WO2018223742A1 - 云台、具有该云台的拍摄装置及无人机 - Google Patents

云台、具有该云台的拍摄装置及无人机 Download PDF

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Publication number
WO2018223742A1
WO2018223742A1 PCT/CN2018/078932 CN2018078932W WO2018223742A1 WO 2018223742 A1 WO2018223742 A1 WO 2018223742A1 CN 2018078932 W CN2018078932 W CN 2018078932W WO 2018223742 A1 WO2018223742 A1 WO 2018223742A1
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WO
WIPO (PCT)
Prior art keywords
axis
connecting portion
driving
drive assembly
drive
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PCT/CN2018/078932
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English (en)
French (fr)
Inventor
余春
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深圳市道通智能航空技术有限公司
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Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2018223742A1 publication Critical patent/WO2018223742A1/zh
Priority to US16/704,498 priority Critical patent/US11254444B2/en

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

Definitions

  • the present invention relates to the field of aviation aircraft, and in particular to a cloud platform, a camera device having the same, and a drone.
  • a drone is a non-manned aircraft that uses radio remote control equipment and self-contained program control devices.
  • drones are widely used in street shooting, film and television shooting, environmental monitoring, geological survey, mapping, monitoring of agriculture, forestry and animal husbandry.
  • pan/tilt under the rack of the drone for mounting and fixing the camera.
  • the pan/tilt can also be used to adjust the posture of the camera to achieve better shooting results.
  • the existing gimbal has a larger outer shape. The large space is not conducive to the miniaturization of drones.
  • An object of the present invention is to solve the above technical problems and to provide a pan/tilt head which is capable of reducing the outer dimensions and having a compact structure.
  • Another object of the present invention is to provide an image pickup apparatus having the above-described pan/tilt head.
  • Another object of the present invention is to provide a drone having the above-described photographing apparatus.
  • the invention provides a cloud platform, comprising:
  • At least two driving components the at least two driving components are sequentially connected;
  • One of the at least two drive assemblies is mounted within the carrier housing, the at least two drive assemblies being capable of driving the carrier housing to rotate in at least two directions to adjust for shooting from at least two directions The angle of the device.
  • the carrying case is provided with two mounting holes spaced apart from each other for mounting the imaging lens.
  • the axis of the holes of the two mounting holes are parallel to each other, and the driving component installed in the carrying case is located on the axis of the two holes. The middle position.
  • the two mounting holes are symmetric with respect to a transverse center line of the carrying case, and a center of gravity of the driving component mounted in the carrying case is located on the lateral center line.
  • the at least two driving components are three driving components, which are a first driving component, a second driving component and a third driving component, wherein the first driving component is used for connecting with an external bracket, the second a drive assembly is coupled to the first drive assembly, the third drive assembly is coupled to the second drive assembly, and the third drive assembly is mounted within the carrier housing;
  • the first driving assembly is capable of driving the carrier housing to rotate in a first direction
  • the second driving assembly is capable of driving the carrier housing to rotate in a second direction
  • the third driving assembly is capable of driving the carrier housing
  • the body rotates in a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other.
  • the first driving component includes a first mating portion and a first connecting portion, wherein the first mating portion is configured to be connected to an external bracket, and the first mating portion is internally provided with a first driver, The movable end of the first driver is connected to one end of the first connecting portion, the other end of the first connecting portion is connected to the second driving component, and the first driver drives the first connecting portion around the first The axis rotates, the first axis being parallel to the axis of the first mating portion.
  • the second driving component includes a second mating portion and a second connecting portion, the second mating portion is fixed on the first connecting portion, and the second mating portion is internally provided with a second driver.
  • the movable end of the second driver is connected to one end of the second connecting portion, the other end of the second connecting portion is connected to the third driving component, and the second driver drives the second connecting portion to The two axes rotate, and the second axis is perpendicular to the first axis.
  • the second connecting portion is a straight arm, and the length of the second connecting portion is at most less than half of the length of the first connecting portion.
  • the third driving component includes a third mating portion fixedly connected to the second connecting portion, and a third driver is disposed inside the third mating portion, and the movable end of the third driver is
  • the carrier housing is coupled and drives the carrier housing to rotate relative to a third axis, the third axis being perpendicular to the second axis and the first axis, respectively.
  • the present invention further provides a photographing apparatus comprising a photographing apparatus and the above-described pan/tilt head, the photographing apparatus having two photographing lenses which are respectively mounted in two mounting holes of the casing.
  • the present invention further provides a drone comprising a body and the above-described photographing device, the photographing device being mounted on the body.
  • the technical solutions provided by the embodiments of the present invention may include the following beneficial effects:
  • the pan/tilt head of the present invention mounts one of the at least two drive assemblies in the carrying case of the carrying camera, thereby reducing the size of the pan/tilt, making the overall structure of the pan/tilt more compact and miniaturizing.
  • two mounting holes for mounting the photographing lens are disposed on the carrying case of the pan/tilt head of the present invention, and the driving assembly installed in the carrying case is located at an intermediate position of the line connecting the holes of the two mounting holes, so that the mounting is performed at two positions.
  • the mounting lens of the mounting hole is balanced with respect to the driving component (for example, the third driving component), thereby increasing the stability of the shooting lens, eliminating the shooting lens during the flight of the drone or during the movement of the handheld shooting device Jitter.
  • FIG. 1 is a schematic structural view of a combination of a pan/tilt head according to the present invention.
  • FIG. 2 is a schematic structural view of the gimbal after decomposition according to the present invention.
  • Figure 3 is a partial side elevational view showing the third drive assembly mounted within the carrier housing.
  • connection In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the present invention provides a photographing apparatus including the pan/tilt head and the photographing apparatus of the present invention.
  • the photographing apparatus has two photographing lenses, and the types of the two photographing lenses may be the same or different, for example, one of the photographing lenses. It is an infrared lens or a thermal imaging lens, and the other is an ordinary visible light lens.
  • the types of the two shooting lenses can be selected according to the purpose of the shooting.
  • the camera can be applied to a drone, for example, to mount the camera to the body of the drone.
  • the camera can also be applied to a handheld camera, for example, to mount the camera on a handheld camera.
  • FIG. 1 is a schematic structural view of a pan-tilt combination according to the present invention
  • FIG. 2 is a schematic structural view of the gimbal after decomposition according to the present invention.
  • the pan/tilt head 100 of the present invention includes a first drive assembly 11, a second drive assembly 12, a third drive assembly 13, and a mounting camera carrying case 14.
  • the third drive assembly 13 is mounted within the carrier housing 14.
  • the three driving components are connected in sequence, that is, the first driving component 11 is connected to the second driving component 12, and the second driving component 12 is connected to the third driving component 13 for adjusting the carrier housing 14 (ie, the carrier housing 14).
  • the attitude or angle of the shooting device to eliminate the jitter generated by the gimbal during the shooting process due to the drone during flight or during the movement of the handheld camera, and to adjust the shooting angle of the shooting device.
  • the first driving assembly 11 includes a first mating portion 111 and a first connecting portion 112, and the first connecting portion 112 is rotatably mounted on the first mating portion 111.
  • the first mating portion 111 is for connection with an external bracket.
  • the external bracket can be the body of the drone or a hand-held shooting stick of the handheld camera.
  • a first driver (not shown) is disposed inside the first mating portion 111.
  • the movable end of the first driver is connected to one end of the first connecting portion 112, and the other end of the first connecting portion 112 is connected to the second driving unit 12.
  • the first connection portion 112 may be a curved shaft arm that extends from the bottom end of the first mating portion 111 to the second drive assembly 12 as shown in FIG.
  • the first driver is configured to drive the first connecting portion 112 to rotate about the first axis L1.
  • the first connecting portion 112 drives the second driving component 12 and the third driving component 13 while the first connecting portion 112 rotates about the first axis L1.
  • the carrier housing 14 is rotated about the first axis L1 to adjust the attitude or angle of the carrier housing 14 in the first direction, wherein the first axis L1 is parallel or coincident with the axis of the first mating portion 111.
  • the first axis L1 can be the translational or heading axis of the platform 100.
  • the first driver is a motor, which can be a brushless motor, a brushed motor or other type of motor.
  • the movable end is a rotor of a motor, and the first drive assembly 11 is a translational shaft drive assembly.
  • the first drive assembly 11 can also be a roll drive assembly or a pitch axis drive assembly.
  • the first actuator in order to control the rotational speed and the rotational direction of the first actuator, other electrical components such as a controller may be provided in the mating portion 111, and the first actuator is electrically connected to the controller.
  • a controller may be provided in the mating portion 111, and the first actuator is electrically connected to the controller.
  • the second driving component 12 includes a second mating portion 121 and a second connecting portion 122.
  • the second mating portion 121 is fixed to the first connecting portion 112, and the second connecting portion 122 is rotatably mounted on the second mating portion 121.
  • a second driver (not shown) is disposed inside the second mating portion 121.
  • the movable end of the second driver is connected to one end of the second connecting portion 122, and the other end of the second connecting portion 122 is connected to the third driving unit 13.
  • the second connecting portion 122 may be a straight arm that extends from the top end of the second mating portion 121 to the third driving assembly 13 as shown in FIG. 2 .
  • the straight arm is substantially parallel to the axis of the second mating portion 121.
  • the length of the straight arm can be appropriately shortened, for example, the length of the straight arm is less than half the length of the first connecting portion 112, or even less For example, it may be one third of the length of the first connecting portion 112.
  • the large reduction of the length of the straight arm can reduce the overall size of the gimbal to a certain extent, and make the overall structure of the gimbal more compact, which is conducive to miniaturization of the pan/tilt and the drone.
  • the second driver can drive the second connecting portion 122 to rotate about the second axis L2. While the second connecting portion 122 rotates about the second axis L2, the second connecting portion 122 drives the third driving component 13 and the carrier housing 14 to rotate.
  • the two axes L2 are rotated to adjust the attitude or angle of the carrier housing 14 in the second direction, wherein the second axis L2 is parallel or coincident with the axis of the second mating portion 121, and the second axis L2 is perpendicular to the first axis L1.
  • the second axis L2 can be a roll axis of the platform 100.
  • the second driver is a motor, which can be a brushless motor, a brushed motor or other type of motor.
  • the active end is the rotor of the motor.
  • the second drive assembly 12 is a roll drive assembly. Of course, in other embodiments, the second drive assembly 12 can also be a translational axis drive assembly or a pitch axis drive assembly.
  • the second driver is electrically connectable to the controller in the first mating portion 111 to control the rotational speed and the rotational direction of the second actuator by the controller.
  • the third driving component 13 includes a third mating portion 131 , and the third mating portion 131 is fixedly coupled to the second connecting portion 122 .
  • FIG. 3 is a schematic side view showing a portion of the third driving assembly mounted in the carrying case.
  • the third engaging portion 131 is mounted in the carrying case 14 , and the movable end of the third engaging portion 131 is coupled to the carrying case 14 , and the driving carrying case 14 is rotated relative to the third engaging portion 131 about the third axis L3 to adjust The attitude or angle of the carrier housing 14 in a third direction.
  • the third axis L3 is parallel or coincident with the axis of the third mating portion 131, and the third axis L3 is perpendicular to the second axis L2 and the first axis L1, respectively.
  • the third axis L3 may be the pitch axis of the platform 100.
  • the third actuator is a motor, which can be a brushless motor, a brushed motor or other type of motor.
  • the active end is the rotor of the motor.
  • the third drive assembly 13 can be a pitch axis drive assembly.
  • the third drive assembly 13 can also be a translational shaft drive assembly or a roller drive assembly.
  • the first direction described above may be a rotation direction about the first axis L1
  • the second direction may be a rotation direction about the second axis L2
  • the third direction may be a rotation direction about the third axis L3.
  • the third driver is electrically connectable to the controller in the first mating portion 111 to control the rotational speed and the rotational direction of the third actuator by the controller.
  • the carrier housing 14 includes a side wall 144, a vertical side wall 145, a bottom surface 146, and a top surface (not shown).
  • the side wall 144, the vertical side wall 145, the bottom surface 146, and the top surface are enclosed in a semi-cylindrical shape.
  • a cavity is formed in the carrier housing 14 for receiving the photographing device and the third driving assembly 13.
  • An opening 143 is defined in the middle of the side wall 144 for receiving the third component 13.
  • Two vertical mounting holes 141, 142 are provided on the vertical side wall 145 for mounting the two taking lenses of the image pickup apparatus.
  • the hole axes of the mounting hole 141 and the mounting hole 142 are parallel to each other, and the mounting hole 141 and the mounting hole 142 are symmetrical with respect to the lateral center line L4 of the carrier case 14.
  • the sidewall 144, the bottom surface 146 and the top surface are both curved.
  • the sidewall 144, the bottom surface 146 and the top surface may also be any geometric shapes such as a circle, a rectangle, a polygon, and the like. One of them.
  • the third drive assembly 13 is mounted in the carrier housing 14 through the opening 143, and the third drive assembly 13 is located intermediate the hole axis of the mounting hole 141 and the hole axis of the mounting hole 142. Specifically, the center of gravity of the third driving assembly 13 is located on the symmetry axis of the mounting hole 141 and the mounting hole 142 (ie, the lateral center line L4).
  • the third driving component 13 is disposed at an intermediate position of the line connecting the two hole axes, that is, at an intermediate position of the two shooting lenses of the photographing apparatus, so that the two photographing lenses of the photographing apparatus are balanced with each other with respect to the third driving component 13
  • the stability of the shooting lens eliminates the jitter of the shooting lens during the flight of the drone or the movement of the handheld camera while moving, and also adjusts the shooting angle of the shooting device.
  • the above three drive components can work simultaneously to simultaneously adjust the angle of the photographing lens from multiple directions.
  • the pan/tilt head of the present invention may include two drive assemblies, in conjunction with FIG. 2, one of the drive assemblies 13 is mounted on the carrier housing and the other drive assembly 12 is coupled to the outer bracket, in this embodiment
  • the drive assembly 11 is omitted.
  • the pan/tilt in this embodiment adjusts the attitude or angle of the carrying case from two dimensions to reduce the jitter of the shooting lens.
  • the other structure of the pan/tilt is similar to the previous embodiment, with the main difference being that three drive components are replaced by two drive components.
  • the pan/tilt structure of the present invention may also include more than three driving components, and the number of the driving components is not limited herein. Any equivalent structural changes made by using the specification and the drawings of the present invention are within the scope of protection of the present invention. .
  • the pan/tilt head of the invention installs one of the at least two driving components in the carrying case of the carrying camera device, thereby reducing the size of the pan/tilt head, making the overall structure of the pan/tilt head more compact, and facilitating the realization of the pan/tilt head. miniaturization.
  • the pan/tilt head of the present invention mounts one of the at least two drive assemblies in the carrying case of the carrying camera, the length of the second connecting portion of the second driving assembly can be greatly reduced, and the second connecting portion can be made The length is less than half the length of the first connecting portion, thereby further reducing the size of the pan/tilt and making the overall structure of the pan/tilt more compact.
  • Two mounting holes for mounting the photographing lens are disposed on the carrying case of the pan/tilt head of the present invention, and the driving components installed in the carrying case are located at an intermediate position of the line connecting the holes of the two mounting holes, so that the mounting holes are installed in the two mounting holes.
  • the shooting lens is balanced with respect to the driving component (for example, the third driving component), thereby increasing the stability of the shooting lens, eliminating the jitter of the shooting lens during the flight of the drone or the movement of the handheld shooting device during the movement. .

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  • Physics & Mathematics (AREA)
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Abstract

一种云台，包括至少两驱动组件，至少两驱动组件依次连接；承载壳体（14），用以安装拍摄装置；至少两个驱动组件中的其中一个驱动组件安装在承载壳体（14）内，至少两驱动组件能够驱动承载壳体（14）向至少两个方向转动，以从至少两个方向上调整拍摄装置的角度。该云台可减小云台的尺寸，使云台的整体结构紧凑，利于实现云台及无人机体积小型化。以及一种拍摄装置和无人机。

Description

云台、具有该云台的拍摄装置及无人机
申请要求于2017年6月7日申请的、申请号为201710423043.4、发明名称为“云台、具有该云台的拍摄装置及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及航空飞行器领域，特别涉及一种云台、具有该云台的拍摄装置及无人机。
背景技术
无人机是指利用无线电遥控设备和自备的程序控制装置的不载人飞机。无人机早期使用在军用领域，随着科学的发展，逐渐扩展到消费领域。目前无人机广泛用于街景拍摄、影视剧拍摄、环境监测、地质勘测、地图绘制、农林牧业的监测等诸多领域。
通常，无人机的机架下方设有用于安装、固定相机的云台，云台还可用于调整相机的姿态，以达到更佳的拍摄效果，但是，现有的云台外形尺寸较大，占用空间大，不利于无人机的小型化。
发明内容
本发明的一个目的在于解决上述技术问题，提供一种能够减小外形尺寸且结构紧凑的云台。
本发明的另一目的在于提供一种具有上述云台的拍摄装置。
本发明的另一目的在于提供具有上述拍摄装置的无人机。
本发明提供一种云台，包括：
至少两驱动组件，所述至少两驱动组件依次连接；
承载壳体，用以安装拍摄装置；
所述至少两个驱动组件中的其中一个驱动组件安装在所述承载壳体内，所述至少两驱动组件能够驱动所述承载壳体向至少两个方向转动，以从至少两个 方向上调整拍摄装置的角度。
可选的，所述承载壳体上设有两个相互间隔用于安装摄像镜头的安装孔，两安装孔的孔轴线相互平行，安装在所述承载壳体内的驱动组件位于两孔轴线连线的中间位置。
可选的，所述两安装孔相对于所述承载壳体的横向中心线对称，所述安装在所述承载壳体内的驱动组件的重心位于所述横向中心线上。
可选的，所述至少两驱动组件为三个驱动组件，分别为第一驱动组件、第二驱动组件和第三驱动组件，所述第一驱动组件用于与外部支架连接，所述第二驱动组件连接所述第一驱动组件，所述第三驱动组件连接所述第二驱动组件，且所述第三驱动组件安装在所述承载壳体内；
所述第一驱动组件能够驱动所述承载壳体向第一方向转动，所述第二驱动组件能够驱动所述承载壳体向第二方向转动，所述第三驱动组件能够驱动所述承载壳体向第三方向转动，所述第一方向、第二方向和第三方向两两垂直。
可选的，所述第一驱动组件包括第一配合部和第一连接部，所述第一配合部用于与外部支架连接，所述第一配合部的内部设有第一驱动器，所述第一驱动器的活动端与所述第一连接部的一端连接，所述第一连接部的另一端与所述第二驱动组件连接，所述第一驱动器驱动所述第一连接部绕第一轴线转动，所述第一轴线与所述第一配合部的轴线平行。
可选的，所述第二驱动组件包括第二配合部和第二连接部，所述第二配合部固定在第一连接部上，所述第二配合部的内部设有第二驱动器，所述第二驱动器的活动端与所述第二连接部的一端连接，所述第二连接部的另一端与所述第三驱动组件连接，所述第二驱动器驱动所述第二连接部绕第二轴线转动，所述第二轴线与所述第一轴线垂直。
可选的，所述第二连接部为平直臂，且所述第二连接部的长度至多为少于所述第一连接部长度的一半。
可选的，所述第三驱动组件包括与所述第二连接部固定连接的第三配合部，所述第三配合部的内部设有第三驱动器，所述第三驱动器的活动端与所述承载壳体连接，并驱动所述承载壳体相对于第三轴线转动，所述第三轴线分别与所述第二轴线、所述第一轴线垂直。
本发明另提供一种拍摄装置，包括拍摄设备和上述所述的云台，所述拍摄 设备具有两个拍摄镜头，所述两个拍摄镜头分别安装在所述壳体的两个安装孔中。
本发明又提供一种无人机，包括机身和上述拍摄装置，所述拍摄装置安装在所述机身上。本发明的实施例提供的技术方案可以包括以下有益效果：
本发明的云台将至少两驱动组件中的其中一个驱动组件安装在承载拍摄装置的承载壳体内，藉此，减小云台的尺寸，使云台的整体结构更加紧凑，实现小型化。
此外，本发明的云台的承载壳体上设置两个用于安装拍摄镜头的安装孔，且安装在承载壳体内的驱动组件位于两安装孔的孔轴线连线的中间位置，使得安装在两安装孔的拍摄镜头相对于该驱动组件(例如，第三驱动组件)相互重量平衡，从而增加了拍摄镜头的稳定性，消除拍摄镜头在无人机飞行过程中或手持式拍摄设备在移动过程中的抖动。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本发明。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本发明的实施例，并于说明书一起用于解释本发明的原理。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本发明的云台组合后的结构示意图。
图2为本发明的云台分解后的结构示意图。
图3为清楚显示第三驱动组件安装在承载壳体内的部分侧面示意图。
具体实施方式
为了进一步说明本发明的原理和结构，现结合附图对本发明的优选实施例进行详细说明。
在本发明的描述中，需要说明的是，术语“第一”、“第二”、“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安 装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
本发明提供一种拍摄装置，该拍摄装置包括本发明的云台和拍摄设备，该拍摄设备具有两个拍摄镜头，两个拍摄镜头的类型可以一样，也可以不一样，例如，其中一个拍摄镜头是红外线镜头或者热成像镜头，另外一个是普通的可见光镜头，两拍摄镜头的类型可以根据拍摄的目的而选择。该拍摄装置可应用到无人机上，例如，将拍摄装置安装到无人机的机身上。该拍摄装置也可以应用到手持式拍摄设备上，例如，将拍摄装置安装在手持拍摄杆上。
在一个实施例中，如图1和图2所示，图1为本发明的云台组合后的结构示意图，图2为本发明的云台分解后的结构示意图。本发明的云台100包括第一驱动组件11、第二驱动组件12、第三驱动组件13以及用于安装拍摄设备承载壳体14。第三驱动组件13安装在承载壳体14内。
三个驱动组件依次连接，即第一驱动组件11与第二驱动组件12连接、第二驱动组件12与第三驱动组件13连接，分别用于调节承载壳体14(即，承载壳体14内的拍摄设备)的姿态或角度，以消除云台在进行拍摄过程中由于无人机在飞行过程中或手持式拍摄设备在移动过程中而产生的抖动，以及调整拍摄设备的拍摄角度。
第一驱动组件11包括第一配合部111和第一连接部112，第一连接部112可转动地安装在第一配合部111上。第一配合部111用于与外部支架连接。该外部支架可以是无人机的机身，也可以是手持式拍摄设备的手持拍摄杆。第一配合部111的内部设有第一驱动器(未图示)，第一驱动器的活动端与第一连接部112的一端连接，第一连接部112的另一端与第二驱动组件12连接。第一连接部112可以是如图2中所示的从第一配合部111的底端延伸至第二驱动组件12处的弯曲轴臂。
第一驱动器能够驱动第一连接部112绕第一轴线L1转动，在第一连接部112绕第一轴线L1转动的同时，第一连接部112带动第二驱动组件12、第三驱动组件13以及承载壳体14绕第一轴线L1转动，以调整承载壳体14在第一方向上的姿态或角度，其中，第一轴线L1与第一配合部111的轴线平行或重合。该第 一轴线L1可为云台100的平移轴或航向轴。该第一驱动器为电机，其可为无刷电机、有刷电机或其他类型的电机。该活动端为电机的转子，该第一驱动组件11为平移轴驱动组件。当然，在其他实施例中，该第一驱动组件11也可以是横滚轴驱动组件或俯仰轴驱动组件。
此外，为了实现对第一驱动器转动速度和转动方向的控制，在配合部111中还可设置控制器等其他电气元器件，第一驱动器与控制器电连接。
第二驱动组件12包括第二配合部121和第二连接部122，第二配合部121固定在第一连接部112上，第二连接部122可转动地安装在该第二配合部121上。第二配合部121的内部设有第二驱动器(未图示)，第二驱动器的活动端与第二连接部122的一端连接，第二连接部122的另一端与第三驱动组件13连接。第二连接部122可以是如图2中所示的从第二配合部121的顶端延伸至第三驱动组件13处的平直臂。该平直臂大致平行于第二配合部121的轴线。由于第三驱动组件13可直接安装在承载壳体14内，因此该平直臂的长度可适当减短，例如该平直臂的长度少于第一连接部112长度的一半，或甚至更少，例如，可以是第一连接部112长度的三分之一。平直臂长度的大幅度减少可在一定程度上减少云台的整体尺寸，使云台的整体结构更加紧凑，利于实现云台及无人机体积小型化。
第二驱动器能够驱动第二连接部122绕第二轴线L2转动，在第二连接部122绕第二轴线L2转动的同时，第二连接部122带动第三驱动组件13以及承载壳体14绕第二轴线L2转动，以调整承载壳体14在第二方向上的姿态或角度，其中第二轴线L2与第二配合部121的轴线平行或重合，且第二轴线L2与第一轴线L1垂直。该第二轴线L2可为云台100的横滚轴。该第二驱动器为电机，其可为无刷电机、有刷电机或其他类型的电机。该活动端为电机的转子。该第二驱动组件12为横滚轴驱动组件。当然，在其他实施例中，该第二驱动组件12也可以是平移轴驱动组件或俯仰轴驱动组件。
第二驱动器可与第一配合部111中的控制器电连接，以通过控制器控制第二驱动器的转动速度和转动方向。
第三驱动组件13包括第三配合部131，第三配合部131固定连接第二连接部122。结合如图3所示，图3为清楚显示第三驱动组件安装在承载壳体内的部分侧面示意图。第三配合部131安装在承载壳体14内，且第三配合部131的活 动端与承载壳体14连接，驱动承载壳体14相对于第三配合部131绕第三轴线L3转动，以调整承载壳体14在第三方向上的姿态或角度。其中，第三轴线L3与第三配合部131的轴线平行或重合，且第三轴线L3分别与第二轴线L2、第一轴线L1垂直。
该第三轴线L3可为云台100的俯仰轴。该第三驱动器为电机，其可为无刷电机、有刷电机或其他类型的电机。该活动端为电机的转子。该第三驱动组件13可为俯仰轴驱动组件。当然，在其他实施例中，该第三驱动组件13也可以是平移轴驱动组件或横滚轴驱动组件。
上述所述的第一方向可以是绕第一轴线L1的转动方向，第二方向可以是绕第二轴线L2的转动方向，第三方向可以是绕第三轴线L3的转动方向。
第三驱动器可与第一配合部111中的控制器电连接，以通过控制器控制第三驱动器的转动速度和转动方向。
承载壳体14包括侧壁144、竖直侧壁145、底面146和顶面(未图示)，侧壁144、竖直侧壁145、底面146和顶面合围成半圆柱形。该承载壳体14内形成一空腔用于容纳拍摄设备和第三驱动组件13。侧壁144的中间位置开设有一开孔143，该开孔143用于收容第三组件13。竖直侧壁145上设置有两个相互间隔的安装孔141、142，用于安装摄像设备的两个拍摄镜头。安装孔141和安装孔142的孔轴线相互平行，且安装孔141和安装孔142关于承载壳体14的横向中心线L4对称。
在本实施例中，侧壁144、底面146和顶面均为弧形，在其它的实施例中，侧壁144、底面146和顶面还可以分别为圆形、矩形、多边形等任何几何形状中的一种。
第三驱动组件13通过开孔143安装在承载壳体14内，且第三驱动组件13位于安装孔141的孔轴线和安装孔142的孔轴线连线的中间位置。具体的，第三驱动组件13的重心位于安装孔141和安装孔142的对称轴(即横向中心线L4)上。
第三驱动组件13设置在两孔轴线的连线的中间位置，即位于拍摄设备的两个拍摄镜头的中间位置，使得拍摄设备的两个拍摄镜头相对于第三驱动组件13相互重量平衡，增加拍摄镜头的稳定性，消除拍摄镜头在无人机飞行过程中或手持式拍摄设备在移动过程中的抖动，同时还可以调整拍摄设备的拍摄角度。
进一步，在云台的使用过程中，上述三个驱动组件可同时工作，以从多个方向同时调整拍摄镜头的角度。
在另一个实施中，本发明的云台可以包括两个驱动组件，结合图2，其中一个驱动组件13安装在承载壳体上，另一个驱动组件12用于与外部支架连接，本实施例中省略了驱动组件11。本实施例中的云台从两个维度上调整承载壳体的姿态或角度，减小拍摄镜头的抖动。在该实施例中，云台的其他结构与上一实施例相似，主要区别在于由三个驱动组件替换为两个驱动组件。
本发明的云台结构也可以包括三个以上的驱动组件，在此不对驱动组件的数量进行限制，凡运用本发明说明书及附图内容所作出的等效结构变化，均属于本发明保护的范围。
本发明的云台将至少两驱动组件中的其中一个驱动组件安装在承载拍摄装置的承载壳体内，藉此，减小云台的尺寸，使云台的整体结构更加紧凑，利于实现云台的小型化。
此外，本发明的云台将至少两驱动组件中的其中一个驱动组件安装在承载拍摄装置的承载壳体内，可大大减少第二驱动组件的第二连接部的长度，并且可使第二连接部的长度少于第一连接部长度的一半，由此，进一步减小了云台的尺寸，使云台的整体结构更加紧凑。
本发明的云台的承载壳体上设置两个用于安装拍摄镜头的安装孔，且安装在承载壳体内的驱动组件位于两安装孔的孔轴线连线的中间位置，使得安装在两安装孔的拍摄镜头相对于该驱动组件(例如，第三驱动组件)相互重量平衡，从而增加了拍摄镜头的稳定性，消除拍摄镜头在无人机飞行过程中或手持式拍摄设备在移动过程中的抖动。
以上仅为本发明的较佳可行实施例，并非限制本发明的保护范围，凡运用本发明说明书及附图内容所作出的等效结构变化，均包含在本发明的保护范围内。

Claims (12)

  1. 一种云台，其特征在于，包括：
    至少两驱动组件，所述至少两驱动组件依次连接；
    承载壳体(14)，用以安装拍摄装置；
    所述至少两个驱动组件中的其中一个驱动组件安装在所述承载壳体(14)内，所述至少两驱动组件能够驱动所述承载壳体(14)向至少两个方向转动，以从至少两个方向上调整拍摄装置的角度。
  2. 根据权利要求1所述的云台，其特征在于，所述承载壳体(14)上设有两个相互间隔用于安装摄像镜头的安装孔(141，142)，两安装孔(141，142)的孔轴线相互平行，安装在所述承载壳体(14)内的驱动组件位于两孔轴线连线的中间位置。
  3. 根据权利要求2所述的云台，其特征在于，所述两安装孔(141，142)相对于所述承载壳体(14)的横向中心线(L4)对称，所述安装在所述承载壳体(14)内的驱动组件的重心位于所述横向中心线(L4)上。
  4. 根据权利要求1所述的云台，其特征在于，所述至少两驱动组件为三个驱动组件，分别为第一驱动组件(11)、第二驱动组件(12)和第三驱动组件(13)，所述第一驱动组件(11)用于与外部支架连接，所述第二驱动组件(12)连接所述第一驱动组件(11)，所述第三驱动组件(13)连接所述第二驱动组件(12)，且所述第三驱动组件(13)安装在所述承载壳体(14)内；
    所述第一驱动组件(11)能够驱动所述承载壳体(14)向第一方向转动，所述第二驱动组件(12)能够驱动所述承载壳体(14)向第二方向转动，所述第三驱动组件(13)能够驱动所述承载壳体(14)向第三方向转动，所述第一方向、第二方向和第三方向两两垂直。
  5. 根据权利要求4所述的云台，其特征在于，所述第一驱动组件(11)包括第一配合部(111)和第一连接部(112)，所述第一配合部(111)用于与外部支架连接，所述第一配合部(111)的内部设有第一驱动器，所述第一驱动器的活动端与所述第一连接部(112)的一端连接，所述第一连接部(112)的另一端与所述第二驱动组件(12)连接，所述第一驱动器驱动所述第一连接部(112)绕第一轴线(L1)转动，所述第一轴线(L1)与所述第一配合部(111)的轴线 平行。
  6. 根据权利要求5所述的云台，其特征在于，所述第二驱动组件(12)包括第二配合部(121)和第二连接部(122)，所述第二配合部(121)固定在第一连接部(112)上，所述第二配合部(121)的内部设有第二驱动器，所述第二驱动器的活动端与所述第二连接部(122)的一端连接，所述第二连接部(122)的另一端与所述第三驱动组件(13)连接，所述第二驱动器驱动所述第二连接部(122)绕第二轴线(L2)转动，所述第二轴线(L2)与所述第一轴线垂直。
  7. 根据权利要求6所述的云台，其特征在于，所述第二连接部(122)为平直臂，且所述第二连接部(122)的长度少于所述第一连接部(112)长度的一半。
  8. 根据权利要求6所述的云台，其特征在于，所述第三驱动组件(13)包括与所述第二连接部(122)固定连接的第三配合部(131)，所述第三配合部(131)的内部设有第三驱动器，所述第三驱动器的活动端与所述承载壳体(14)连接，并驱动所述承载壳体(14)相对于第三轴线(L3)转动，所述第三轴线(L3)分别与所述第二轴线(L2)、所述第一轴线(L1)垂直。
  9. 一种拍摄装置，其特征在于，包括拍摄设备和如权利要求1至8任一项所述的云台(100)，所述拍摄设备具有两个拍摄镜头，所述两个拍摄镜头分别安装在所述壳体的两个安装孔(141，142)中。
  10. 根据权利要求9所述的拍摄装置，其特征在于，所述两个拍摄镜头相同。
  11. 根据权利要求9所述的拍摄装置，其特征在于，所述两个拍摄镜头不相同，其中一个所述拍摄镜头为红外线镜头或者热成像镜头，另一个所述拍摄镜头为可见光镜头。
  12. 一种无人机，其特征在于，包括机身和权利要求9～11任一项所述的拍摄装置，所述拍摄装置安装在所述机身上。
PCT/CN2018/078932 2017-06-07 2018-03-14 云台、具有该云台的拍摄装置及无人机 WO2018223742A1 (zh)

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