CN112739621A

CN112739621A - Cloud platform and unmanned vehicles

Info

Publication number: CN112739621A
Application number: CN201980040278.2A
Authority: CN
Inventors: 马举猛; 王鹏
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2021-04-30
Also published as: WO2021081805A1

Abstract

A cloud platform and unmanned vehicles, this cloud platform is used for the movable platform, the cloud platform (100) includes at least one cloud platform motor (10) used for driving the cloud platform to rotate, at least one cloud platform motor drive module (20), the cloud platform motor drive module (20) is connected with cloud platform motor (10) electricity, is used for controlling the operation of the cloud platform motor (10); the holder motor driving module (20) is electrically connected with a main controller (200) on the movable platform through an electronic wire so as to transmit a low-speed signal through the electronic wire; the cradle head (100) is also provided with a load (300), and the load (300) is electrically connected with the main controller (200) through a coaxial line so as to transmit high-speed signals through the coaxial line. This cloud platform is owing to adopt the electronic wire transmission with the low-speed signal, and the coaxial line transmission is adopted to the high-speed signal for whole cloud platform is walked the line and is become soft, can effectively reduce the disturbance power of cloud platform.

Description

Cloud platform and unmanned vehicles

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a holder and an unmanned aerial vehicle.

Background

In order to satisfy small-size unmanned aerial vehicle's of taking photo by plane demand, reduce the volume and the weight of cloud platform as far as possible, the cloud platform generally adopts diameter 13 mm's small motor drive, comes driving motor with integrated form motor drive chip, and the joint angle of cloud platform detects and adopts small-size, low-cost linear hall sensor to detect, and this volume that has reduced cloud platform control circuit board greatly is favorable to the miniaturization of cloud platform.

On the other hand, in the cradle head of the conventional unmanned aerial vehicle, a coaxial line is necessarily used for transmitting high-speed signals such as high-definition images, but Inertial Measurement Unit (IMU) signals, motor driving signals, position detection signals and the like on the cradle head are also transmitted through the coaxial line.

Because coaxial pencil generally includes two insulating layers, the coaxial line all can all be more than the electron line is hard under certain through-flow condition, and the wiring of cloud platform among the prior art adopts the coaxial line completely can bring very big disturbance problem, if the coaxial line that adopts is too much, then can seriously influence the control of cloud platform.

Disclosure of Invention

In view of the above defects in the prior art, the embodiment of the invention provides a holder and an unmanned aerial vehicle.

A first aspect of embodiments of the present invention provides a pan/tilt head for a movable platform, the pan/tilt head having at least one pan/tilt motor for driving the pan/tilt head to rotate, the pan/tilt head further comprising:

the holder motor driving module is electrically connected with the holder motor and used for controlling the holder motor to operate;

the at least one holder motor driving module is electrically connected with a main controller on the movable platform through an electronic wire so as to transmit a low-speed signal through the electronic wire;

the cradle head is also used for carrying a load, and the load is electrically connected with the main controller through a coaxial line so as to transmit a high-speed signal through the coaxial line.

A second aspect of an embodiment of the present invention provides an unmanned aerial vehicle, including a body, a cradle head, and a load mounted on the cradle head, where the body is provided with a main controller, the cradle head has at least one cradle head motor for driving the cradle head to rotate, and the cradle head further includes:

at least one holder motor driving module is electrically connected with the main controller through an electronic wire so as to transmit a low-speed signal through the electronic wire;

the load is electrically connected with the main controller through a coaxial line so as to transmit high-speed signals through the coaxial line.

According to the cradle head and the unmanned aerial vehicle provided by the embodiment of the invention, the cradle head motor driving module is used for controlling the operation of the cradle head motor, the cradle head motor driving module is used for being electrically connected with a main controller on the movable platform through an electronic wire so as to transmit low-speed signals through the electronic wire, the cradle head is used for carrying a load, the load is used for being connected with the main controller through a coaxial wire so as to transmit high-speed signals through the coaxial wire, the related low-speed signals on the cradle head are transmitted through the electronic wire, and the related high-speed signals are transmitted through the coaxial wire.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic routing diagram of a pan/tilt head according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a pan-tilt provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a pan-tilt motor according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a hybrid harness of the pan/tilt head and an FPC board connected to the hybrid harness according to the embodiment of the present invention;

fig. 5 is a schematic front structural view of an FPC board connected to a yaw axis driving module on a pan/tilt head according to an embodiment of the present invention;

fig. 6 is a schematic back structure view of an FPC board connected to a yaw axis driving module on a pan/tilt head according to an embodiment of the present invention;

fig. 7 is a schematic structural view of a yaw axis support of the pan/tilt head according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a traverse roller support of a pan/tilt head according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect.

Furthermore, the term "coupled" is intended to include any direct or indirect coupling. Thus, if a first device couples to a second device, that connection may be through a direct connection, or through an indirect connection via other devices.

It should be understood that the term "and/or" is used herein only to describe an association relationship of associated objects, and means that there may be three relationships, for example, a1 and/or B1, which may mean: a1 exists alone, A1 and B1 exist simultaneously, and B1 exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Example one

Fig. 1 is a schematic routing diagram of a pan/tilt head according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a pan-tilt provided in an embodiment of the present invention; referring to fig. 1 and fig. 2, the present embodiment provides a pan/tilt head for a movable platform, the pan/tilt head 100 has at least one pan/tilt motor 10 for driving the pan/tilt head to rotate, and the pan/tilt head 100 further includes: at least one pan/tilt motor drive module 20. The movable platform in this embodiment may be, for example, but not limited to, an unmanned aerial vehicle. For example, for an unmanned aerial vehicle, the cradle head 100 is used for controlling the angle of the camera module in the aerial photographing process of the unmanned aerial vehicle, so as to prevent the image from shaking due to vibration of the unmanned aerial vehicle or other disturbance factors outside, which affects the aerial photographing quality, or control the camera module to rotate to a certain angle, thereby completing the corresponding photographing function. However, if the routing of the pan-tilt is not reasonable, the control precision of the pan-tilt is also affected, so that the quality of the shot picture is affected.

Further, the pan/tilt motor driving module 20 is electrically connected to the pan/tilt motor 10, and is configured to control the operation of the pan/tilt motor 10. The pan/tilt motor driving module 20 may be understood as a printed circuit board on which various functional modules may be disposed to at least implement control of the pan/tilt motor 10. Specifically, the pan/tilt motor driving module 20 may be configured to control the operation of the pan/tilt motor 10 according to one or more working instructions, for example, control the start/stop, the operation speed, and the like of the pan/tilt motor 10.

The at least one pan/tilt motor driving module 20 is electrically connected to a main controller 200 on the movable platform through an electronic cable, so as to transmit a low-speed signal through the electronic cable. For the unmanned aerial vehicle, the master controller 200 is used for being in communication connection with each component on the unmanned aerial vehicle so as to control the flight of the whole unmanned aerial vehicle. The main controller 200 may include a circuit board and functional modules provided on the circuit board to implement predetermined functions.

The cradle head 100 is further configured to mount a load 300, and the load 300 is electrically connected to the main controller 200 through a coaxial line to transmit a high-speed signal through the coaxial line. Specifically, the load 300 carried on the cradle head 100 can include a camera module, the camera module can be fixed through the front shell 301, images are shot through the camera module, the load (camera module) 300 is electrically connected with the main controller 200 through a coaxial line, transmission of high-definition images can be achieved, and the aerial photography effect of the unmanned aerial vehicle is improved.

The cloud platform provided by the embodiment of the invention comprises a cloud platform motor and at least one cloud platform motor driving module, wherein the cloud platform motor driving module is used for controlling the cloud platform motor to run, the cloud platform motor driving module is used for being electrically connected with a main controller on a movable platform through an electronic wire so as to transmit low-speed signals through the electronic wire, the cloud platform is used for carrying a load, the load is used for being connected with the main controller through a coaxial wire so as to transmit high-speed signals through the coaxial wire, the related low-speed signals on the cloud platform are transmitted through the electronic wire, and the related high-speed signals are transmitted through the coaxial wire.

Further, the pan/tilt head 100 may further include an Inertial Measurement Unit (IMU) 30, and the Inertial measurement unit 30 is electrically connected to the main controller 200 through a coaxial line. The inertia measurement unit 30 can be used for detecting the gesture of the camera module, and feeding back the space gesture information of the camera module to the main controller 200, and the main controller 200 can control each pan-tilt motor 10 according to the gesture information of the camera module, so that the unmanned aerial vehicle can maintain the stability of the camera module under different working conditions, and the quality of aerial images is ensured.

As shown in fig. 1, the load (camera module) and the inertial measurement unit 30 may be integrated on the same circuit board. So as to facilitate the miniaturized layout of the head 100 and to reduce the volume of the head as much as possible.

The pan/tilt head motor 10 in this embodiment may include a stator and a rotor rotatably disposed outside the stator, and fig. 3 is a schematic structural diagram of the rotor of the pan/tilt head motor according to the embodiment of the present invention. As shown in fig. 3, the rotor 11 includes a yoke 111 and a magnet 112 provided in the yoke 111, the yoke 111 may be formed in a cylindrical shape with a bottom cover as a whole, and a peripheral wall of the yoke 111 may be substantially cylindrical. The yoke 111 may be made of 10 gauge steel or SPCC or SPEC. It is understood that, in other embodiments, the peripheral wall of the yoke 111 may be configured according to the interface of the load, and may be configured in any suitable shape, such as a circle, a rectangle, a polygon, and the like, which is not limited herein. In the present embodiment, the circumferential wall of the yoke 111 is cylindrical.

More specifically, the magnet 112 may comprise a sinusoidally magnetized magnet. In the embodiment of the present application, the magnet 112 may be a bonded magnet ring, specifically, the magnet 112 includes an internal magnetized magnet, and more specifically, the magnet 112 is a sinusoidal internal magnetized magnet. The inner magnetizing magnet is adopted, so that magnetic lines of force generated by the magnet 112 are almost all on the inner side of the annular magnet 112, and almost no magnetic lines of force are generated on the outer side of the magnet 112, so that the thickness T1 of the magnetic yoke 111 required by forming a closed magnetic circuit outside the magnet 112 can be reduced, and the reduction of the outer diameter D1 of the magnetic yoke 111 is facilitated, and the performance of the tripod head motor 10 is not influenced. From this, can do as little as possible with cloud platform motor 10's size under the prerequisite that does not influence cloud platform motor 10's performance to reduce cloud platform 100's volume, with the demand that satisfies portable small-size unmanned aerial vehicle that takes photo by plane.

Referring to fig. 3, the thickness T1 of the yoke 111 along the radial direction is 0.3 mm ± 0.1 mm, and the outer diameter D1 of the yoke is 13.1 mm ± 0.1 mm. Here, the radial direction refers to the radial direction of the cylindrical peripheral wall, the outer diameter D1 of the yoke 111 refers to the radial direction, and the maximum size of the outer contour of the yoke 111. In this embodiment, by optimizing the size of the yoke 111 of the pan/tilt motor 10, when the thickness of the yoke 111 is small and the outer diameter D1 of the yoke 111 is small, the outer size of the pan/tilt motor 10 is small, and meanwhile, it can be ensured that the torque output by the pan/tilt motor 10 is large and the torque fluctuation is small, so that the pan/tilt motor 10 can provide sufficient torque to overcome the disturbance moments such as the torsion of the flat cable and the wind disturbance when the airborne pan/tilt rotates, and the working performance of the pan/tilt motor 10 is ensured.

Specifically, the thickness T1 of the yoke 111 in the radial direction may be any value between 0.2 mm and 0.4 mm, for example, the thickness T1 of the yoke 111 in the radial direction may be any value between 0.2 mm and 0.23 mm, 0.25 mm, 0.28 mm, 0.3 mm, 0.32 mm, 0.35 mm, 0.37 mm, 0.4 mm, and the like, and between 0.2 mm and 0.4 mm. In one example, the thickness T1 of the yoke 111 in the radial direction is 0.3 mm.

The outer diameter D1 of the yoke 111 is any value between 13.0 mm and 13.2 mm, for example, the outer diameter D1 of the yoke 21 is any value between 13.0 mm and 13.2 mm, such as 13.0 mm, 13.02 mm, 13.05 mm, 13.07 mm, 13.1 mm, 13.11 mm, 13.13 mm, 13.16 mm, 13.18 mm, 13.2 mm. In one example, the outer diameter D1 of the yoke 111 is 13.0 millimeters.

The thickness T2 of the magnet 112 in the radial direction may be 0.3 millimeters ± 0.1 millimeters. Here, the radial direction refers to a radial direction of the peripheral wall of the cylindrical yoke 111, and the thickness T2 may be a thickness at any one point or an average thickness of the magnet 112. The thickness T2 of the magnet 112 in the radial direction is any value between 0.2 mm and 0.4 mm, for example, the thickness T2 of the magnet 112 in the radial direction is any value between 0.2 mm, 0.25 mm, 0.26 mm, 0.28 mm, 0.29 mm, 0.3 mm, 0.31 mm, 0.33 mm, 0.37 mm, 0.4 mm, etc. between 0.2 mm and 0.4 mm. The magnet 112 with the thickness ranging from 0.2 mm to 0.4 mm can be well matched with the magnetic yoke 111, so that the phenomenon that the magnet cannot provide enough magnetic field due to too thin and exceeds the magnetic permeability which can be achieved by the magnetic yoke 111 due to too strong magnetic field due to too thick can be avoided.

As shown in fig. 2, the pan/tilt head 100 of the present embodiment may include a support assembly 101, and the pan/tilt head motor 10 is connected to the support assembly 101 for driving the support assembly 101 to rotate. The cradle assembly 101 may be used to carry a load (e.g., a camera module).

The pan/tilt head 100 may generally be divided into a first axis pan/tilt head, a second axis pan/tilt head, a third axis pan/tilt head, or more axis pan/tilt heads according to the rotational degree of freedom of the pan/tilt head, for example, the support assembly 101 of the pan/tilt head may include at least one of a roll axis support 101a, a pitch axis support 101b, and a yaw axis support 101 c; correspondingly, the pan-tilt motor 10 comprises at least one of: a roll driving motor 10a for driving the roll shaft bracket 101a to rotate around the roll shaft; a pitch driving motor 10b for driving the pitch-axis support 101b to rotate around the pitch axis; and a yaw driving motor 10c for driving the yaw axis support 101c to rotate around the yaw axis.

A three-axis pan-tilt is generally widely used. Taking a three-axis pan-tilt head as an example, the support assembly 101 of the three-axis pan-tilt head can rotate around a roll axis, a pitch axis, and a yaw axis. Preferably, the tripod head 100 in this embodiment is a three-axis tripod head, and the support assembly 101 includes a roll shaft support 101a, a pitch shaft support 101b and a yaw shaft support 101c, wherein the roll shaft support 101a and the pitch shaft support 101b may be integrally formed, or both may be detachably connected, as shown in fig. 8, and the roll shaft support 101a and the pitch shaft support 101b are integrally formed.

The pitch-axis support 101b may include a pitch-axis arm 1011b rotatable about a pitch axis, and the lateral-axis support 101a may include a roll-axis arm 1011a rotatable about a roll axis. The pitch axis drive module 20b and roll axis drive module 20a may be mounted on the pitch axis arm 1011 b. The yaw axis support 101c may include a yaw axis arm 1011c capable of rotating about the yaw axis, and the yaw axis drive module 20c is mounted on the yaw axis arm 1011 c.

In one embodiment, as shown in fig. 8, the roll drive motor 10a may be welded to the roll shaft drive module 20a and the pitch drive motor 10b may be welded to the pitch shaft drive module 20 b. Fig. 7 is a schematic structural view of a yaw axis support of the pan/tilt head according to an embodiment of the present invention; as shown in FIG. 7, the yaw axis drive motor 10c may be welded to the yaw axis drive module 20 c.

Pan/tilt head motor 10 includes roll drive motor 10a, pitch drive motor 10b and driftage drive motor 10c, and wherein, pan/tilt head motor drive module 20 includes: roll axis drive module 20a, pitch axis drive module 20b, and yaw axis drive module 20 c.

As shown in fig. 1, the roll driving module 20a is electrically connected to the roll driving motor 10a and is electrically connected to the main controller 200 through an electronic wire, and the roll driving module 20a is used to control the roll driving motor 10 a. The pitch axis driving module 20b is electrically connected to the pitch driving motor 10b and is electrically connected to the main controller 200 through an electronic wire, and the pitch axis driving module 20b is used to control the pitch driving motor 10 b.

In one embodiment, the roll axis drive module 20a and the pitch axis drive module 20b may be connected in cascade. For example, the pitch axis driving module 20b is electrically connected to the roll axis driving module 20a, the roll axis driving module 20a is electrically connected to the main controller 200 through an electronic wire, and the signal of the main controller 200 is transmitted to the pitch axis driving module 20b through the roll axis driving module 20 a. Of course, the roll axis driving module 20a and the pitch axis driving module 20b may be electrically connected to each other, and the pitch axis driving module 20b is electrically connected to the main controller 200 through an electronic wire.

The yaw axis driving module 20c is electrically connected to the yaw driving motor 10c and the main controller 200, and is electrically connected to the main controller 200 through an electronic wire or an FPC board, and the yaw axis driving module 20c is used to control the yaw driving motor 10 c. Since the yaw axis support 101c is separately disposed and is closer to the body of the unmanned aerial vehicle, the corresponding yaw axis driving module 20c on the yaw axis support 101c can be electrically connected to the main controller 200 by using an FPC board with a short length, the FPC board has a low cost, and when it is not necessary to transmit high-speed signals, the FPC board can be used for signal transmission. Of course, it can be understood that the yaw axis driving module 20c may be electrically connected to the main controller 200 by using an electronic wire, which is relatively flexible, so as to effectively reduce the wire interference phenomenon of the pan/tilt head.

Fig. 5 is a schematic front structural view of an FPC board connected to a yaw axis driving module on a pan/tilt head according to an embodiment of the present invention; fig. 6 is a schematic back structure view of an FPC board connected to a yaw axis driving module on a pan/tilt head according to an embodiment of the present invention; as shown in fig. 5 and 6, in some embodiments, it is preferable that the yaw axis driving module 20c is electrically connected to the main controller 200 through an FPC board on which a single layer of the shielding film s is provided. One end of the FPC board is connected to the main controller 200 through a first connector x, and the other end of the FPC board is connected to the yaw axis driving module 20c through a second connector y. The FPC board may also have a third connector z thereon for connection with a GPS board. In addition, a compass h may be further provided on the FPC board connected to the yaw axis driving module 20 c. The compass h is also called as a geomagnetic sensor and is used for providing direction judgment for the unmanned aerial vehicle.

Through set up individual layer barrier film s on the FPC board can reduce the influence of electromagnetic interference to the FPC board to a certain extent, and individual layer barrier film s makes the hardness of FPC board be unlikely to too big to make unmanned aerial vehicle's vibration transmission effect not obvious, it is less to the control accuracy influence of little cloud platform. The yaw axis driving module 20c is electrically connected to the main controller 200 through an FPC board with a single-layer shielding film, so as to reduce the influence of vibration transmission while avoiding electromagnetic interference.

Fig. 4 is a schematic structural diagram of a hybrid harness of the pan/tilt head and an FPC board connected to the hybrid harness according to the embodiment of the present invention; as shown in fig. 1 and 4, the coaxial line for connecting the load 300 and the electronic line for connecting the roll axis driving module 20a and the pitch axis driving module 20b constitute a hybrid harness, and the hybrid harness is connected to the main controller 200. Specifically, as shown in fig. 4, the coaxial wire m and the electronic wire n may be bundled together by an acetate tape p to form a hybrid harness, wherein the coaxial wire m may be an AWG46 coaxial wire. The hybrid harness composed of the coaxial line m and the electronic line n may be electrically connected to the main controller 200 through the FPC board 400. After the mixed wire harness composed of the coaxial line m and the electronic line n reaches the FPC board 400 for connecting with the main controller 200, the mixed wire harness is separated, the electronic line n is welded on the electronic line welding area 401, the coaxial line m is welded on the coaxial line welding area 402, and the board-to-board connector 403 of 40 pins on the FPC board 400 is used for connecting with the first FPC connector 500 on the main controller 200, so as to electrically connect the roll shaft driving module 20a, the pitch shaft driving module 20b, and the load 300 with the main controller 200, and realize communication.

Additionally, with further reference to fig. 1, the unmanned aerial vehicle's master controller 200 may have a second FPC connector 800 for electrically connecting with an FPC board 900 connecting the yaw axis drive module 20 c. In addition, the first FPC connector 500 and the second FPC connector 800 can effectively reduce the size of the connectors by using the FPC board as a substrate, and are low in cost.

In addition, in one embodiment, the coaxial line m may be electrically connected to the load 300 (camera) through the coaxial line connector 600, and the electronic line n may be electrically connected to the roll driving module 20a through the electronic line connector 700.

The pitch axis driving module 20a may employ an FPC board as a substrate. It should be noted that, the pan/tilt motor driving module 20 in this embodiment is a printed circuit board, which includes a substrate and components disposed on the substrate. Here, the pitch axis driving module 20a is formed by using an FPC board as a substrate and disposing other components on the FPC board, which is softer, lighter in weight, and smaller in area compared to a common circuit board, and is beneficial to reducing the volume of the cradle head 100.

In one embodiment, as shown in fig. 1, the roll driving module 20a may be provided with a roll driving chip 21a and a pitch driving chip 21 b. That is, the roll driving chip 21a and the pitch driving chip 21b are integrated on the same printed circuit board. For example, when the area of the pitch axis driving module 20b is small and it is difficult to place the pitch axis driving chip 21b with a large volume, the pitch axis driving chip 21a and the roll axis driving chip 21a may be integrated on the roll axis driving module 20a, so that the layout is reasonable, the space can be effectively saved, and the volume of the pan-tilt is reduced.

It can be understood that, since the roll axis driving module 20a and the pitch axis driving module 20b are electrically connected together, the pitch driving motor 10b can be controlled regardless of whether the pitch axis driving chip 21b is provided on the roll axis driving module 20a or the pitch axis driving module 20 b.

As shown in fig. 1, the roll shaft driving module 20a is further provided with a roll hall sensor 22 a; and/or a pitching hall sensor 22b is also arranged on the pitching shaft driving module 20 b; and/or a yaw hall sensor 22c is further arranged on the yaw axis driving module 20 c. The corresponding Hall sensors are arranged on the corresponding holder motor driving modules, so that the positions of the holder motors can be detected respectively, the motor states can be adjusted in real time, and the stability of the holder system is improved.

As shown in fig. 2, the cradle head 100 may further include a fixing member 102 for pressing the FPC board connected to the yaw axis driving module 20 c. Specifically, the fixing member 102 may be a spring plate, one end of the fixing member 102 is fixed to the cradle head 100, and may be specifically fixed to the bracket assembly 101, and the other end of the fixing member 102 is used for pressing the FPC board connected to the yaw axis driving module 20 c. The fixing member 102 may be detachably disposed on the bracket assembly 101 by a screw, the fixing member 102 may be a sheet, and the fixing member 102 may be a plastic member, or a spring steel sheet, or other materials. The FPC board connected to the yaw axis driving module 20c is fixed by the fixing member 102, so that it can be effectively prevented from shaking or falling off, the connection stability of the FPC board is improved, and the signal transmission stability is ensured.

Example two

This embodiment provides an unmanned vehicles, including fuselage, cloud platform 100 and carry on load 300 on the cloud platform, be equipped with main control unit on the fuselage, the cloud platform has at least one and is used for driving cloud platform pivoted cloud platform motor, and the cloud platform still includes: at least one pan/tilt motor drive module 20.

The holder motor driving module 20 is electrically connected to the holder motor 10, and is configured to control the holder motor 10 to operate. The pan/tilt motor driving module 20 may be understood as a printed circuit board on which various functional modules may be disposed to at least implement control of the pan/tilt motor 10. Specifically, the pan/tilt motor driving module 20 may be configured to control the operation of the pan/tilt motor 10 according to one or more working instructions, for example, control the start/stop, the operation speed, and the like of the pan/tilt motor 10.

The at least one pan/tilt motor driving module 20 is electrically connected to a main controller 200 on the movable platform through an electronic cable, so as to transmit a low-speed signal through the electronic cable. For the unmanned aerial vehicle, the master controller 200 is used for being in communication connection with each component on the unmanned aerial vehicle so as to control the flight of the whole unmanned aerial vehicle. The main controller 200 may include a circuit board and functional modules provided on the circuit board to implement predetermined functions. The load 300 may be electrically connected with the main controller 200 through a coaxial line to transmit a high-speed signal through the coaxial line. Specifically, the load 300 carried on the cradle head 100 may include a camera module, for example, the unmanned aerial vehicle may shoot images or videos through the camera module, and further, the load (for example, the camera module) 300 is electrically connected to the main controller 200 through a coaxial line, so that transmission of high-definition images or videos can be realized, and an aerial photography effect of the unmanned aerial vehicle is improved.

In the unmanned aerial vehicle provided by the embodiment of the invention, the pan head comprises a pan head motor and at least one pan head motor driving module, the pan head motor driving module is used for controlling the pan head motor to operate, the pan head motor driving module is electrically connected with the main controller through an electronic wire so as to transmit low-speed signals through the electronic wire, the load is used for being connected with the main controller through a coaxial wire so as to transmit high-speed signals through the coaxial wire, the related low-speed signals on the pan head are transmitted through the electronic wire, and the related high-speed signals are transmitted through the coaxial wire.

The structure and function of the cradle head of the unmanned aerial vehicle in this embodiment are the same as those in the first embodiment, and specific reference may be made to the description of the first embodiment, which is not described again in this embodiment.

In the embodiments of the present invention, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cloud platform for movable platform, its characterized in that, the cloud platform has at least one and is used for the drive the pivoted cloud platform motor of cloud platform, the cloud platform still includes:

2. A head according to claim 1,

the cloud platform is equipped with inertia measuring unit, inertia measuring unit with main control unit passes through the coaxial line electricity is connected.

3. A head according to claim 2, wherein said load and said inertial measurement unit are integrated on the same circuit board.

4. A head according to claim 1, wherein said head motor comprises a stator and a rotor rotatably arranged outside said stator, said rotor comprising a yoke and a magnet arranged inside said yoke, said yoke having a thickness in a radial direction of 0.3 mm ± 0.1 mm, said yoke having an outer diameter of 13.1 mm ± 0.1 mm.

5. A head according to claim 4, wherein said magnet comprises a sinusoidally internally magnetized magnet.

6. A head according to claim 1, wherein said head comprises a support assembly, said head motor being connected to said support assembly for driving said support assembly in rotation.

7. A head according to claim 6, wherein said support assembly comprises at least one of a roll-axis support, a pitch-axis support and a yaw-axis support, said head motor comprising at least one of:

the transverse roller driving motor is used for driving the transverse roller shaft bracket to rotate around a transverse roller;

the pitching driving motor is used for driving the pitching shaft support to rotate around a pitching shaft;

and the yaw driving motor is used for driving the yaw shaft support to rotate around the yaw shaft.

8. A head according to claim 7, wherein said head is a three-axis head, said carriage assembly comprising a roll-axis carriage, a pitch-axis carriage and a yaw-axis carriage, said head motor comprising a roll drive motor, a pitch drive motor and a yaw drive motor, and wherein said head motor drive module comprises:

the transverse rolling shaft driving module is electrically connected with the transverse rolling driving motor and the main controller through the electronic wire, and is used for controlling the transverse rolling driving motor;

the pitching shaft driving module is electrically connected with the pitching driving motor and the main controller through the electronic wire, and is used for controlling the pitching driving motor;

and the yaw axis driving module is electrically connected with the yaw driving motor and the main controller and is electrically connected with the main controller through the electronic wire or the FPC board, and the yaw axis driving module is used for controlling the yaw driving motor.

9. A head according to claim 8, wherein said roll axis driving module is connected in cascade with said pitch axis driving module.

10. A head according to claim 9, wherein said roll axis driving module is electrically connected to said main controller via said electronic cable after being connected in cascade to said pitch axis driving module.

11. A head according to claim 10, wherein said coaxial line for connecting said load and said electronic line for connecting said roll axis driving module and said pitch axis driving module constitute a hybrid harness, said hybrid harness being connected to said main controller.

12. A head according to claim 11, wherein said hybrid harness is connected to said main controller by means of an FPC board.

13. A head according to claim 8, wherein said yaw axis drive module is electrically connected to said main controller via an FPC board, wherein a single layer of shielding film is provided on said FPC board.

14. A head according to claim 8, wherein said roll axis driving module is provided with a roll axis driving chip and a pitch axis driving chip.

15. A head according to claim 13, wherein said pitch axis drive module employs FPC board as a base plate.

16. A head according to claim 8, wherein said roll shaft driving module is further provided with a roll Hall sensor;

and/or the pitching shaft driving module is also provided with a pitching Hall sensor;

and/or a yaw Hall sensor is further arranged on the yaw shaft driving module.

17. A head according to claim 13, wherein the head is provided with a fixing member for pressing an FPC board connected to the yaw axis drive module.

18. A holder according to claim 17, wherein said mounting member is a spring plate, one end of said mounting member is fixed to said holder, and the other end of said mounting member is adapted to press against an FPC board connected to said yaw axis driving module.

19. A head according to claim 7, wherein said pitch-axis support comprises a pitch-axis arm rotatable about a pitch axis, said pitch-axis drive module and said roll-axis drive module being mounted on said pitch-axis arm.

20. A head according to claim 8, wherein said yaw axis support comprises a yaw axis arm rotatable about a yaw axis, said yaw axis drive module being mounted on said yaw axis arm.

21. A head according to claim 13, wherein a compass is provided on an FPC board connected to said yaw axis drive module.

22. A head according to claim 1, wherein said load comprises a camera module.

23. A head according to claim 1, wherein said movable platform comprises an unmanned aerial vehicle.

24. The utility model provides an unmanned vehicles, includes fuselage, cloud platform and carries on load on the cloud platform be equipped with main control unit on the fuselage, its characterized in that, the cloud platform has at least one and is used for the drive cloud platform pivoted cloud platform motor, the cloud platform still includes:

25. The unmanned aerial vehicle of claim 24,

26. The UAV of claim 24 wherein the load and the inertial measurement unit are integrated on a same circuit board.

27. The UAV of claim 24 wherein the pan-tilt motor comprises a stator and a rotor rotatably disposed outside the stator, the rotor comprising a yoke and a magnet disposed within the yoke, the yoke having a thickness of 0.3 mm ± 0.1 mm in a radial direction, the yoke having an outer diameter of 13.1 mm ± 0.1 mm.

28. The UAV of claim 27 wherein the magnets comprise sinusoidal inner magnetized magnets.

29. The UAV of claim 24 wherein the cradle comprises a cradle assembly, and wherein the cradle motor is coupled to the cradle assembly for driving the cradle assembly in rotation.

30. The UAV of claim 29 wherein the bracket assembly comprises at least one of a roll-axis bracket, a pitch-axis bracket, and a yaw-axis bracket, the pan-tilt motor comprising at least one of:

31. The UAV of claim 30 wherein the pan-tilt motor drive module comprises:

32. The UAV of claim 31 wherein the roll and pitch drive modules are connected in cascade.

33. The UAV of claim 32 wherein the roll and pitch axis drive modules are electrically connected to the main controller via the electrical wires after being connected in cascade.

34. The UAV of claim 33 wherein the coaxial line for connecting the load and the electronic line for connecting the roll and pitch drive modules comprise a hybrid harness, the hybrid harness being connected to the master controller.

35. The UAV of claim 34 wherein the hybrid harness is connected to the master controller through an FPC board.

36. The UAV of claim 35 wherein the master controller has a first FPC connector thereon for electrically connecting with an FPC board connected to the hybrid harness.

37. The unmanned aerial vehicle of claim 31, wherein the yaw axis drive module is electrically connected to the main controller via an FPC board, wherein a single layer of shielding film is provided on the FPC board.

38. The UAV of claim 37 wherein the master controller has a second FPC connector thereon for electrically connecting with an FPC board connected to the yaw axis drive module.

39. The UAV of claim 31 wherein the roll driving module has a roll driving chip and a pitch driving chip.

40. The UAV of claim 37 wherein the pitch axis drive module employs an FPC board as a substrate.

41. The unmanned aerial vehicle of claim 31, wherein a roll hall sensor is further disposed on the roll shaft drive module;

and/or a yaw Hall sensor is further arranged on the yaw shaft driving module.

42. The unmanned aerial vehicle of claim 37, wherein the pan/tilt head is provided with a fixing member for pressing an FPC board connected to the yaw axis driving module.

43. The unmanned aerial vehicle of claim 42, wherein the fixing member is a spring plate, one end of the fixing member is fixed to the pan/tilt head, and the other end of the fixing member is used for pressing an FPC board connected with the yaw axis driving module.

44. The UAV of claim 31 wherein the pitch-axis mount comprises a pitch-axis arm rotatable along a pitch axis, the pitch-axis drive module and the roll-axis drive module being mounted on the pitch-axis arm.

45. The UAV of claim 31 wherein the yaw-axis mount comprises a yaw-axis arm rotatable about a yaw axis, the yaw-axis drive module being mounted to the yaw-axis arm.

46. The UAV of claim 45 wherein a compass is further provided on the FPC board coupled to the yaw axis drive module.

47. The UAV of claim 24 wherein the load comprises a camera module.