are rigidly fixed, so that the data fed back by the obstacle avoidance positioning unit 120 and the inertial measurement unit 130 are consistent, so that the data fed back by the obstacle avoidance positioning unit 120 and the data fed back by the inertial measurement unit 130 in the operation gesture can be accurately synchronized. Meanwhile, the connecting support 112 and the main body support 111 are fixedly connected or integrally formed, so that the connection reliability between the connecting support 112 and the main body support 111 can be ensured, and the reliability of rigid connection between the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 can be ensured.
Referring to fig. 5, as an embodiment, a damper assembly 140 is mounted on the main body bracket 111 for connecting the carrying device 100 and a firmware used with the carrying device 100. The damping component 140 can play a damping role, and mainly dampens the obstacle avoidance positioning component 120 and the inertia measurement component 130, and ensures that the obstacle avoidance positioning component 120 and the inertia measurement component 130 are damped through the same damping component 140, so that the running track of the inertia measurement component 120 and the running track of the obstacle avoidance positioning component 120 are consistent, and further, the accurate synchronization of the data fed back by the obstacle avoidance positioning component 120 and the inertia measurement component 130 is ensured. The bearing device 100 can ensure that the aircraft can ensure the shock absorbing effect of the inertial measurement assembly 130 at the same time, and avoid the abnormal function of the inertial measurement assembly 130 caused by the mechanical vibration of the fuselage of the aircraft, thereby ensuring the flight attitude of the aircraft and ensuring the stable flight of the aircraft.
Referring to fig. 4, as an embodiment, the carrying device 100 further includes a circuit board 150 disposed on the main body bracket 111, the circuit board 150 is electrically connected to the inertial measurement unit 130, and the inertial measurement unit 130 is mounted on the main body bracket 111 through the circuit board 150. The circuit board 150 can control the inertial measurement assembly 130 to detect the operational attitude of the aircraft. The circuit board 150 is provided with a controller, and the controller is electrically connected with the circuit board 150, that is, the inertial measurement assembly 130 is electrically connected with the controller through the circuit board 150, so that the data of the flight attitude of the aircraft detected by the inertial measurement assembly 130 can be fed back to the controller. Further, the circuit board 150 is also electrically connected to the obstacle avoidance positioning assembly 120. In this way, the circuit board 150 can control the obstacle avoidance positioning assembly 120 to perform obstacle avoidance positioning performance detection, and feed back the data of the obstacle avoidance positioning to ensure the safety of the aircraft during flight. The obstacle avoidance positioning assembly 120 is also electrically connected to the controller via the circuit board 150. The obstacle avoidance positioning assembly 120 feeds back the obstacle avoidance positioning data to the controller. Because the obstacle avoidance positioning component 120 is rigidly connected with the inertial measurement component 130, the data fed back by the obstacle avoidance positioning component 120 and the data fed back by the inertial measurement component 130 received by the controller can be accurately synchronized, so that the flying of the aircraft is stable, the flying safety of the aircraft is improved, and the satisfaction degree in use is improved. If the data fed back by the obstacle avoidance positioning component 120 is inconsistent with the data fed back by the inertial measurement component 130, the aircraft may have a phenomenon of deflected flight or unstable flight, which affects the safety of the aircraft, and further affects the satisfaction degree of the user.
In an embodiment of the present invention, when the area of the circuit board 150 is smaller, the circuit board 150 can only be used to mount the inertial measurement unit 130 to the main body support 111, and the circuit board 150 can only partially cover the main body support 111, and at this time, the shock absorbing unit 140 is disposed on the main body support 111 to ensure the shock absorbing performance of the inertial measurement unit 130 and the obstacle avoidance positioning unit 120, and the carrying device 100 is connected to the fuselage of the aircraft through the shock absorbing unit 140 on the main body support 111. Of course, in still another embodiment of the present invention, when the area of the circuit board 150 is not greatly different from that of the main body bracket 111, the circuit board 150 is used to mount the inertial measurement unit 130 to the main body bracket 111, and also can function as a load bearing unit 140, where the load bearing unit 140 is disposed on the circuit board 150 to ensure the damping performance of the inertial measurement unit 130 and the obstacle avoidance positioning unit 120, and the load bearing device 100 is connected to the fuselage of the aircraft through the load bearing unit 140 on the circuit board 150. Meanwhile, the circuit board 150 and the main body support 111 can be connected and fixed through a threaded connector, so that the circuit board 150 is ensured to be fixed and reliable, and further rigid connection between the inertial measurement assembly 130 and the obstacle avoidance positioning assembly 120 on the circuit board 150 is ensured.
Referring to fig. 5, still further, the vertical line in which the center of gravity of the carrier 100 is located is collinear with the vertical line in which the center of the shock absorbing assembly 140 is located. Thus, the balance of the bearing device 100 can be ensured, and the influence of the deflection of the bearing device 100 on the shooting effect of the main shooting assembly 170 and the obstacle avoidance positioning effect of the obstacle avoidance positioning assembly 120 mounted on the bearing device 100 is avoided. Meanwhile, when the bearing device 100 is mounted on the body of the aircraft through the shock absorbing assembly 140, the center of the bearing device 100 needs to be guaranteed to be close to the center of gravity of the body of the aircraft, the shooting angle of the main shooting assembly 170 is guaranteed, and then the shooting effect is guaranteed. Meanwhile, the main camera assembly 170 and the obstacle avoidance positioning assembly 120 are ensured to avoid the fuselage and the propeller of the aircraft, so that the interference between the main camera assembly 170 and the obstacle avoidance positioning assembly 120 and the fuselage or the propeller of the aircraft is avoided, and the flight safety of the aircraft is improved.
As one embodiment, the damper assembly 140 includes a plurality of damper members 141, and the plurality of damper members 141 are uniformly distributed. This allows for a cost savings in production, while reducing the weight of the shock assembly 140, which in turn reduces the weight of the pan-tilt 110 and extends the flight time of the aircraft. The damping member 141 is used for damping, so as to ensure the shockproof performance of the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130, ensure that the data fed back by the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 are consistent, and further ensure that the aircraft flies stably. Further, the shock absorbing members 141 are provided in a cylindrical, spherical, kidney-shaped or tapered shape. Therefore, the shock absorbing member 141 can play a role in shock absorption and buffering, and the shock resistance of the obstacle avoidance positioning assembly 120 and the inertia measurement assembly 130 is guaranteed. In the present embodiment, the number of the shock absorbing members 141 is four, and the four shock absorbing members 141 are disposed in a square shape and distributed at four corners of the square shape, and the shock absorbing members 141 are spherical. In addition, in an embodiment of the present invention, four mounting holes for mounting the shock absorbing members 141 are respectively provided at four corners of the main body bracket 111, and the shock absorbing members 141 are mounted to the mounting holes and protrude from the surface of the main body bracket 111 so as to be connected with the body of the unmanned aerial vehicle. In another embodiment of the present invention, four mounting holes for mounting the shock absorbing members 141 are respectively provided at four corners of the circuit board 150, and the shock absorbing members 141 are mounted at the mounting holes and protrude from the surface of the circuit board 150 so as to be connected with the unmanned aerial vehicle. Of course, in other embodiments of the present invention, the plurality of shock absorbing members 141 are connected as an integral structure, so that the assembly process can be saved and the assembly efficiency can be improved.
Referring to fig. 6 and 7, as an alternative embodiment, the carrying device 100 further comprises a mounting plate 160, the mounting plate 160 being mounted on the damper assembly 140, the damper assembly 140 being mounted on the fuselage of the aircraft by means of the mounting plate 160. The mounting plate 160 is configured to be mounted to the shock absorbing assembly 140 to mount the shock absorbing assembly 140 to the fuselage of an aircraft to effect attachment of the shock absorbing assembly 140 to the fuselage of the aircraft. The mounting plate 160 can ensure reliable mounting of the carrier 100. Further, the number of the mounting plates 160 is plural, the plurality of mounting plates 160 are provided corresponding to the one or more shock absorbing members 141, respectively, and the mounting plates 160 can also be connected with the fuselage of the aircraft. This ensures a reliable connection between the mounting plate 160 and the fuselage of the aircraft. In this embodiment, the number of the mounting plates 160 is two, the two mounting plates 160 are respectively connected with the two shock absorbing members 141, one end of the spherical shock absorbing member 141 is installed in the mounting hole, the other end of the spherical shock absorbing member 141 is installed on the mounting plate 160, and the mounting plate 160 is provided with a connecting portion connected with the fuselage of the aircraft, so as to ensure reliable connection between the bearing device 100 and the fuselage of the aircraft. Of course, in other embodiments of the present invention, the plurality of mounting plates 160 are connected as an integral structure, so that the assembly process can be saved and the assembly efficiency can be improved.
Further, the carrying device 100 further comprises a main camera assembly 170. The main camera assembly 170 is used to perform the camera functions of the aircraft. Further, the pan-tilt head 110 further includes a camera stand 113, and the camera stand 113 is used for the main camera assembly 170. The main body support 111 is fixedly connected with the camera support 113 or is of an integral structure. This can ensure the reliability of the connection between the main body bracket 111 and the imaging bracket 113. Further, the obstacle avoidance positioning assembly 120 is a binocular lens. The binocular head is mainly based on the parallax principle, two images of an object are acquired at different positions by utilizing a binocular lens, and three-dimensional geometric information of the object is acquired by calculating position deviation between corresponding points of the images. Based on the three-dimensional geometric information of the object can be obtained through the binocular lens, so that the aircraft can be positioned forwards and avoid the obstacle, the object is prevented from being impacted when the aircraft flies, and the flight safety of the aircraft is ensured. The connecting bracket 112 includes two parts symmetrically disposed on both sides of the main body bracket 111, and the binocular heads are respectively mounted on the two parts. In order to ensure that the shooting angles of the binocular lenses of the two parts of the connecting support 112 are consistent, and ensure that the binocular lenses are accurately synchronous with the data fed back by the inertial measurement assembly 130, the two parts are symmetrically arranged to ensure that the binocular lenses are positioned at the same horizontal position, ensure that the shooting angles of the binocular lenses are consistent, further ensure that the motion tracks of the binocular lenses are consistent, ensure that the binocular lenses accurately acquire the three-dimensional geometric information of an object, effectively play roles of forward positioning and obstacle avoidance, and further ensure the flight safety of an aircraft. The binocular heads are respectively installed on the two parts to ensure the safety of the flight of the aircraft, and further ensure the shooting effect of the main shooting assembly 170 between the two parts.
As an embodiment, the two end portions are provided with a mounting groove for mounting the binocular heads, and the binocular heads are mounted in the mounting groove. Thus, the binocular lens can be conveniently installed and fixed. Meanwhile, the connection bracket 112 is made of a metal material, so that the accuracy of the connection bracket 112 can be ensured, and further the photographing angles of the binocular lenses on the connection bracket 112 are the same. Further, the carrying device 100 further includes a fixing member, and the fixing member is disposed in the mounting groove. The fixing piece is used for installing and fixing the binocular lens, so that the binocular lens is installed in the installation groove. The fixing piece is fixed in the mounting groove through the threaded connection piece, so that the position of the binocular lens on the binocular support is fixed, the position of the binocular lens is further fixed, and the shooting angles of the binocular lens are consistent.
The bearing device 100 of the invention can enable the obstacle avoidance positioning component 120 and the inertial measurement component 130 of the aircraft to be mounted on the cradle head 110, namely, the cradle head 110 is used for establishing the connection relationship between the obstacle avoidance positioning component 120 and the inertial measurement component 130, so that the connection between the obstacle avoidance positioning component 120 and the inertial measurement component 130 is rigid, the consistency of the data fed back by the obstacle avoidance positioning component 120 and the inertial measurement component 130 is ensured, the accurate synchronization of the data of the obstacle avoidance positioning component 120 and the data of the inertial measurement component 130 is further ensured, the flying gesture of the aircraft is ensured, the aircraft is enabled to fly stably, and the satisfaction degree of users in use is improved. Meanwhile, the cradle head 110 is mounted on the body of the aircraft through the damping component 140, so that the obstacle avoidance positioning component 120 and the inertial measurement component 130 can be simultaneously damped, the effect of acquiring image data by the inertial measurement component 130 is ensured, the influence of mechanical vibration on the abnormal function of the inertial measurement component 130 is avoided, and the data of the obstacle avoidance positioning component 120 and the data of the inertial measurement component 130 are accurately synchronized. Furthermore, the obstacle avoidance positioning assembly 120 and the inertial measurement assembly 130 share the cradle head 110 and the damping assembly 140, so that the number of parts can be reduced, the volume of the bearing device 100 is reduced, the weight of the bearing device 100 is reduced, the flight time of the aircraft is prolonged, and the flight safety of the aircraft is improved. According to the bearing device 100, the obstacle avoidance positioning component 120 and the inertia measurement component 130 are rigidly connected through the cradle head 110, the same shock absorption component 140 is adopted for shock absorption by the obstacle avoidance positioning component 120 and the inertia measurement component 130, so that the data fed back by the obstacle avoidance positioning component 120 and the inertia measurement component 130 can be accurately synchronized, the problem that the data fed back by the obstacle avoidance positioning component 120 and the inertia measurement component 130 are inconsistent is effectively solved, the flight attitude of the aircraft is ensured, the aircraft can fly stably, and the satisfaction degree of a user in use is improved.
The invention also provides an aircraft comprising a fuselage and the carrying device 100 in the above embodiment. The carrier 100 is mounted on the fuselage. The aircraft of the invention ensures the accurate synchronization of the feedback data through the rigid connection of the inertial measurement assembly 130 and the obstacle avoidance positioning assembly 120 of the bearing device 100, effectively solves the problem of inconsistent data fed back by the inertial measurement assembly 130 and the binocular head, ensures the flight attitude of the aircraft, and ensures the stable flight of the aircraft.
Further, a flight control board is disposed in the fuselage and electrically connected to the inertial measurement assembly 130. The inertial measurement assembly 130 is capable of detecting the current attitude of the aircraft and feeding it back to the controller. The initial flight attitude of the aircraft is stored in the controller, and if the current flight attitude of the aircraft is different from the initial flight attitude, the controller can adjust the flight attitude of the aircraft through the inertia measurement assembly 130 via the flight control board, so that the aircraft can fly stably, and the satisfaction degree of a user in use is improved.
Still further, the carrying device is mounted to the underside or peripheral side of the fuselage. Therefore, the main camera assembly 170 of the bearing device 100 can be conveniently shot and the obstacle avoidance positioning assembly 120 can be conveniently used for obstacle avoidance positioning, so that the main camera assembly 170 is prevented from shooting parts of the aircraft and the obstacle avoidance positioning assembly 120 is prevented from touching the parts of the aircraft, the aircraft is located in a shooting blind area of the main camera assembly 170, and the shooting effect is ensured.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (20)
1. A carrier for mounting on a fuselage of an aircraft, the carrier comprising:
the cradle head is used for installing the obstacle avoidance positioning component and the inertial measurement component of the aircraft; a kind of electronic device with high-pressure air-conditioning system
The vibration reduction assembly is arranged on the cradle head, and the cradle head is arranged on the body of the aircraft through the vibration reduction assembly;
the cradle head comprises a main body support and a connecting support, the inertia measurement assembly is arranged on the main body support, and the obstacle avoidance positioning assembly is arranged on the connecting support; the connecting support is fixedly connected with the main body support or is of an integrated structure.
2. The carrier of claim 1, wherein the shock assembly is mounted to the body mount.
3. The carrier of claim 1, wherein the body mount further comprises a circuit board, the circuit board is electrically connected to the inertial measurement assembly, and the inertial measurement assembly is mounted to the body mount via the circuit board.
4. The carrier of claim 3, wherein the circuit board is further electrically connected to the obstacle avoidance positioning assembly.
5. A carrier according to claim 3, wherein the damper assembly is provided on the circuit board.
6. The carrier of any one of claims 1 to 5, wherein a vertical line in which a center of gravity of the carrier is collinear with a vertical line in which a center of the damper assembly is located.
7. The carrier of claim 6, wherein the damper assembly comprises a plurality of damper members, the plurality of damper members being evenly distributed.
8. The carrying device according to claim 7, wherein the number of the shock absorbing members is four, the four shock absorbing members are distributed in a square shape, and the four shock absorbing members are disposed at four corners of the square shape.
9. The carrier of claim 7, further comprising a mounting plate mounted to the shock assembly, the carrier being mounted to the fuselage of the aircraft by the mounting plate.
10. The carrier as claimed in claim 9, wherein the number of mounting plates is plural, and plural mounting plates are provided corresponding to one or plural shock absorbing members, respectively.
11. The carrier of claim 1, wherein the cradle head further comprises a camera mount for mounting a primary camera assembly of the aircraft;
the main body support and the camera support are fixedly connected or are of an integrated structure.
12. The carrying device according to claim 11, wherein the obstacle avoidance positioning assembly is a binocular lens, the connecting bracket comprises two parts symmetrically arranged on two sides of the main body bracket, and the binocular lens is respectively arranged on the two parts.
13. The bearing device is characterized by comprising a cradle head, an obstacle avoidance positioning component, an inertia measurement component and a damping component, wherein the obstacle avoidance positioning component, the inertia measurement component and the damping component are all arranged on the cradle head;
the cradle head comprises a main body support and a connecting support, the inertia measurement assembly is arranged on the main body support, and the obstacle avoidance positioning assembly is arranged on the connecting support; the connecting support is fixedly connected with the main body support or is of an integrated structure.
14. The carrier of claim 13, wherein the shock absorbing assembly is mounted to the body mount for attachment to the carrier and a fastener for use with the carrier.
15. The carrier of claim 13, further comprising a circuit board disposed on the body mount, the circuit board being electrically connected to the inertial measurement assembly, and the inertial measurement assembly being mounted to the body mount via the circuit board.
16. The carrier of claim 15, wherein the shock absorbing assembly is disposed on the circuit board.
17. The carrier of claim 13, further comprising a primary camera assembly disposed on the pan-tilt.
18. The carrier of claim 13, wherein the cradle head further comprises a camera support, the main camera assembly being disposed on the camera support; the main body support and the camera support are fixedly connected or are of an integrated structure.
19. An aircraft comprising a fuselage and a carrier as claimed in any one of claims 1 to 18, the carrier being mounted on the fuselage.
20. The aircraft of claim 19, wherein a flight control board is disposed in the fuselage, the flight control board being electrically or communicatively connected to an inertial measurement assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005124.2A CN108263626B (en) | 2017-01-04 | 2017-01-04 | Bearing device and aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005124.2A CN108263626B (en) | 2017-01-04 | 2017-01-04 | Bearing device and aircraft |
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| CN108263626A CN108263626A (en) | 2018-07-10 |
| CN108263626B true CN108263626B (en) | 2023-08-22 |
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| CN201710005124.2A Active CN108263626B (en) | 2017-01-04 | 2017-01-04 | Bearing device and aircraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110816836A (en) * | 2019-12-06 | 2020-02-21 | 沈阳旋飞航空技术有限公司 | Support arm folding mechanism for unmanned aerial vehicle |
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