WO2018064831A1 - 一种云台、无人机及其控制方法 - Google Patents

一种云台、无人机及其控制方法 Download PDF

Info

Publication number
WO2018064831A1
WO2018064831A1 PCT/CN2016/101562 CN2016101562W WO2018064831A1 WO 2018064831 A1 WO2018064831 A1 WO 2018064831A1 CN 2016101562 W CN2016101562 W CN 2016101562W WO 2018064831 A1 WO2018064831 A1 WO 2018064831A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
motor assembly
roll
pan
axis motor
Prior art date
Application number
PCT/CN2016/101562
Other languages
English (en)
French (fr)
Inventor
张正力
潘相熙
常松涛
Original Assignee
深圳市道通智能航空技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Priority to CN201680008947.4A priority Critical patent/CN108235702B/zh
Priority to PCT/CN2016/101562 priority patent/WO2018064831A1/zh
Publication of WO2018064831A1 publication Critical patent/WO2018064831A1/zh
Priority to US16/242,606 priority patent/US10545392B2/en

Links

Images

Classifications

    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F16M11/123—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints the axis of rotation intersecting in a single point, e.g. by using gimbals
    • 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
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present application relates to the field of aircraft technology, and in particular, to a cloud platform for carrying an imaging device on an aircraft, a drone having the same, and a control method thereof.
  • the existing aerial vehicles are equipped with one or more pan/tilt heads, and the cameras provided on the pan/tilt are generally within 180 degrees.
  • the pan-tilt itself needs to be rotated. Or use multiple pan/tilt to achieve different angles of view.
  • the related technology has the following problems: 1.
  • the method of using a single cloud platform to obtain a 360 degree panoramic view by itself, the defect is that 360 degree panorama cannot be acquired at the same time, and the virtual reality cannot be satisfied.
  • the framing method using multiple pan/tilt, the defect is that there is a time difference in the shooting of the cameras on each gimbal, the experience in virtual reality is poor, and the cost is high.
  • the present application provides a pan/tilt capable of simultaneous 360-degree framing, a drone having the same, and a control method thereof.
  • the embodiment of the present application provides the following technical solutions:
  • a pan/tilt head includes: a bracket, a roll motor assembly, a pitch axis motor assembly, a first camera, and a second camera.
  • the first camera and the second camera are disposed at two ends of the roll motor assembly and face in opposite directions, and the roll motor assembly is configured to drive the first camera and the second camera to rotate about the roll axis thereof.
  • the pitch axis motor assembly is mounted to the bracket and coupled to the roll axis motor assembly for driving the roll motor assembly, the first camera and the second camera to rotate about their pitch axes.
  • the roll motor assembly includes a roll motor stator and a roll motor rotor; the roll motor stator is located in the middle of the roll motor assembly and is coupled to the pitch axis motor assembly; The first camera and the second camera are respectively disposed at two ends of the roll motor rotor and face in opposite directions.
  • the pitch axis motor assembly includes a pitch axis motor rotor that is fixedly coupled to the pitch axis motor rotor.
  • the roll motor stator and the pitch axis motor rotor are fixedly coupled by a connecting shaft arm; or the roll motor stator is directly fixedly coupled to the pitch axis motor rotor.
  • the pitch axis motor assembly includes a pitch axis motor stator to which the pitch axis motor stator is mounted, and the pitch axis motor rotor is coupled to the roll motor assembly.
  • the pitch axis motor stator is fixedly coupled to the bracket.
  • the pitch axis and the roll axis are perpendicular to each other.
  • the first camera includes a first housing and a first lens, the first lens being fixed in the first housing, and the first housing being fixed to one end of the roller motor rotor.
  • the second camera includes a second housing and a second lens, the second lens is fixed in the second housing, and the second housing is fixed to the other end of the roller motor.
  • the optical axes of the first camera and the second camera coincide.
  • the pan/tilt further includes a heading motor assembly, the heading motor assembly is mounted to the bracket, and the heading motor assembly is used to drive the bracket, the pitch shaft motor assembly, the roll motor assembly, A camera and a second camera rotate about their heading axis.
  • the heading motor assembly includes a heading motor stator and a heading motor rotor, the heading motor rotor is fixedly coupled to the bracket, and the heading motor stator is coupled to an external base or other device.
  • the bracket includes a cross arm and a first side arm, the first side arm being coupled to the cross arm; the pan/tilt further comprising a heading motor assembly, the heading motor assembly being mounted to the cross arm One end of the first side arm is coupled to the pitch axis motor assembly.
  • the heading axis motor includes a heading motor stator and a heading motor rotor, the pitch axis motor assembly including a pitch axis motor stator and a pitch axis motor rotor; the heading shaft motor rotor is fixedly mounted on the a cross arm, one end of the first side arm being fixedly coupled to the pitch shaft motor stator.
  • the bracket further includes a second side arm coupled to the cross arm and having one end coupled to the roll motor assembly.
  • the roll motor assembly includes a roll motor stator and a roll axis a rotor, one end of the second side arm is movably connected to the roller motor stator.
  • a connecting shaft arm is disposed on a side of the roller motor assembly stator near the second side arm, and a second side arm is provided with a mounting hole at one end, and the connecting shaft arm is rotatable Inserted into the mounting hole.
  • a mounting hole is disposed on a side of the roller motor assembly stator near the second side arm, and a connecting shaft arm is disposed at an end of the second side arm away from the cross arm.
  • the connecting shaft arm is rotatably inserted into the mounting hole.
  • the embodiment of the present application provides the following technical solutions:
  • a drone includes a fuselage, a base and the above-mentioned pan/tilt, and the pan/tilt is mounted to the fuselage through a base.
  • the drone includes:
  • a detecting component for detecting and acquiring state information of a roll motor component and a pitch axis motor component
  • a processor configured to calculate flight attitude information of the pan/tilt according to the state information, and output one or more motor signals according to the flight attitude information, where the one or more motor signals are used to cause a roll axis motor assembly, At least one of the pitch axis motor assemblies rotates or adjusts the rotational speed such that the first camera and the second camera are turned to a predetermined direction and position, and the first camera and the second camera are controlled to simultaneously acquire image information of 180 degrees in opposite directions.
  • the processor is further configured to control the first camera and the second camera to lock a specific target or angle; if the drone is in a moving state or jitter occurs, the processor is further configured to calculate in real time according to the state information. a flight attitude information of the pan/tilt, and outputting one or more motor signals according to the flight attitude information, the one or more motor signals being used to cause at least one of a roll axis motor assembly and a pitch axis motor assembly to rotate correspondingly, The first camera and the second camera are always locked to a specific target or angle for shooting.
  • the drone includes a communication unit for receiving information and transmitting the received information to the processor, and is further configured to transmit 180 degrees of image information acquired by the first camera and the second camera respectively.
  • an embodiment of the present application provides a method for controlling a drone, including:
  • pan-tilt operation information is to indicate that the pan-tilt is working, so that the first camera and the second camera of the pan-tilt head are turned to a predetermined direction to reach a predetermined position and posture;
  • the first camera and the second camera are disposed at two ends of the roll axis motor assembly and face in opposite directions, the pitch axis motor assembly and The roll motor assembly is connected;
  • the first camera and the second camera are controlled to simultaneously acquire image information of 180 degrees in opposite directions.
  • controlling method further includes:
  • the drone If the drone is in a moving state or shakes, calculating flight attitude information of the pan/tilt according to the state information, and outputting one or more motor signals according to the flight attitude information;
  • controlling method further includes:
  • the flight operation information is used to indicate flight of the drone
  • the drone is controlled to fly according to the flight operation information.
  • two cameras are respectively disposed at two ends of the roll motor assembly, and are oriented in opposite directions, so that the two cameras can cooperate with each other to obtain a 360 degree panorama at the same time. , to meet the three-dimensional experience of virtual reality.
  • FIG. 1 is a perspective view of a pan/tilt head according to an embodiment of the present application.
  • Figure 2 is a front elevational view of the pan/tilt head shown in Figure 1;
  • Figure 3 is a cross-sectional view J-J of the gimbal shown in Figure 1;
  • FIG. 4 is a schematic structural diagram of a drone according to an embodiment of the present application.
  • FIG. 5 is a flowchart of a method for controlling a drone according to an embodiment of the present application
  • FIG. 6 is a flowchart of a method for controlling a drone according to another embodiment of the present application.
  • the platform 100 includes: a bracket 10, a roll motor assembly 21, a pitch axis motor assembly 22, a heading motor assembly 23, a first camera 31, a second camera 32, and a connecting axle arm. 40.
  • the first camera 31 and the second camera 32 are disposed at opposite ends of the roll motor assembly 21 and face in opposite directions, and the roll motor assembly 21 is configured to drive the first camera 31 and the second camera 32 simultaneously around the roll axis thereof. 213 turns.
  • a shaft arm 40 is coupled to the bracket 10 and coupled to the roll motor assembly 21.
  • the pitch axis motor assembly 22 is mounted to the bracket 10, and is connected to the roll motor assembly 21 via the connecting shaft arm 40 for driving the connecting shaft arm 40, the roll motor assembly 21, the first camera 31 and the second camera 32 around it.
  • the pitch axis 223 is rotated.
  • the heading motor assembly 23 is mounted to the bracket 10 for driving the bracket 10, the pitch axis motor assembly 22, the connecting axle arm 40, the roll axis motor assembly 21, the first camera 31 and the second camera 32 to rotate about their heading axis 233.
  • the heading axis 233 is a rotation center axis of the roll axis motor assembly 21, the pitch axis motor assembly 22, and the heading axis motor assembly 23, respectively.
  • the bracket 10 is a U-shaped bracket including a cross arm 11, a first side arm 12, and a second side arm 13.
  • the first side arm 12 and the second side arm 13 are perpendicularly connected to both ends of the cross arm 11.
  • the cross arm 11 of the bracket 10 is fixed to the lower end surface of the heading motor assembly 23, and one ends of the first side arm 12 and the second side arm 13 are respectively provided with mounting holes 120, 130, for example, on the first side arm 12 and the second side
  • the one end of the arm 13 away from the cross arm 11 is provided with mounting holes 120, 130, respectively.
  • the connecting axle arm 40 is hinged to the bracket 10 through the mounting hole 120.
  • the connecting shaft arm 40 is coupled to the roll motor assembly 21 and secures the roll motor assembly 21 between the first side arm 12 and the second side arm 13.
  • the roll motor assembly 21 includes a roll motor stator 211 and a roll motor rotor 212.
  • the roll motor stator 211 is located in the middle of the roll motor assembly 21 and is directly fixed to the connecting shaft arm 40.
  • a mounting hole is disposed on a side of the roller shaft motor assembly stator 211 adjacent to the second side arm 13, and an end of the second side arm 13 away from the cross arm 11 is provided with another connecting shaft arm 50, and the connecting shaft arm 50 Through the mounting hole 130, it is rotatably inserted into the mounting hole.
  • the connecting axle arm 50 can be fixedly mounted on a side of the roller shaft motor assembly stator 211 near the second side arm 13, the connecting axle arm 50 passing through the mounting hole 130, and the roller shaft motor
  • the assembly stator 211 is movably mounted to the second side arm 13.
  • the first camera 31 includes a first lens 310 and a first housing 312.
  • the first lens 310 is fixed in the first housing 312, and the first housing 312 is fixed to one end of the roller motor rotor 212.
  • the second camera 32 includes a second lens 320 and a second housing 322.
  • the second lens 320 is fixed in the second housing 322, and the second housing 322 is fixed to the other end of the roller motor rotor 212.
  • the optical axes of the two lenses 310, 320 coincide, and in use, the first lens 310 and the second lens 320 can achieve simultaneous 360-degree image acquisition.
  • the optical axes of the two lenses 310, 320 may be at an angle, but it must be ensured that the first lens 310 and the second lens 320 can achieve 360 degrees while taking images.
  • the pitch axis motor assembly 22 includes a pitch axis motor stator 221 and a pitch axis motor rotor 222. Squat The tilt shaft motor assembly 22 is located on one side of the lower end of the bracket 10 and is coupled to the roll motor assembly 21 via the connecting shaft arm 40.
  • the pitch axis motor stator 221 is fixed to the outside of the first side arm 12 or the second side arm 12.
  • the pitch axis motor rotor 222 is fixedly coupled to the connecting shaft arm 40.
  • the pitch axis motor rotor 222 rotates, the roll motor assembly 21, the first camera 31, and the second camera 32 are rotated about the axial direction 43 of the connecting shaft arm 40.
  • the pitch axis 223 and the roll axis 213 are perpendicular to each other, and the axial direction 43 of the connection arm arm 40 coincides with the pitch axis 223.
  • the connecting shaft arm 40 can be omitted, the roll axis motor stator 211 is directly fixedly connected to the pitch axis motor rotor 222, and the pitch axis motor stator 221 is mounted on the bracket 10, for example, fixedly mounted on the first side.
  • the arm 12 is remote from one end of the cross arm 11.
  • the second side arm 13 can be omitted, the pitch axis motor stator 221 is fixedly mounted to the first side arm 12, and the pitch axis motor rotor 222 is coupled to the roll axis motor stator 211.
  • the roll motor assembly 21, the first camera 31, and the second camera 32 are located on one side of the first side arm 12
  • the pitch axis motor assembly 22 is located on the other side of the first side arm 12
  • the pitch axis motor stator 221 is fixed.
  • the pitch axis motor rotor 222 is coupled to the roll motor stator 211 via the connecting shaft arm 40, or directly to the roll motor stator 211.
  • the heading motor assembly 23 includes a heading motor stator 231 and a heading motor rotor 232.
  • the heading motor assembly 23 is located above the bracket 10, and the lower end surface of the heading motor assembly 23 is fixedly coupled to the upper surface of the cross arm 11 in the bracket 10.
  • the heading motor stator 231 is for connection with an external base or other device
  • the heading motor rotor 232 is fixedly coupled to the upper surface of the cross arm 11 in the bracket 10.
  • the heading motor rotor 232 rotates, the driving bracket 10, the roll axis motor assembly 21, the pitch axis motor assembly 22, the first camera 31, the second camera 32, and the connecting shaft arm 40 rotate together around the heading axis 233.
  • the heading shaft 233 is perpendicular to the axial direction 43 of the connecting shaft arm 40 and the rolling shaft 213, respectively.
  • the heading motor assembly 23 can be omitted and the cross arm 11 of the bracket 10 is used to interface directly with an external base or other device.
  • the pan/tilt 100 further includes a retaining ring 50 that is annular and sleeved in the middle of the roll motor assembly 21.
  • a rectangular through hole is formed in the side wall of the retaining ring 50, and the connecting shaft arm 40 is fixedly connected to the rolling roller stator 211 through the rectangular through hole 51.
  • the retaining ring 50 is fixed at a gap in the middle of the roll motor assembly 21 for blocking foreign matter such as moisture, dust and the like from entering the inside of the roll motor assembly 21 through the slit, thereby improving the roll motor assembly 21 and the cloud. The service life of the station 100.
  • the first camera 31 and the second camera 32 are respectively fixed at both ends of the roll motor assembly 21, so that the first camera 31 and the second camera 32 do not move or rotate relative to each other when shooting.
  • the time difference between the first camera 31 and the second camera 32 is about 180 degrees and the direction is opposite.
  • the first camera 31 and the second camera 32 can jointly complete 360-degree panoramic shooting to ensure that they are acquired at the same time.
  • a 360-degree panoramic image can satisfy the 3-dimensional stereo experience in virtual reality.
  • the cloud camera 100 is provided with two cameras, that is, the first camera 31 and the second camera 32, the cloud platform 100 can complete tasks that can be completed by multiple clouds, reducing the number of required clouds and saving. cost.
  • the side walls of the retaining ring 50 may no longer be provided with rectangular through holes, the roll motor stator 211 and the retaining ring
  • the inner surface of the side wall of the 50 is fixedly connected, and one end of the connecting shaft arm 40 is fixedly connected to the outer surface of the side wall of the retaining ring 50.
  • the bracket 10 can include a cross arm 11 and a first side arm 12, one end of which is fixedly coupled to one end or lower surface of the cross arm 11, the upper surface of the cross arm 11 and the heading motor
  • the lower end surface of the assembly 23 is fixedly connected.
  • the roll motor assembly 21, the first camera 31, and the second camera 32 are located on one side of the first side arm 12, and the pitch axis motor assembly 22 is located on the other side of the first side arm 12.
  • the lower end of the first arm 12 i.e., the end away from the cross arm 11
  • One end of the connecting shaft arm 40 is fixedly coupled to an axial end surface of the pitch axis motor assembly 22, and the other end is fixedly coupled to the side surface of the roll motor assembly 21.
  • the bracket 10 may be elongated, and one end of the bracket 10 is fixedly coupled to the lower end surface of the heading motor assembly 23, and the roll motor assembly 21, the first camera 31, and the second camera 32 are located on the bracket 10.
  • the pitch axis motor assembly 22 is located on the other side of the bracket 10.
  • the lower end of the bracket 10 is provided with a through hole, and the connecting shaft arm 40 is hinged to the bracket 10 through the through hole.
  • One end of the connecting shaft arm 40 is fixedly coupled to an axial end surface of the pitch axis motor assembly 22, and the other end is fixedly coupled to the side surface of the roll motor assembly 21.
  • the platform 100 may also be adapted to be mounted or coupled to a movable object, such as a motorized and non-motorized vehicle or vessel, a drone, a robot, a human or animal body, and the like.
  • a movable object such as a motorized and non-motorized vehicle or vessel, a drone, a robot, a human or animal body, and the like.
  • the pan/tilt can be mounted to a drone through a base.
  • At least one of the roll motor assembly 21, the pitch axis motor assembly 22, and the heading motor assembly is implemented using a brushless DC motor.
  • Brushless DC motors have the following advantages: (1) reliable performance, reduced wear and/or failure rate, and longer life (about six times) than brushed motors due to electronic commutation instead of mechanical commutators; 2) Low no-load current, because the brushless DC motor is a static motor; (3) high efficiency; (4) small size.
  • other types of motors can also be used in place of brushless DC motors.
  • the roll motor assembly 21 directly drives the roll motor rotor 212 and the first camera 31 and the second camera 32 at both ends of the roll motor assembly 21 to rotate around the roll axis 213, and pitch
  • the shaft motor assembly 22 directly drives the connecting axle arm 40 to rotate about the pitch axis 223, and the heading motor assembly 23 directly drives the bracket 10 to rotate about the heading axis 233.
  • direct drive motors for example, compact or micro motors
  • direct drive motors provide at least the following benefits: (1) Direct drive motors typically require relatively little energy (electricity) to increase energy efficiency. And protect the environment; (2) The motor can be controlled in a stepless manner to reduce the response time, and can be quickly and timely adjusted to respond to changes in the attitude of the gimbal 100. Therefore, the stability of the first camera 31 and the second camera 32 can be improved.
  • an embodiment of the present application provides a drone 200 including a body 202 , a base 204 , a detecting component 206 , a processor 208 , a communication unit 210 , and the pan/tilt shown in FIG. 1 to FIG. 3 . 100.
  • the pan/tilt 100 is mounted to the body 202 through the base 204.
  • the detecting component 206 is configured to detect or acquire state information of the pan/tilt head 100, for example, the bracket 10, the roll axis motor component 21, the pitch axis motor component 22, the heading axis motor component 23, the first camera 31, and the second camera 32. And the status information of the connecting shaft arm 40.
  • the detection component 206 can include an inertial measurement unit, a compass, a GPS transceiver, a speed sensor, or other type of measurement element or sensor.
  • detection component 206 can include one or more gyroscopes for detecting angular velocity and/or one or more linear and angular accelerometers for detection.
  • the status information may include angles, linear speeds, accelerations, and position information of the platform 100, such as the bracket 10, the roll motor assembly 21, the pitch axis motor assembly 22, the heading motor assembly 23, and the first camera. 31. Angle, linear velocity, acceleration and position information of the second camera 32 and the connecting axle arm 40, and the like.
  • the status information further includes status information of one or more rotating axes of the platform 100, that is, status information of the roll axis 213, the pitch axis 223, and the heading axis 233.
  • roll The angle of the shaft 213, the pitch axis 223, and the heading axis 233, linear velocity, acceleration, and the like.
  • the processor 208 is configured to calculate flight attitude information of the platform 100 according to the state information, and output one or more motor signals according to the flight attitude information.
  • the flight attitude information may include directions or inclinations of the roll axis 213, the pitch axis 223, and the heading axis 233, speed and/or acceleration, etc., and the bracket 10, the roll axis motor assembly 21, the pitch axis motor assembly 22, and the heading The direction or inclination, the speed and/or the acceleration of the shaft motor assembly 23, the first camera 31, the second camera 32, and the connecting axle arm 40 with respect to the roll axis 213, the pitch axis 223, and the heading axis 233.
  • the flight attitude information may be calculated based on angular velocity information.
  • the flight attitude information may be calculated based on both angular velocity information and linear acceleration information.
  • the linear acceleration information can be used to modify and/or correct the angular velocity information.
  • the processor 208 can generate one or more motor signals based on the flight attitude information for causing forward, reverse, and forward of the roll motor assembly 21, the pitch axis motor assembly 22, and the heading motor assembly 23. Adjust the speed.
  • the roll motor assembly 21, the pitch axis motor assembly 22, and the heading motor assembly 23 can be rotated according to one or more motor signals, such that the first camera 31 and the second camera 32 can rotate around the pitch axis 223, the roll axis 213, and At least one of the heading shafts 233 rotates. This rotation may cause the first camera 31 and the second camera 32 to be turned to a predetermined direction, position, or to maintain a predetermined position or posture.
  • the first camera 31 and the second camera 32 facing in opposite directions simultaneously acquire 180-degree image information in opposite directions at a predetermined position or posture.
  • the communication unit 210 is configured to acquire the 180-degree image information in the opposite direction and send it to a server for image processing.
  • the server synthesizes 360-degree stereoscopic image information into 180-degree image information in the opposite direction.
  • the processor 208 can control the first camera 31 and the second camera 32 to lock a particular target or angle for shooting.
  • the image information acquired by the first camera 31 and the second camera 32 can be analyzed to obtain image information of a specific target, and the image information of the specific target and the real-time image information obtained by the first camera 31 and the second camera 32 are compared.
  • the first camera 31 and the second camera 32 lock a specific target for shooting.
  • the processor 208 may calculate the flight attitude information of the platform 100 according to the state information of the platform 100. And output one or more according to the flight attitude information Motor signal.
  • the roll axis motor assembly 21, the pitch axis motor assembly 22, and the heading axis motor assembly 23 can be rotated according to the one or more motor signals, so that the first camera 31 and the second camera 32 can rotate around the pitch axis 223 and the roll axis. At least one of the 213 and the heading axis 233 is rotated such that the first camera 31 and the second camera 32 always lock a specific target or angle for shooting.
  • the first camera 31 and the second camera 32 of the drone 200 are respectively disposed at two ends of the roll motor assembly 21 and face in opposite directions, so the first camera 31 and the second camera 32 The relative movement or rotation does not occur, and the time difference is not generated when the photographing is performed; and the angles of view of the first camera 31 and the second camera 32 are about 180 degrees and the directions are opposite, and the first camera 31 and the second camera 32 can be completed together.
  • the 360-degree panoramic shooting ensures that 360-degree panoramic images are acquired at the same time, which can satisfy the 3-dimensional stereo experience in virtual reality.
  • the cloud platform 100 can complete tasks that can be completed by multiple clouds, reducing the number of required clouds and saving. cost.
  • an embodiment of the present application provides a method for controlling the drone 200.
  • the control method includes the following steps:
  • the drone 200 receives flight operation information through the communication unit 210, the flight operation information being used to indicate flight of the drone 200.
  • the user uses the remote controller to send flight operation information to the drone 200, instructing the drone 200 to fly to a predetermined position.
  • S502 Control the drone to fly according to the flight operation information
  • the processor 208 acquires flight operation information received by the communication unit 210, and controls the drone 200 to fly.
  • S503 Receive the PTZ operation information.
  • the communication unit 210 receives the pan/tilt operation information, and the pan-tilt operation information indicates that the pan-tilt head 100 is operated, so that the first camera 31 and the second camera 32 are turned to a predetermined direction to reach a predetermined position and posture. For example, when the user wants to shoot the target, the remote control can be used to send the gimbal to the drone 200. Operational information.
  • the detecting component 206 detects or acquires state information of the pan/tilt head 100, for example, the bracket 10, the roll axis motor assembly 21, the pitch axis motor assembly 22, the heading axis motor assembly 23, the first camera 31, the second camera 32, and the connection.
  • S505 Calculate flight attitude information of the pan/tilt according to the state information of the pan/tilt and the operation information of the pan/tilt, and output one or more motor signals according to the flight attitude information;
  • the processor 208 calculates flight attitude information of the platform 100 based on the status information and the pan/tilt operation information, and outputs one or more motor signals according to the flight attitude information.
  • the roll motor assembly 21, the pitch axis motor assembly 22, and the heading motor assembly 23 perform forward rotation, reverse rotation, and adjustment of the rotation speed according to the one or more motor signals, and adjust the first camera 31 and the second camera 32 to reach a predetermined state. Position, posture.
  • S507 Control the first camera and the second camera to acquire image information.
  • the communication unit 210 receives the shooting operation information, which indicates that the first camera 31 and the second camera 32 start to acquire image information. For example, the user sends the shooting operation information to the drone 200 using the remote controller, and the communication unit 210 receives the shooting operation. After the information is processed by the processor 208, the first camera 31 and the second camera 32 are controlled to acquire the 180-degree image information in the opposite direction at the same position and posture.
  • the communication unit 210 acquires the 180-degree image information in the opposite direction and transmits it to the server for image processing.
  • the server synthesizes 360-degree stereoscopic image information into 180-degree image information in the opposite direction.
  • control method of the drone 200 further includes:
  • S601 Control the first camera and the second camera to lock a specific target or angle
  • the processor 208 can control the first camera 31 and the second camera 32 to lock a specific target or angle for shooting.
  • image information of a specific target can be obtained by analyzing image information acquired by the first camera 31 and the second camera 32, and by comparing image information of a specific target with real-time image information obtained by the first camera 31 and the second camera 32, The first camera 31 and the second camera 32 lock a specific target for shooting.
  • S602 If the drone is in a moving state or shakes, calculating the flight attitude information of the pan/tilt according to the state information of the pan/tilt, and outputting one or more motor signals according to the flight attitude information;
  • the processor 208 may calculate flight attitude information of the platform 100 according to the state information of the platform 100, and output one or more motor signals according to the flight attitude information.
  • S603 Adjust the first camera and the second camera in real time according to the one or more motor signals, so that the first camera and the second camera always lock a specific target or angle for shooting.
  • the roll axis motor assembly 21, the pitch axis motor assembly 22, and the heading axis motor assembly 23 can be rotated according to the one or more motor signals, so that the first camera 31 and the second camera 32 can rotate around the pitch axis 223 and the roll axis. At least one of the 213 and the heading axis 233 is rotated such that the first camera 31 and the second camera 32 are always locked to a specific target or angle for shooting.
  • the first camera 31 and the second camera 32 of the drone 200 are respectively disposed at two ends of the roll motor assembly 21 and face in opposite directions, so the first camera 31 and the second camera 32 No relative movement or rotation occurs, and when the first camera 31 and the second camera 32 are controlled to shoot, no time difference is generated; and the angles of view of the first camera 31 and the second camera 32 are about 180 degrees and the directions are opposite, the first The camera 31 and the second camera 32 can jointly complete 360-degree panoramic shooting to ensure that 360-degree panoramic images are acquired at the same time, thereby satisfying the three-dimensional stereoscopic experience in virtual reality.
  • the cloud camera 100 is provided with two cameras, that is, the first camera 31 and the second camera 32, the cloud platform 100 can complete tasks that can be completed by multiple clouds, reducing the number of required clouds and saving. cost.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

提供一种云台（100），包括：支架（10）、横滚轴电机组件（21）、俯仰轴电机组件（22）和第一摄像头（31）、第二摄像头（32），第一摄像头（31）和第二摄像头（32）设置于横滚轴电机组件（21）的两端，并朝向相反方向，横滚轴电机组件（21）用于驱动第一摄像头（31）和第二摄像头（32）绕其横滚轴（213）转动；俯仰轴电机组件（22），安装于支架（10），并与横滚轴电机组件（21）连接，俯仰轴电机组件（22）用于驱动横滚轴电机组件（21）、第一摄像头（31）和第二摄像头（32）绕其俯仰轴（223）转动。还提供具有云台（100）的无人机（200）及其控制方法。通过将两个摄像头分别设置于横滚轴电机组件（21）的两端，并朝向相反方向，使得两个摄像头能相互配合，进而在同一时间内获取360度全景，满足了虚拟现实中三维立体体验感。

Description

一种云台、无人机及其控制方法 【技术领域】
本申请涉及飞行器技术领域，尤其涉及一种用于飞行器上搭载摄像装置的云台、具有此云台的无人机及其控制方法。
【背景技术】
现有的航拍飞行器都是搭载一个或多个云台，云台上设有的摄像头，其拍摄视角一般在180度内，当需要获取360度全景影像时，则需要依靠云台自身的转动，或多个云台配合使用以实现不同视角的拍摄。
在实现本申请的过程中，发明人发现相关技术存在以下问题：1、采用单云台，自身转动获取360度全景的方式，其缺陷是不能在同一时间内获取360度全景，不能满足虚拟现实中的3维立体体验感；2、采用多个云台配合使用的取景方式，其缺陷是，各个云台上摄像头的拍摄存在时间差，虚拟现实中体验感差，且成本高。
【发明内容】
为了解决上述技术问题，本申请提供一种能够360度同时取景的云台、具有此云台的无人机及其控制方法。
为解决上述技术问题，本申请实施例提供以下技术方案：
一种云台，包括：支架、横滚轴电机组件、俯仰轴电机组件、第一摄像头和第二摄像头。所述第一摄像头和第二摄像头设置于横滚轴电机组件的两端，并朝向相反方向，横滚轴电机组件用于驱动第一摄像头和第二摄像头绕其横滚轴转动。俯仰轴电机组件安装于支架，并与横滚轴电机组件连接，所述俯仰轴电机组件用于驱动横滚轴电机组件、第一摄像头和第二摄像头绕其俯仰轴转动。
在一些实施例中，所述横滚轴电机组件包括横滚轴电机定子和横滚轴电机转子；所述横滚轴电机定子位于横滚轴电机组件的中部，并且与俯仰轴电机组件连接；所述第一摄像头和第二摄像头分别设置于所述横滚轴电机转子的两端，并朝向相反方向。
在一些实施例中，所述俯仰轴电机组件包括俯仰轴电机转子，所述横滚轴电机定子与所述俯仰轴电机转子固定连接。
在一些实施例中，所述横滚轴电机定子与所述俯仰轴电机转子通过连接轴臂固定连接；或者，所述横滚轴电机定子直接与所述俯仰轴电机转子固定连接。
在一些实施例中，所述俯仰轴电机组件包括俯仰轴电机定子，俯仰轴电机定子安装于所述支架，俯仰轴电机转子与所述横滚电机组件连接。
在一些实施例中，所述俯仰轴电机定子与所述支架固定连接。
在一些实施例中，所述俯仰轴与横滚轴相互垂直。
在一些实施例中，所述第一摄像头包括第一外壳和第一镜头，第一镜头固定于第一外壳内，第一外壳固定于横滚轴电机转子的一端。
在一些实施例中，所述第二摄像头包括第二外壳和第二镜头，第二镜头固定于第二外壳内，第二外壳固定于横滚轴电机转子的另一端。
在一些实施例中，所述第一摄像头和第二摄像头的光轴重合。
在一些实施例中，所述云台还包括航向轴电机组件，所述航向轴电机组件安装于所述支架，航向轴电机组件用于驱动支架、俯仰轴电机组件、横滚轴电机组件、第一摄像头和第二摄像头绕其航向轴转动。
在一些实施例中，所述航向轴电机组件包括航向轴电机定子和航向轴电机转子，航向轴电机转子与支架固定连接，航向轴电机定子用于与外接的底座或其它设备连接。
在一些实施例中，所述支架包括横臂和第一侧臂，所述第一侧臂与横臂连接；所述云台还包括航向轴电机组件，所述航向轴电机组件安装于横臂；所述第一侧臂的一端与所述俯仰轴电机组件连接。
在一些实施例中，所述航向轴电机包括航向轴电机定子和航向轴电机转子，所述俯仰轴电机组件包括俯仰轴电机定子和俯仰轴电机转子；所述航向轴电机转子固定安装于所述横臂，所述第一侧臂的一端与所述俯仰轴电机定子固定连接。
在一些实施例中，所述支架还包括第二侧臂，所述第二侧臂与横臂连接，且其一端与横滚轴电机组件连接。
在一些实施例中，所述横滚轴电机组件包括横滚轴电机定子和横滚轴电 机转子，所述第二侧臂的一端与所述横滚轴电机定子活动连接。
在一些实施例中，在所述横滚轴电机组件定子靠近所述第二侧臂的一侧设有连接轴臂，所述第二侧臂一端设有安装孔，所述连接轴臂可旋转地***所述安装孔内。
在一些实施例中，在所述横滚轴电机组件定子靠近所述第二侧臂的一侧设有安装孔，所述第二侧臂远离所述横臂的一端设有连接轴臂，所述连接轴臂可旋转地***所述安装孔内。
为解决上述技术问题，本申请实施例提供以下技术方案：
一种无人机，包括机身，底座和上述云台，云台通过底座安装于机身。
在一些实施例中，所述无人机包括：
侦测组件，用于侦测、获取横滚轴电机组件、俯仰轴电机组件的状态信息；
处理器，用于根据所述状态信息计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号，所述一个或多个电机信号用于引起横滚轴电机组件、俯仰轴电机组件中的至少一个转动或调节转速，使得第一摄像头、第二摄像头转向预定的方向、位置，并控制第一摄像头、第二摄像头同时分别获取180度方向相反的图像信息。
在一些实施例中，所述处理器还用于控制第一摄像头和第二摄像头锁定特定目标或角度；若无人机处于移动状态或发生抖动，处理器还用于根据所述状态信息实时计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号，所述一个或多个电机信号用于引起横滚轴电机组件、俯仰轴电机组件中的至少一个相应转动，使得第一摄像头、第二摄像头始终锁定特定目标或角度进行拍摄。
在一些实施例中，所述无人机包括通讯单元，用于接收信息，并向处理器传送所接收的信息，还用于发送第一摄像头、第二摄像头同时分别获取的180度的图像信息。
为了解决上述技术问题，本申请实施例提供一种无人机的控制方法，包括：
接收云台操作信息，所述云台操作信息为指示云台工作，使得云台的第一摄像头、第二摄像头转向预定的方向，以到达预定的位置、姿态；
获取云台的横滚轴电机组件、俯仰轴电机组件的状态信息，所述第一摄像头和第二摄像头设置于横滚轴电机组件的两端，并朝向相反方向，所述俯仰轴电机组件与所述横滚轴电机组件连接；
根据所述状态信息和云台操作信息计算云台的飞行姿态信息；
根据所述飞行姿态信息输出一个或多个电机信号；
根据所述一个或多个电机信号，控制横滚轴电机组件、俯仰轴电机组件去调整第一摄像头和第二摄像头到达预定的位置、姿态；
控制第一摄像头和第二摄像头同时分别获取180度方向相反的图像信息。
在一些实施例中，所述控制方法还包括：
控制第一摄像头和第二摄像头锁定特定目标或角度；
若无人机处于移动状态或发生抖动，根据所述状态信息计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号；
根据所述一个或多个电机信号，控制横滚轴电机组件、俯仰轴电机组件实时调整第一摄像头、第二摄像头，使得第一摄像头、第二摄像头始终锁定特定目标或角度进行拍摄。
在一些实施例中，所述控制方法还包括：
接收飞行操作信息，所述飞行操作信息用于指示无人机的飞行；
根据所述飞行操作信息，控制无人机飞行。
与现有技术相比较，本申请实施例通过将两个摄像头分别设置于横滚轴电机组件的两端，并朝向相反方向，使得两个摄像头能相互配合，进而在同一时间内获取360度全景，满足了虚拟现实中的3维立体体验感。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本申请实施例提供的一种云台的立体图；
图2为图1所示的云台的主视图；
图3为图1所示的云台的剖视图J-J；
图4为本申请实施例提供的一种无人机的结构示意图；
图5为本申请实施例提供的一种无人机的控制方法的流程图；
图6为本申请另一些实施例提供的无人机的控制方法的流程图。
【具体实施方式】
为了便于理解本申请，下面结合附图和具体实施方式，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1至图3，为本申请实施例提供的一种云台的立体图、装配图和剖视图。如图1至图3所示，云台100，包括：支架10、横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23、第一摄像头31、第二摄像头32和连接轴臂40。
第一摄像头31和第二摄像头32设置于横滚轴电机组件21的两端，并朝向相反方向，横滚轴电机组件21用于驱动第一摄像头31和第二摄像头32同时绕其横滚轴213转动。连接轴臂40，铰接所述支架10并与所述横滚轴电机组件21连接。俯仰轴电机组件22安装于支架10，并通过连接轴臂40连接横滚轴电机组件21，用于驱动连接轴臂40、横滚轴电机组件21、第一摄像头31和第二摄像头32绕其俯仰轴223转动。航向轴电机组件23安装于支架10，用于驱动支架10、俯仰轴电机组件22、连接轴臂40、横滚轴电机组件21、第一摄像头31和第二摄像头32绕其航向轴233转动。横滚轴213、俯仰轴 223、航向轴233分别为横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23的旋转中心轴。
在本实施例中，支架10为U型支架，包括横臂11、第一侧臂12和第二侧臂13。第一侧臂12和第二侧臂13垂直地连接横臂11的两端。支架10的横臂11与航向轴电机组件23的下端面固定，第一侧臂12和第二侧臂13的一端分别设有安装孔120、130，例如在第一侧臂12和第二侧臂13远离横臂11的一端分别设有安装孔120、130。连接轴臂40穿过安装孔120与支架10铰接。连接轴臂40与横滚轴电机组件21连接，并将横滚轴电机组件21固定于第一侧臂12和第二侧臂13之间。
横滚轴电机组件21包括横滚轴电机定子211和横滚轴电机转子212。横滚轴电机定子211位于横滚轴电机组件21的中部，并且直接与连接轴臂40固定。
在横滚轴电机组件定子211靠近第二侧臂13的一侧设有安装孔，第二侧臂13远离所述横臂11的一端设有另一连接轴臂50，所述连接轴臂50穿过安装孔130，可旋转地***所述安装孔内。
在一些实施例中，连接轴臂50可固定安装于横滚轴电机组件定子211靠近所述第二侧臂13的一侧，所述连接轴臂50穿过安装孔130，将横滚轴电机组件定子211活动安装于第二侧臂13。
第一摄像头31包括第一镜头310和第一外壳312，第一镜头310固定于第一外壳312内，第一外壳312固定于横滚轴电机转子212的一端。
相似地，第二摄像头32包括第二镜头320和第二外壳322，第二镜头320固定于第二外壳322内，第二外壳322固定于横滚轴电机转子212的另一端。两镜头310，320的光轴重合，在使用时，第一镜头310和第二镜头320可实现360度同时取像。
在一些实施例中，两镜头310，320的光轴可以有一定角度，但必须保证第一镜头310和第二镜头320能达到360度同时取像。
当横滚轴电机转子212转动时，将驱动除横滚轴电机定子211以外的横滚轴电机组件21以及位于横滚轴电机组件21两端的第一摄像头31和第二摄像头32相对于支架10和连接轴臂40绕横滚轴213转动。
俯仰轴电机组件22包括俯仰轴电机定子221和俯仰轴电机转子222。俯 仰轴电机组件22位于支架10下端的一侧，并且与横滚轴电机组件21通过连接轴臂40连接。在本实施例中，俯仰轴电机定子221固定于第一侧臂12或第二侧臂12的外侧。俯仰轴电机转子222与连接轴臂40固定连接。俯仰轴电机转子222转动时，带动横滚轴电机组件21、第一摄像头31和第二摄像头32绕连接轴臂40的轴向方向43转动。需要指出的是俯仰轴223与横滚轴213相互垂直，连接轴臂40的轴向方向43与俯仰轴223重合。
在一些实施例中，连接轴臂40可省略，所述横滚轴电机定子211直接与所述俯仰轴电机转子222固定连接，俯仰轴电机定子221安装于支架10，例如固定安装于第一侧臂12远离横臂11的一端。
在一些实施例中，第二侧臂13可省略，俯仰轴电机定子221固定安装于第一侧臂12，俯仰轴电机转子222与横滚轴电机定子211连接。例如，横滚轴电机组件21、第一摄像头31以及第二摄像头32位于第一侧臂12的一侧，俯仰轴电机组件22位于第一侧臂12的另一侧，俯仰轴电机定子221固定安装于第一侧臂12，俯仰轴电机转子222通过连接轴臂40与横滚轴电机定子211连接，或者直接与横滚轴电机定子211连接。
航向轴电机组件23包括航向轴电机定子231和航向轴电机转子232。航向轴电机组件23位于支架10的上方，且航向轴电机组件23的下端面与支架10中横臂11的上表面固定连接。具体的，航向轴电机定子231用于与外接的底座或其它设备连接，航向轴电机转子232与支架10中的横臂11的上表面固定连接。航向轴电机转子232转动时，带动支架10、横滚轴电机组件21、俯仰轴电机组件22、第一摄像头31、第二摄像头32和连接轴臂40一起绕航向轴233转动。需要指出的是航向轴233分别与连接轴臂40的轴向方向43和横滚轴213相互垂直。
在一些实施例中，航向轴电机组件23可省略，支架10的横臂11用于直接与外接的底座或其它设备连接。
云台100还包括挡圈50，挡圈50为圆环状，套设于横滚轴电机组件21的中部。挡圈50的侧壁上设有矩形通孔，连接轴臂40穿过矩形通孔51与横滚轴定子211固定连接。挡圈50固定于横滚轴电机组件21中部的缝隙处，用于阻挡外界的水分、灰尘等杂物透过缝隙进入横滚轴电机组件21的内部，进而提高横滚轴电机组件21及云台100的使用寿命。
在本实施例中，第一摄像头31和第二摄像头32分别固定于横滚轴电机组件21的两端，因此第一摄像头31和第二摄像头32不会发生相对移动或转动，在进行拍摄时，不会产生时间差；且第一摄像头31和第二摄像头32的视角为180度左右且方向相反，第一摄像头31和第二摄像头32可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像，进而能满足虚拟现实中的3维立体体验感。进一步地，由于云台100上设有两个摄像头即第一摄像头31和第二摄像头32，该云台100可以完成多个云台才能完成的任务，减少了所需云台的数量，节约了成本。
在一些实施例中，为了更好的保护横滚轴电机组件21以及简化云台100的结构，挡圈50的侧壁上可以不再设有矩形通孔，横滚轴电机定子211与挡圈50的侧壁内表面固定连接，连接轴臂40的一端与挡圈50的侧壁外表面固定连接。当横滚轴电机转子212转动时，将带动除横滚轴电机定子211以外的横滚轴电机组件21以及位于横滚轴电机组件两端的第一摄像头31和第二摄像头32相对于挡圈50绕横滚轴电机转子212的轴向方向213转动。
在一些实施例中，支架10可包括：横臂11和第一侧臂12，第一侧臂12的一端与横臂11的一端或下表面固定连接，横臂11的上表面与航向轴电机组件23的下端面固定连接。横滚轴电机组件21、第一摄像头31以及第二摄像头32位于第一侧臂12的一侧，俯仰轴电机组件22位于第一侧臂12的另一侧。第一侧臂12下端(即远离横臂11的一端)设有安装孔120，连接轴臂40穿过安装孔120与支架10铰接。连接轴臂40的一端与俯仰轴电机组件22的一轴向端面固定连接，另一端与横滚轴电机组件21的侧面固定连接。
在一些实施例中，支架10可为长条状，支架10的一端与航向轴电机组件23的下端面固定连接，横滚轴电机组件21、第一摄像头31以及第二摄像头32位于支架10的一侧，俯仰轴电机组件22位于支架10的另一侧。支架10下端设有通孔，连接轴臂40穿过通孔与支架10铰接。连接轴臂40的一端与俯仰轴电机组件22的一轴向端面固定连接，另一端与横滚轴电机组件21的侧面固定连接。
在一些实施例中，所述云台100还可适用于安装或连接到一可移动物体，如机动和非机动车辆或船只、无人机、机器人、人体或动物躯体等类似物上。例如，所述云台可通过底座安装到一无人机上。
在一些实施例中，所述的横滚轴电机组件21、俯仰轴电机组件22和航向轴电机组件中的电机至少一个采用无刷直流电机实现。无刷直流电机具有以下优点：(1)性能可靠，减少磨损和/或故障率，并且由于具有代替机械换向器的电子换相，使用寿命比有刷电机更长(约六倍)；(2)低空载电流，因为无刷直流电机是静态的电机；(3)效率高；(4)体积小。在各实施例中，其他类型的电机，也可以用来代替无刷直流电机。
在以上所述的各实施例中横滚轴电机组件21直接驱动横滚轴电机转子212以及位于横滚轴电机组件21两端的第一摄像头31和第二摄像头32绕横滚轴213转动，俯仰轴电机组件22直接驱动连接轴臂40绕俯仰轴223转动，航向轴电机组件23直接驱动支架10绕航向轴233转动。与机械传动方式相比，直驱式电机(例如，紧凑型电机或微型电机)至少提供了以下好处：(1)直驱式电机通常需要相对较少的能量(电量)这样可以提高能量利用率和保护环境；(2)电机可通过无级方式控制，减少响应时间，能够快速及时的调整以响应云台100不同姿态的变化。因此可提高第一摄像头31和第二摄像头32的稳定性。
请参阅图4，本申请实施例提供一种无人机200，包括机身202，底座204、侦测组件206、处理器208、通讯单元210和所述图1至图3所示的云台100。
云台100通过底座204安装于机身202。
侦测组件206用于侦测或获取云台100的状态信息，例如，支架10、横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23、第一摄像头31、第二摄像头32和连接轴臂40的状态信息。所述侦测组件206可包括惯性测量单元、指南针、GPS收发器，速度传感器或其他类型的测量元件或传感器。例如，侦测组件206可包括一个或多个用于侦测角速度的陀螺仪和/或一个或多个用于侦测的线性和角度的加速度计。所述状态信息可包括云台100的角度、线性速度、加速度和位置信息等类似信息，例如，支架10、横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23、第一摄像头31、第二摄像头32和连接轴臂40的角度、线性速度、加速度和位置信息等。
在一些实施例中，所述状态信息还包括云台100的一个以上的旋转轴的状态信息，即横滚轴213、俯仰轴223和航向轴233的状态信息。例如，横滚 轴213、俯仰轴223和航向轴233的角度、线性速度和加速度等。
处理器208用于根据所述状态信息计算云台100的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号。所述飞行姿态信息可包括横滚轴213、俯仰轴223和航向轴233的方向或倾角、速度和/或加速度等，还有支架10、横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23、第一摄像头31、第二摄像头32和连接轴臂40相对于所述横滚轴213、俯仰轴223和航向轴233的方向或倾角、速度和/或加速度等。在某些情况下，所述飞行姿态信息可基于角速度信息计算。在一些情况下，所述飞行姿态信息可基于角速度信息和线性加速度信息两者计算。例如，所述线性加速度信息可用来修改和/或纠正所述角速度信息。
处理器208基于所述飞行姿态信息可产生一个或多个电机信号，所述电机信号用于引起横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23的正转、反转和调节转速。横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23可根据一个或多个电机信号相应转动，使得第一摄像头31、第二摄像头32可绕俯仰轴223、横滚轴213和航向轴233中的至少一个转动。这种转动可使得第一摄像头31、第二摄像头32转向预定的方向、位置，或者保持预定的位置或姿态。
朝向相反的第一摄像头31、第二摄像头32在预定的位置或姿态同时分别获取方向相反的180度图像信息。
通讯单元210用于获取所述方向相反的180度图像信息，并发送给用于图像处理的服务器。服务器将方向相反的180度图像信息合成360度的立体图像信息。
在一些实施例中，处理器208可控制第一摄像头31和第二摄像头32锁定特定目标或角度进行拍摄。例如，可通过分析第一摄像头31和第二摄像头32获取的图像信息，获得特定目标的图像信息，通过比较特定目标的图像信息和第一摄像头31、第二摄像头32获得的实时图像信息，控制第一摄像头31和第二摄像头32锁定特定目标进行拍摄。
当第一摄像头31和第二摄像头32锁定特定目标或角度进行拍摄时，若无人机200处于移动状态或发生抖动，处理器208可根据云台100的状态信息计算云台100的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个 电机信号。
横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23可根据所述一个或多个电机信号相应转动，使得第一摄像头31、第二摄像头32可绕俯仰轴223、横滚轴213和所述航向轴233中的至少一个转动，使得第一摄像头31、第二摄像头32始终锁定特定目标或角度进行拍摄。
在本实施例中，所述无人机200的第一摄像头31和第二摄像头32分别设置于横滚轴电机组件21的两端，并朝向相反方向，因此第一摄像头31和第二摄像头32不会发生相对移动或转动，在进行拍摄时，不会产生时间差；且第一摄像头31和第二摄像头32的视角为180度左右且方向相反，第一摄像头31和第二摄像头32可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像，进而能满足虚拟现实中的3维立体体验感。进一步地，由于云台100上设有两个摄像头即第一摄像头31和第二摄像头32，该云台100可以完成多个云台才能完成的任务，减少了所需云台的数量，节约了成本。
请参阅图5，本申请实施例提供所述无人机200的控制方法。所述控制方法包括以下步骤：
S501：接收飞行操作信息；
所述无人机200通过通讯单元210接收飞行操作信息，该飞行操作信息用于指示无人机200的飞行。例如用户使用摇控器向无人机200发出飞行操作信息，指示无人机200飞向预定位置。
S502：根据飞行操作信息，控制无人机飞行；
处理器208获取通讯单元210接收的飞行操作信息，控制无人机200飞行。
S503：接收云台操作信息；
通讯单元210接收云台操作信息，所述云台操作信息为指示云台100工作，使得第一摄像头31、第二摄像头32转向预定的方向，以到达预定的位置、姿态。例如，用户想对目标进行拍摄时，可用遥控器向无人机200发送云台 操作信息。
S504：获取云台的状态信息；
侦测组件206侦测或获取云台100的状态信息，例如，支架10、横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23、第一摄像头31、第二摄像头32和连接轴臂40的角度、线性速度、加速度和位置信息等；还有横滚轴213、俯仰轴223和航向轴233的角度、线性速度和加速度等。
S505：根据所述云台的状态信息和云台操作信息计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号；
处理器208根据所述状态信息和云台操作信息计算云台100的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号。
S506：根据所述一个或多个电机信号，调整第一摄像头和第二摄像头到达预定的位置、姿态；
横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23根据所述一个或多个电机信号进行正转、反转和调节转速，调整第一摄像头31、第二摄像头32到达预定的位置、姿态。
S507：控制第一摄像头和第二摄像头获取图像信息。
通讯单元210接收拍摄操作信息，该拍摄操作信息指示第一摄像头31、第二摄像头32开始获取图像信息，例如，用户使用摇控器向无人机200发出拍摄操作信息，通讯单元210接收拍摄操作信息后，由处理器208处理，并控制第一摄像头31、第二摄像头32在预定的位置、姿态同时分别获取方向相反的180度图像信息。
通讯单元210获取所述方向相反的180度图像信息，并发送给用于图像处理的服务器。服务器将方向相反的180度图像信息合成360度的立体图像信息。
请参图6，在一些实施例中，所述无人机200的控制方法还包括：
S601：控制第一摄像头和第二摄像头锁定特定目标或角度；
处理器208可控制第一摄像头31和第二摄像头32锁定特定目标或角度进行拍摄。例如，可通过分析第一摄像头31和第二摄像头32获取的图像信息，获得特定目标的图像信息，通过比较特定目标的图像信息与第一摄像头31和第二摄像头32获得的实时图像信息，控制第一摄像头31和第二摄像头32锁定特定目标进行拍摄。
S602：若无人机处于移动状态或发生抖动，根据云台的状态信息计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号；
若无人机200处于移动状态或发生抖动，处理器208可根据云台100的状态信息计算云台100的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号。
S603：根据所述一个或多个电机信号，实时调整第一摄像头、第二摄像头，使得第一摄像头、第二摄像头始终锁定特定目标或角度进行拍摄。
横滚轴电机组件21、俯仰轴电机组件22、航向轴电机组件23可根据所述一个或多个电机信号相应转动，使得第一摄像头31、第二摄像头32可绕俯仰轴223、横滚轴213和航向轴233中的至少一个转动，使得第一摄像头31、第二摄像头32始终锁定特定目标或角度进行拍摄。
在本实施例中，所述无人机200的第一摄像头31和第二摄像头32分别设置于横滚轴电机组件21的两端，并朝向相反方向，因此第一摄像头31和第二摄像头32不会发生相对移动或转动，在控制第一摄像头31和第二摄像头32进行拍摄时，不会产生时间差；且第一摄像头31和第二摄像头32的视角为180度左右且方向相反，第一摄像头31和第二摄像头32可以共同完成360度的全景拍摄，保证在同一时间内获取到360度的全景影像，进而能满足虚拟现实中的3维立体体验感。进一步地，由于云台100上设有两个摄像头即第一摄像头31和第二摄像头32，该云台100可以完成多个云台才能完成的任务，减少了所需云台的数量，节约了成本。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也 可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (25)

  1. 一种云台，其特征在于，包括：
    支架；
    第一摄像头；
    第二摄像头；
    横滚轴电机组件，所述第一摄像头和第二摄像头设置于横滚轴电机组件的两端，并朝向相反方向，所述横滚轴电机组件用于驱动第一摄像头和第二摄像头绕其横滚轴转动；以及
    俯仰轴电机组件，安装于所述支架，并与所述横滚轴电机组件连接，所述俯仰轴电机组件用于驱动横滚轴电机组件、第一摄像头和第二摄像头绕其俯仰轴转动。
  2. 根据权利要求1所述的云台，其特征在于，所述横滚轴电机组件包括横滚轴电机定子和横滚轴电机转子；
    所述横滚轴电机定子位于横滚轴电机组件的中部，并且与俯仰轴电机组件连接；所述第一摄像头和第二摄像头分别设置于所述横滚轴电机转子的两端，并朝向相反方向。
  3. 根据权利要求2所述的云台，其特征在于，所述俯仰轴电机组件包括俯仰轴电机转子，所述横滚轴电机定子与所述俯仰轴电机转子固定连接。
  4. 根据权利要求3所述的云台，其特征在于，所述横滚轴电机定子与所述俯仰轴电机转子通过连接轴臂固定连接；或者，
    所述横滚轴电机定子直接与所述俯仰轴电机转子固定连接。
  5. 根据权利要求3或4所述的云台，其特征在于，所述俯仰轴电机组件还包括俯仰轴电机定子，俯仰轴电机定子安装于所述支架，俯仰轴电机转子与所述横滚电机组件连接。
  6. 根据权利要求5所述的云台，其特征在于，所述俯仰轴电机定子与所述支架固定连接。
  7. 根据权利要求3-6中任一所述的云台，其特征在于，所述俯仰轴与横滚轴相互垂直。
  8. 根据权利要求2-7中任一所述的云台，其特征在于，所述第一摄像头包括第一外壳和第一镜头，第一镜头固定于第一外壳内，第一外壳固定于横滚轴电机转子的一端。
  9. 根据权利要求8所述的云台，其特征在于，所述第二摄像头包括第二外壳和第二镜头，第二镜头固定于第二外壳内，第二外壳固定于横滚轴电机转子的另一端。
  10. 根据权利要求1-9中任一所述的云台，其特征在于，所述第一摄像头和第二摄像头的光轴重合。
  11. 根据权利要求1-10中任一所述的云台，其特征在于，所述云台还包括航向轴电机组件，所述航向轴电机组件安装于所述支架，航向轴电机组件用于驱动支架、俯仰轴电机组件、横滚轴电机组件、第一摄像头和第二摄像头绕其航向轴转动。
  12. 根据权利要求11所述的云台，其特征在于，所述航向轴电机组件包括航向轴电机定子和航向轴电机转子，航向轴电机转子与支架固定连接，航向轴电机定子用于与外接的底座或其它设备连接。
  13. 根据权利要求1所述的云台，其特征在于，所述支架包括横臂和第一侧臂，所述第一侧臂与横臂连接；
    所述云台还包括航向轴电机组件，所述航向轴电机组件安装于横臂；所述第一侧臂的一端与所述俯仰轴电机组件连接。
  14. 根据权利要求13所述的云台，其特征在于，所述航向轴电机组件包括航向轴电机定子和航向轴电机转子，所述俯仰轴电机组件包括俯仰轴电机定子和俯仰轴电机转子；
    所述航向轴电机转子固定安装于所述横臂，所述第一侧臂的一端与所述俯仰轴电机定子固定连接。
  15. 根据权利要求13或14所述的云台，其特征在于，所述支架还包括第二侧臂，所述第二侧臂与横臂连接，且其一端与横滚轴电机组件连接。
  16. 根据权利要求15所述的云台，其特征在于，所述横滚轴电机组件包括横滚轴电机定子和横滚轴电机转子，所述第二侧臂的一端与所述横滚轴电机定子活动连接。
  17. 根据权利要求16所述的云台，其特征在于，在所述横滚轴电机组件定子靠近所述第二侧臂的一侧设有连接轴臂，所述第二侧臂的一端设有安装孔，所述连接轴臂可旋转地***所述安装孔内。
  18. 根据权利要求16所述的云台，其特征在于，在所述横滚轴电机组件定子靠近所述第二侧臂的一侧设有安装孔，所述第二侧臂远离所述横臂的一端设有连接轴臂，所述连接轴臂可旋转地***所述安装孔内。
  19. 一种无人机，其特征在于，所述无人机包括机身，底座和所述权利要求1至18任一项所述的云台，所述云台通过底座安装于机身。
  20. 根据权利要求19所述的无人机，其特征在于，所述无人机包括：
    侦测组件，用于侦测、获取横滚轴电机组件、俯仰轴电机组件的状态信息；
    处理器，用于根据所述状态信息计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号，所述一个或多个电机信号用于引起 横滚轴电机组件、俯仰轴电机组件中的至少一个转动或调节转速，使得第一摄像头、第二摄像头转向预定的方向、位置，并控制第一摄像头、第二摄像头同时分别获取180度方向相反的图像信息。
  21. 根据权利要求20所述的无人机，其特征在于，所述处理器还用于控制第一摄像头和第二摄像头锁定特定目标或角度；若无人机处于移动状态或发生抖动，处理器还用于根据所述状态信息实时计算云台的飞行姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号，所述一个或多个电机信号用于引起横滚轴电机组件、俯仰轴电机组件中的至少一个相应转动，使得第一摄像头、第二摄像头始终锁定特定目标或角度进行拍摄。
  22. 根据权利要求20所述的无人机，其特征在于，所述无人机包括通讯单元，用于接收信息，并向处理器传送所接收的信息，还用于发送第一摄像头、第二摄像头同时分别获取的180度的图像信息。
  23. 一种无人机的控制方法，其特征在于，包括：
    接收云台操作信息，所述云台操作信息为指示云台工作，使得云台的第一摄像头、第二摄像头转向预定的方向，以到达预定的位置、姿态；
    获取云台的横滚轴电机组件、俯仰轴电机组件的状态信息，所述第一摄像头和第二摄像头设置于横滚轴电机组件的两端，并朝向相反方向，所述俯仰轴电机组件与所述横滚轴电机组件连接；
    根据所述状态信息和云台操作信息计算云台的飞行姿态信息；
    根据所述飞行姿态信息输出一个或多个电机信号；
    根据所述一个或多个电机信号，控制横滚轴电机组件、俯仰轴电机组件去调整第一摄像头和第二摄像头到达预定的位置、姿态；
    控制第一摄像头和第二摄像头同时分别获取180度方向相反的图像信息。
  24. 根据权利要求23所述的控制方法，其特征在于，还包括：
    控制第一摄像头和第二摄像头锁定特定目标或角度；
    若无人机处于移动状态或发生抖动，根据所述状态信息计算云台的飞行 姿态信息，并根据所述飞行姿态信息输出一个或多个电机信号；
    根据所述一个或多个电机信号，控制横滚轴电机组件、俯仰轴电机组件实时调整第一摄像头、第二摄像头，使得第一摄像头、第二摄像头始终锁定特定目标或角度进行拍摄。
  25. 根据权利要求24所述的控制方法，其特征在于，还包括：
    接收飞行操作信息，所述飞行操作信息用于指示无人机的飞行；
    根据所述飞行操作信息，控制无人机飞行。
PCT/CN2016/101562 2016-10-09 2016-10-09 一种云台、无人机及其控制方法 WO2018064831A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680008947.4A CN108235702B (zh) 2016-10-09 2016-10-09 一种云台、无人机及其控制方法
PCT/CN2016/101562 WO2018064831A1 (zh) 2016-10-09 2016-10-09 一种云台、无人机及其控制方法
US16/242,606 US10545392B2 (en) 2016-10-09 2019-01-08 Gimbal and unmanned aerial vehicle and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/101562 WO2018064831A1 (zh) 2016-10-09 2016-10-09 一种云台、无人机及其控制方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/242,606 Continuation US10545392B2 (en) 2016-10-09 2019-01-08 Gimbal and unmanned aerial vehicle and control method thereof

Publications (1)

Publication Number Publication Date
WO2018064831A1 true WO2018064831A1 (zh) 2018-04-12

Family

ID=61831307

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/101562 WO2018064831A1 (zh) 2016-10-09 2016-10-09 一种云台、无人机及其控制方法

Country Status (3)

Country Link
US (1) US10545392B2 (zh)
CN (1) CN108235702B (zh)
WO (1) WO2018064831A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110850662A (zh) * 2019-11-01 2020-02-28 上海航天控制技术研究所 一种多自由度光学搜索***
CN110939842A (zh) * 2019-09-18 2020-03-31 西安应用光学研究所 基于钢丝绳传动的两轴两框架光电稳定平台
TWI741436B (zh) * 2018-12-14 2021-10-01 瑞典商安訊士有限公司 用於全景成像之系統
US20210364123A1 (en) * 2020-05-25 2021-11-25 Viettel Group Two-axis direct-drive rotation mechanism for observation device
CN117074798A (zh) * 2023-08-11 2023-11-17 河北斐然科技有限公司 一种应用于导航功能飞行器的卫星天线测试转台
US20240027882A1 (en) * 2022-07-20 2024-01-25 Nodal Film Systems Llc Camera Head with Integrated PCB Stator Motors

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018064831A1 (zh) * 2016-10-09 2018-04-12 深圳市道通智能航空技术有限公司 一种云台、无人机及其控制方法
CN108803202A (zh) * 2017-05-02 2018-11-13 深圳市道通智能航空技术有限公司 一种拍摄组件
EP3418545B1 (en) * 2017-06-22 2021-03-03 Goodrich Actuation Systems Limited Thrust reverser actuator gimbal assembly and manufacture thereof
CN108238273A (zh) * 2018-02-09 2018-07-03 深圳市道通智能航空技术有限公司 云台、摄像组件及无人飞行器
US12019452B2 (en) * 2018-03-26 2024-06-25 Jabil Inc Apparatus, system, and method of using depth assessment for autonomous robot navigation
CN109167920A (zh) * 2018-10-12 2019-01-08 北京地平线机器人技术研发有限公司 拍摄***和方法
CN109185636A (zh) * 2018-11-23 2019-01-11 中山联合光电科技股份有限公司 可调朝向的马达驱动式摄像装置
US11099463B2 (en) * 2019-01-03 2021-08-24 Viettel Group Two-axis direct drive mechanical mechanism
CN112567729A (zh) * 2019-11-25 2021-03-26 深圳市大疆创新科技有限公司 控制装置、摄像***、移动体、控制方法以及程序
CN113685682B (zh) * 2020-05-18 2023-02-21 北京小米移动软件有限公司 一种云台
US11519784B2 (en) * 2020-05-25 2022-12-06 Viettel Group Thermal imaging radar
CN112520016B (zh) * 2020-12-09 2024-05-17 中国航空工业集团公司沈阳飞机设计研究所 一种驾驶杆解耦结构
CN112697130B (zh) * 2020-12-14 2023-12-19 中国空间技术研究院 姿态调整装置
CN114408057A (zh) * 2022-01-28 2022-04-29 诺力智能装备股份有限公司 一种agv导航组件姿态控制装置及其控制方法
WO2023173377A1 (zh) * 2022-03-17 2023-09-21 深圳市大疆创新科技有限公司 隔振垫和可移动平台
US11898690B1 (en) * 2022-12-04 2024-02-13 Quoc Viet Luong Spherical field of view (FOV) multiple payloads gimbal system and method of manufacturing and using the same
US20240183486A1 (en) * 2022-12-04 2024-06-06 Quoc Viet Luong Chameleon-eyes gimbal system (cameo gimbal system) and method of manufacturing and using the same
CN117048865B (zh) * 2023-10-11 2023-12-19 成都庆龙航空科技有限公司 一种无人机挂载激光测距装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070246601A1 (en) * 2004-10-07 2007-10-25 Layton Otis F Manned/unmanned V.T.O.L. flight vehicle
US20100328499A1 (en) * 2009-06-26 2010-12-30 Flight Landata, Inc. Dual-Swath Imaging System
CN104670512A (zh) * 2015-02-13 2015-06-03 徐鹏 一种多镜头航拍云台
CN105179894A (zh) * 2015-05-15 2015-12-23 浙江工业大学 一种双目视觉云台
CN105207408A (zh) * 2015-10-26 2015-12-30 深圳市道通智能航空技术有限公司 一种电机、云台及飞行器
CN105517903A (zh) * 2014-09-24 2016-04-20 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
CN105599914A (zh) * 2016-01-05 2016-05-25 零度智控（北京）智能科技有限公司 一种云台
CN206202711U (zh) * 2016-10-09 2017-05-31 深圳市道通智能航空技术有限公司 一种云台及无人机

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10191574A (ja) 1996-12-26 1998-07-21 Japan Tobacco Inc 充電装置
CN101728852B (zh) 2009-11-04 2012-05-02 秦永振 电池平衡充电及检测修复装置
CN203747465U (zh) 2014-03-04 2014-07-30 南通纺织职业技术学院 基于ZigBee无线网络的蓄电池均衡充电装置
CN203819499U (zh) * 2014-03-19 2014-09-10 深圳市大疆创新科技有限公司 云台
CN104428970B (zh) 2014-06-03 2017-04-12 华为技术有限公司 一种电芯保护电路和方法
CN104852438A (zh) 2015-06-02 2015-08-19 中投仙能科技（苏州）有限公司 锂电池组的充电管理***
US10542223B2 (en) * 2015-06-26 2020-01-21 Twiin Media, LLC Systems, methods, and apparatus for capturing multiple views of a subject
CN204879319U (zh) * 2015-08-03 2015-12-16 武汉智能鸟无人机有限公司 一种三轴式云台
CN205195331U (zh) 2015-11-06 2016-04-27 天长市万德福电子有限公司 电池充电器及其补充电电路
CN205427415U (zh) * 2015-12-09 2016-08-03 上海游族智能科技有限公司 航空器平面三轴云台
US20170195568A1 (en) * 2016-01-06 2017-07-06 360fly, Inc. Modular Panoramic Camera Systems
CN205450557U (zh) * 2016-01-13 2016-08-10 北京疯景科技有限公司 全景图像采集***
CN205544487U (zh) 2016-04-19 2016-08-31 深圳市道通智能航空技术有限公司 一种充电电池均衡装置及充电器
CN105978106B (zh) 2016-07-08 2019-01-25 卓尔悦欧洲控股有限公司 串联电池的均衡充电电路及其装置
WO2018064831A1 (zh) * 2016-10-09 2018-04-12 深圳市道通智能航空技术有限公司 一种云台、无人机及其控制方法
US20180186472A1 (en) * 2016-12-30 2018-07-05 Airmada Technology Inc. Method and apparatus for an unmanned aerial vehicle with a 360-degree camera system
US10141823B2 (en) * 2017-02-27 2018-11-27 Autel Robotics Co., Ltd. Motor, gimbal, and mechanical arm having the same
US10843816B2 (en) * 2017-04-17 2020-11-24 Autel Robotics Co., Ltd. Photographic assembly and unmanned aerial vehicle having same

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070246601A1 (en) * 2004-10-07 2007-10-25 Layton Otis F Manned/unmanned V.T.O.L. flight vehicle
US20100328499A1 (en) * 2009-06-26 2010-12-30 Flight Landata, Inc. Dual-Swath Imaging System
CN105517903A (zh) * 2014-09-24 2016-04-20 深圳市大疆创新科技有限公司 云台及其使用的成像装置、以及无人机
CN104670512A (zh) * 2015-02-13 2015-06-03 徐鹏 一种多镜头航拍云台
CN105179894A (zh) * 2015-05-15 2015-12-23 浙江工业大学 一种双目视觉云台
CN105207408A (zh) * 2015-10-26 2015-12-30 深圳市道通智能航空技术有限公司 一种电机、云台及飞行器
CN105599914A (zh) * 2016-01-05 2016-05-25 零度智控（北京）智能科技有限公司 一种云台
CN206202711U (zh) * 2016-10-09 2017-05-31 深圳市道通智能航空技术有限公司 一种云台及无人机

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI741436B (zh) * 2018-12-14 2021-10-01 瑞典商安訊士有限公司 用於全景成像之系統
CN110939842A (zh) * 2019-09-18 2020-03-31 西安应用光学研究所 基于钢丝绳传动的两轴两框架光电稳定平台
CN110939842B (zh) * 2019-09-18 2021-07-13 西安应用光学研究所 基于钢丝绳传动的两轴两框架光电稳定平台
CN110850662A (zh) * 2019-11-01 2020-02-28 上海航天控制技术研究所 一种多自由度光学搜索***
US20210364123A1 (en) * 2020-05-25 2021-11-25 Viettel Group Two-axis direct-drive rotation mechanism for observation device
US11662056B2 (en) * 2020-05-25 2023-05-30 Viettel Group Two-axis direct-drive rotation mechanism for observation device
US20240027882A1 (en) * 2022-07-20 2024-01-25 Nodal Film Systems Llc Camera Head with Integrated PCB Stator Motors
CN117074798A (zh) * 2023-08-11 2023-11-17 河北斐然科技有限公司 一种应用于导航功能飞行器的卫星天线测试转台
CN117074798B (zh) * 2023-08-11 2024-05-17 河北斐然科技有限公司 一种应用于导航功能飞行器的卫星天线测试转台

Also Published As

Publication number Publication date
US10545392B2 (en) 2020-01-28
CN108235702A (zh) 2018-06-29
CN108235702B (zh) 2022-01-14
US20190163039A1 (en) 2019-05-30

Similar Documents

Publication Publication Date Title
WO2018064831A1 (zh) 一种云台、无人机及其控制方法
US11962905B2 (en) Apparatus and methods for stabilization and vibration reduction
US11140322B2 (en) Stabilizing platform
US11480291B2 (en) Camera system using stabilizing gimbal
US20200361629A1 (en) Stabilizing platform
JP6268657B2 (ja) 支持機構及びシステム
US10976647B2 (en) Method and system for motion camera with embedded gimbal
US11423792B2 (en) System and method for obstacle avoidance in aerial systems
US11076082B2 (en) Systems and methods for digital video stabilization
US20180084173A1 (en) Vibration Damping Gimbal Sleeve for an Aerial Vehicle
WO2021217371A1 (zh) 可移动平台的控制方法和装置
CN206202711U (zh) 一种云台及无人机
WO2020042159A1 (zh) 一种云台的转动控制方法、装置及控制设备、移动平台
WO2020062089A1 (zh) 磁传感器校准方法以及可移动平台
US20230009190A1 (en) Flight-capable rail-based system
WO2020168519A1 (zh) 拍摄参数的调整方法、拍摄设备以及可移动平台
KR102590544B1 (ko) 교량과 터널 점검을 위한 드론 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16918164

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16918164

Country of ref document: EP

Kind code of ref document: A1