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WO2018018635A1 - 云台、拍摄设备和无人飞行器 - Google Patents

云台、拍摄设备和无人飞行器 Download PDF

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Publication number
WO2018018635A1
WO2018018635A1 PCT/CN2016/092428 CN2016092428W WO2018018635A1 WO 2018018635 A1 WO2018018635 A1 WO 2018018635A1 CN 2016092428 W CN2016092428 W CN 2016092428W WO 2018018635 A1 WO2018018635 A1 WO 2018018635A1
Authority
WO
WIPO (PCT)
Prior art keywords
bracket
driving member
pan
axis
driving
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2016/092428
Other languages
English (en)
French (fr)
Inventor
刘浩
郭善光
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Osmo Technology Co Ltd
Original Assignee
SZ DJI Osmo Technology Co Ltd
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 SZ DJI Osmo Technology Co Ltd filed Critical SZ DJI Osmo Technology Co Ltd
Priority to PCT/CN2016/092428 priority Critical patent/WO2018018635A1/zh
Priority to CN202010909483.2A priority patent/CN111977007B/zh
Priority to CN201680012481.5A priority patent/CN107690606B/zh
Publication of WO2018018635A1 publication Critical patent/WO2018018635A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B64C27/14—Direct drive between power plant and rotor hub
    • 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 invention relates to a pan/tilt head, a photographing device and an unmanned aerial vehicle.
  • the pan/tilt head is usually a two-axis pan/tilt or a three-axis pan/tilt, and the electrical components are usually the driving elements of the respective axes of the pan/tilt.
  • the control elements of existing pan/tilt heads are typically electrically coupled to the electrical components by a transmission member.
  • pan/tilt head it is necessary to provide a relatively small-sized pan/tilt head, and it is also necessary to provide a photographing apparatus and an unmanned aerial vehicle using the pan/tilt head.
  • a pan/tilt head comprising a plurality of control elements and a plurality of brackets connected in turn, each of which is provided with an electrical component, the plurality of brackets comprising a mounting member and a bracket assembly, between the plurality of control elements
  • the flexible circuit board is electrically connected to form a soft and hard composite board, and the soft and hard composite board is integrally disposed between the mounting member and the bracket assembly.
  • a plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.
  • the electrical component includes a first driving member disposed on the mounting member, the mounting member and the first driving member constitute a first bracket of the pan/tilt, the bracket assembly includes the The mounting member is rotatably coupled to the second bracket, and the plurality of control elements are disposed on the second bracket.
  • the second bracket is coupled to the first driving member, and the first driving member is configured to drive the second bracket to rotate relative to the mounting member about an axis of rotation.
  • the rotation axis of the first driving member is a pitch axis of the pan/tilt head.
  • an axis of rotation of the second bracket relative to the first bracket is a pitch axis of the pan/tilt head.
  • pan/tilt further includes a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is a heading axis of the platform.
  • the third bracket includes a connecting member rotatably coupled to the second bracket and a carrier rotatably coupled to the connecting member, the carrier is configured to mount an electronic device;
  • the axis of rotation of the connector is the roll axis of the pan.
  • control elements are disposed on the second bracket and located between the second bracket and the mounting member.
  • the transmission member includes a first transmission member, one end of the first transmission member is connected to the first driving member, and the other end is connected to the first driving member after a predetermined number of turns control element.
  • the first transmission member is wound around the outer circumference of the first driving member, it extends to the second bracket and is electrically connected to the control element.
  • the second bracket includes a support connected to the first driving member, the control element is disposed on the support member; and the first transmission member is disposed around the outer periphery of the first driving member Thereafter, extending along the support member and electrically contacting the control element.
  • the mounting member forms a receiving space, and the second bracket is received in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • the mounting member includes an outer connecting portion and a first supporting arm and a second supporting arm respectively disposed at two ends of the outer connecting portion, and the first supporting arm and the second supporting arm respectively and the external connecting portion
  • the first support arm, the second support arm and the outer joint jointly form the receiving space.
  • two ends of the support member are rotatably connected to the first support arm and the second support arm, respectively.
  • first driving member is disposed on the first supporting arm, one end of the supporting member is connected to the first driving member, and the other end is pivotally connected to the second supporting arm.
  • one end of the second bracket is connected to the first driving member, and the other end is pivotally connected to the second supporting arm;
  • the transmitting member includes a second transmitting member, and the second transmitting member One end is connected to the control element, and the other end is connected to the external controller after being wound a predetermined number of turns outside the pivot.
  • control component includes a pan/tilt controller for controlling the pan-tilt movement, and the second transmission component is connected between the pan-tilt controller and the external controller.
  • the electrical component further includes a second driving component disposed on the second bracket, the plurality of brackets further including a third bracket, the third bracket is coupled to the second driving component,
  • the second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.
  • the rotation axis of the second driving member is perpendicular to the rotation axis of the first driving member.
  • rotation axis of the second driving member is a heading axis of the pan/tilt head.
  • control elements are disposed on the second bracket and disposed adjacent to the second driving member.
  • the second bracket includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion Set at a predetermined angle.
  • the second driving member is disposed on the support portion, and the plurality of the control elements comprise a first control element, the first control element is disposed on the support portion, and is coupled to the second driving Electrical connection.
  • the first driving member is disposed on the first connecting arm
  • the plurality of the control elements further includes a second control component connected to the first control component, the second control component being disposed at the The first connecting arm is electrically connected to the first driving member.
  • the plurality of control elements further includes an auxiliary controller coupled to the first control element, the auxiliary controller being disposed on the second connecting arm.
  • the transmission member further includes a third transmission member connected between the second driving member and the control element.
  • the transmission member further includes a fourth transmission member, one end of the fourth transmission member is connected to the control element, and the other end is from the side of the second driving member along the end surface of the second driving member Extending and connecting to electrical components on the second bracket.
  • a portion of the fourth transmitting member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fourth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • the third bracket further includes a connecting member, the connecting member is connected to the second driving member, and the fourth transmitting member extends along the end surface of the second driving member, and then along the connecting member The outer surface extends and is connected to electrical components on the third bracket.
  • the third bracket further includes a carrier rotatably coupled to the connector, the carrier for mounting an electronic device.
  • the electrical component further includes a third driving member disposed on the connecting member, the carrier member is coupled to the third driving member, and the third driving member is capable of driving the carrier member to rotate around The axis rotates relative to the connector, and the fourth transmission member is coupled to the third driver.
  • the rotation axis of the third driving member is perpendicular to the rotation axis of the second driving member.
  • the rotation axis of the third driving member is a rolling axis of the pan/tilt head.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the first driving member, the rotation axis of the second driving member, and the rotation axis of the third driving member respectively correspond to the three-axis pan/tilt head Pitch axis, heading axis, and roll axis.
  • the transmission member further includes a fifth transmission member, the fifth transmission member is connected to the control element at one end, and the other end is extended to the bearing after extending along the same extension path as the fourth transmission member.
  • Electronic device on the piece is
  • the transmission member further includes a fifth transmission member, one end of which is connected to the control element, and the other end extends from a side of the second driving member along an end surface of the second driving member And connected to the electronic device on the carrier.
  • the fifth transmission member extends along the end surface of the second driving member, and then extends along the outer surface of the connecting member and is connected to the electronic device on the carrier.
  • a portion of the fifth transmission member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fifth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • a portion of the fifth transmission member extending along the connecting member passes through a center of rotation of the carrier when the connecting member rotates.
  • the second bracket includes a support member rotatably coupled to the mounting member, the support member forms an installation space, and the third bracket is received in the installation space.
  • the support member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the installation space.
  • the support member includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion
  • the first connecting arm, the second connecting arm and the external connecting portion together form the installation space.
  • the second driving member is disposed to be connected to the supporting portion, so that the third bracket is received in the installation space.
  • the plurality of control elements include a first control element, a second control element, and an auxiliary controller, the first control element is disposed on the support portion, and the second control element is disposed at the first On the connecting arm, the auxiliary controller is disposed on the second connecting arm.
  • the mounting member forms a receiving space
  • the supporting member is rotatably connected to the mounting member to receive the second bracket in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • control element is a control circuit board.
  • the electrical component is a rotating electrical machine
  • the control circuit board is provided with an electronic governor corresponding to the rotating electrical machine, and each of the transmitting components is connected to the rotating electrical machine and corresponding to the rotating electrical machine Between the electronic governors.
  • a plurality of said control elements are disposed on said bracket assembly, and a structure of a plurality of said control elements is adapted to the structure of said bracket assembly.
  • the transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.
  • a photographing apparatus includes an electronic device for taking an image.
  • the photographing apparatus further includes a pan/tilt for carrying the electronic device, the pan/tilt head includes a plurality of control elements and a plurality of brackets connected in turn, each of the brackets is provided with an electrical component, and the plurality of
  • the bracket includes a mounting member and a bracket assembly, and the plurality of the control members are electrically connected by a flexible circuit board to form a soft and hard composite panel, and the soft and hard composite panel is integrally disposed between the mounting member and the bracket assembly.
  • a plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.
  • the electrical component includes a first driving member disposed on the mounting member, the mounting member and the first driving member constitute a first bracket of the pan/tilt, the bracket assembly includes the The mounting member is rotatably coupled to the second bracket, and the plurality of control elements are disposed on the second bracket.
  • the second bracket is coupled to the first driving member, and the first driving member is configured to drive the second bracket to rotate relative to the mounting member about an axis of rotation.
  • the rotation axis of the first driving member is a pitch axis of the pan/tilt head.
  • an axis of rotation of the second bracket relative to the first bracket is a pitch axis of the pan/tilt head.
  • pan/tilt further includes a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is a heading axis of the platform.
  • the third bracket includes a connecting member rotatably coupled to the second bracket and a carrier rotatably coupled to the connecting member, the carrier is configured to mount an electronic device;
  • the axis of rotation of the connector is the roll axis of the pan.
  • control elements are disposed on the second bracket and located between the second bracket and the mounting member.
  • the transmission member includes a first transmission member, one end of the first transmission member is connected to the first driving member, and the other end is connected to the first driving member after a predetermined number of turns control element.
  • the first transmission member is wound around the outer circumference of the first driving member, it extends to the second bracket and is electrically connected to the control element.
  • the second bracket includes a support connected to the first driving member, the control element is disposed on the support member; and the first transmission member is disposed around the outer periphery of the first driving member Thereafter, extending along the support member and electrically contacting the control element.
  • the mounting member forms a receiving space, and the second bracket is received in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • the mounting member includes an outer connecting portion and a first supporting arm and a second supporting arm respectively disposed at two ends of the outer connecting portion, and the first supporting arm and the second supporting arm respectively and the external connecting portion
  • the first support arm, the second support arm and the outer joint jointly form the receiving space.
  • two ends of the support member are rotatably connected to the first support arm and the second support arm, respectively.
  • first driving member is disposed on the first supporting arm, one end of the supporting member is connected to the first driving member, and the other end is pivotally connected to the second supporting arm.
  • one end of the second bracket is connected to the first driving member, and the other end is pivotally connected to the second supporting arm;
  • the transmitting member includes a second transmitting member, and the second transmitting member One end is connected to the control element, and the other end is connected to the external controller after being wound a predetermined number of turns outside the pivot.
  • control component includes a pan/tilt controller for controlling the pan-tilt movement, and the second transmission component is connected between the pan-tilt controller and the external controller.
  • the electrical component further includes a second driving component disposed on the second bracket, the plurality of brackets further including a third bracket, the third bracket is coupled to the second driving component,
  • the second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.
  • the rotation axis of the second driving member is perpendicular to the rotation axis of the first driving member.
  • rotation axis of the second driving member is a heading axis of the pan/tilt head.
  • control elements are disposed on the second bracket and disposed adjacent to the second driving member.
  • the second bracket includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion Set at a predetermined angle.
  • the second driving member is disposed on the support portion, and the plurality of the control elements comprise a first control element, the first control element is disposed on the support portion, and is coupled to the second driving Electrical connection.
  • the first driving member is disposed on the first connecting arm
  • the plurality of the control elements further includes a second control component connected to the first control component, the second control component being disposed at the The first connecting arm is electrically connected to the first driving member.
  • the plurality of control elements further includes an auxiliary controller coupled to the first control element, the auxiliary controller being disposed on the second connecting arm.
  • the transmission member further includes a third transmission member connected between the second driving member and the control element.
  • the transmission member further includes a fourth transmission member, one end of the fourth transmission member is connected to the control element, and the other end is from the side of the second driving member along the end surface of the second driving member Extending and connecting to electrical components on the second bracket.
  • a portion of the fourth transmitting member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fourth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • the third bracket further includes a connecting member, the connecting member is connected to the second driving member, and the fourth transmitting member extends along the end surface of the second driving member, and then along the connecting member The outer surface extends and is connected to electrical components on the third bracket.
  • the third bracket further includes a carrier rotatably coupled to the connector, the carrier for mounting an electronic device.
  • the electrical component further includes a third driving member disposed on the connecting member, the carrier member is coupled to the third driving member, and the third driving member is capable of driving the carrier member to rotate around The axis rotates relative to the connector, and the fourth transmission member is coupled to the third driver.
  • the rotation axis of the third driving member is perpendicular to the rotation axis of the second driving member.
  • the rotation axis of the third driving member is a rolling axis of the pan/tilt head.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the first driving member, the rotation axis of the second driving member, and the rotation axis of the third driving member respectively correspond to the three-axis pan/tilt head Pitch axis, heading axis, and roll axis.
  • the transmission member further includes a fifth transmission member, the fifth transmission member is connected to the control element at one end, and the other end is extended to the bearing after extending along the same extension path as the fourth transmission member.
  • Electronic device on the piece is
  • the transmission member further includes a fifth transmission member, one end of which is connected to the control element, and the other end extends from a side of the second driving member along an end surface of the second driving member And connected to the electronic device on the carrier.
  • the fifth transmission member extends along the end surface of the second driving member, and then extends along the outer surface of the connecting member and is connected to the electronic device on the carrier.
  • a portion of the fifth transmission member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fifth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • a portion of the fifth transmission member extending along the connecting member passes through a center of rotation of the carrier when the connecting member rotates.
  • the second bracket includes a support member rotatably coupled to the mounting member, the support member forms an installation space, and the third bracket is received in the installation space.
  • the support member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the installation space.
  • the support member includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion
  • the first connecting arm, the second connecting arm and the external connecting portion together form the installation space.
  • the second driving member is disposed to be connected to the supporting portion, so that the third bracket is received in the installation space.
  • the plurality of control elements include a first control element, a second control element, and an auxiliary controller, the first control element is disposed on the support portion, and the second control element is disposed at the first On the connecting arm, the auxiliary controller is disposed on the second connecting arm.
  • the mounting member forms a receiving space
  • the supporting member is rotatably connected to the mounting member to receive the second bracket in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • control element is a control circuit board.
  • the electrical component is a rotating electrical machine
  • the control circuit board is provided with an electronic governor corresponding to the rotating electrical machine, and each of the transmitting components is connected to the rotating electrical machine and corresponding to the rotating electrical machine Between the electronic governors.
  • a plurality of said control elements are disposed on said bracket assembly, and a structure of a plurality of said control elements is adapted to the structure of said bracket assembly.
  • the transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.
  • the electronic device is any one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.
  • An unmanned aerial vehicle includes a body and a pan/tilt connected to the body, and an electronic device connected to the pan/tilt, the electronic device is configured to capture an image, and the pan/tilt can adjust the electronic device a shooting attitude of the device, the pan/tilt includes a plurality of control elements and a plurality of brackets rotatably connected to each other, each of the brackets is provided with an electrical component, the plurality of brackets including a mounting member and a bracket assembly, and the plurality of The control elements are electrically connected by a flexible circuit board to form a soft and hard composite board, and the soft and hard composite board is integrally disposed between the mounting member and the bracket assembly.
  • a plurality of said control elements are respectively capable of controlling said electrical components, said mounting members and electrical components on said bracket assembly being respectively connected to corresponding ones of said control elements by separate transmission members.
  • the electrical component includes a first driving member disposed on the mounting member, the mounting member and the first driving member constitute a first bracket of the pan/tilt, the bracket assembly includes the The mounting member is rotatably coupled to the second bracket, and the plurality of control elements are disposed on the second bracket.
  • the second bracket is coupled to the first driving member, and the first driving member is configured to drive the second bracket to rotate relative to the mounting member about an axis of rotation.
  • the rotation axis of the first driving member is a pitch axis of the pan/tilt head.
  • an axis of rotation of the second bracket relative to the first bracket is a pitch axis of the pan/tilt head.
  • pan/tilt further includes a third bracket rotatably coupled to the second bracket, and an axis of rotation of the third bracket relative to the second bracket is a heading axis of the platform.
  • the third bracket includes a connecting member rotatably coupled to the second bracket and a carrier rotatably coupled to the connecting member, the carrier is configured to mount an electronic device;
  • the axis of rotation of the connector is the roll axis of the pan.
  • control elements are disposed on the second bracket and located between the second bracket and the mounting member.
  • the transmission member includes a first transmission member, one end of the first transmission member is connected to the first driving member, and the other end is connected to the first driving member after a predetermined number of turns control element.
  • the first transmission member is wound around the outer circumference of the first driving member, it extends to the second bracket and is electrically connected to the control element.
  • the second bracket includes a support connected to the first driving member, the control element is disposed on the support member; and the first transmission member is disposed around the outer periphery of the first driving member Thereafter, extending along the support member and electrically contacting the control element.
  • the mounting member forms a receiving space, and the second bracket is received in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • the mounting member includes an outer connecting portion and a first supporting arm and a second supporting arm respectively disposed at two ends of the outer connecting portion, and the first supporting arm and the second supporting arm respectively and the external connecting portion
  • the first support arm, the second support arm and the outer joint jointly form the receiving space.
  • two ends of the support member are rotatably connected to the first support arm and the second support arm, respectively.
  • first driving member is disposed on the first supporting arm, one end of the supporting member is connected to the first driving member, and the other end is pivotally connected to the second supporting arm.
  • one end of the second bracket is connected to the first driving member, and the other end is pivotally connected to the second supporting arm;
  • the transmitting member includes a second transmitting member, and the second transmitting member One end is connected to the control element, and the other end is connected to the external controller after being wound a predetermined number of turns outside the pivot.
  • control component includes a pan/tilt controller for controlling the pan-tilt movement, and the second transmission component is connected between the pan-tilt controller and the external controller.
  • the electrical component further includes a second driving component disposed on the second bracket, the plurality of brackets further including a third bracket, the third bracket is coupled to the second driving component,
  • the second driving member is capable of driving the third bracket to rotate relative to the second bracket about an axis of rotation.
  • the rotation axis of the second driving member is perpendicular to the rotation axis of the first driving member.
  • rotation axis of the second driving member is a heading axis of the pan/tilt head.
  • control elements are disposed on the second bracket and disposed adjacent to the second driving member.
  • the second bracket includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion Set at a predetermined angle.
  • the second driving member is disposed on the support portion, and the plurality of the control elements comprise a first control element, the first control element is disposed on the support portion, and is coupled to the second driving Electrical connection.
  • the first driving member is disposed on the first connecting arm
  • the plurality of the control elements further includes a second control component connected to the first control component, the second control component being disposed at the The first connecting arm is electrically connected to the first driving member.
  • the plurality of control elements further includes an auxiliary controller coupled to the first control element, the auxiliary controller being disposed on the second connecting arm.
  • the transmission member further includes a third transmission member connected between the second driving member and the control element.
  • the transmission member further includes a fourth transmission member, one end of the fourth transmission member is connected to the control element, and the other end is from the side of the second driving member along the end surface of the second driving member Extending and connecting to electrical components on the second bracket.
  • a portion of the fourth transmitting member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fourth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • the third bracket further includes a connecting member, the connecting member is connected to the second driving member, and the fourth transmitting member extends along the end surface of the second driving member, and then along the connecting member The outer surface extends and is connected to electrical components on the third bracket.
  • the third bracket further includes a carrier rotatably coupled to the connector, the carrier for mounting an electronic device.
  • the electrical component further includes a third driving member disposed on the connecting member, the carrier member is coupled to the third driving member, and the third driving member is capable of driving the carrier member to rotate around The axis rotates relative to the connector, and the fourth transmission member is coupled to the third driver.
  • the rotation axis of the third driving member is perpendicular to the rotation axis of the second driving member.
  • the rotation axis of the third driving member is a rolling axis of the pan/tilt head.
  • the pan/tilt head is a three-axis pan/tilt head
  • the rotation axis of the first driving member, the rotation axis of the second driving member, and the rotation axis of the third driving member respectively correspond to the three-axis pan/tilt head Pitch axis, heading axis, and roll axis.
  • the transmission member further includes a fifth transmission member, the fifth transmission member is connected to the control element at one end, and the other end is extended to the bearing after extending along the same extension path as the fourth transmission member.
  • Electronic device on the piece is
  • the transmission member further includes a fifth transmission member, one end of which is connected to the control element, and the other end extends from a side of the second driving member along an end surface of the second driving member And connected to the electronic device on the carrier.
  • the fifth transmission member extends along the end surface of the second driving member, and then extends along the outer surface of the connecting member and is connected to the electronic device on the carrier.
  • a portion of the fifth transmission member extending along an end surface of the second driving member drives a center of rotation of the third bracket when the third bracket rotates through the second driving member.
  • the second driving member is a motor, and a portion of the fifth transmitting member extending along an end surface of the second driving member passes through a rotation axis of the second driving member.
  • a portion of the fifth transmission member extending along the connecting member passes through a center of rotation of the carrier when the connecting member rotates.
  • the second bracket includes a support member rotatably coupled to the mounting member, the support member forms an installation space, and the third bracket is received in the installation space.
  • the support member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the installation space.
  • the support member includes a support portion and a first connecting arm and a second connecting arm respectively disposed at two ends of the supporting portion, and the first connecting arm and the second connecting arm respectively and the supporting portion
  • the first connecting arm, the second connecting arm and the external connecting portion together form the installation space.
  • the second driving member is disposed to be connected to the supporting portion, so that the third bracket is received in the installation space.
  • the plurality of control elements include a first control element, a second control element, and an auxiliary controller, the first control element is disposed on the support portion, and the second control element is disposed at the first On the connecting arm, the auxiliary controller is disposed on the second connecting arm.
  • the mounting member forms a receiving space
  • the supporting member is rotatably connected to the mounting member to receive the second bracket in the receiving space.
  • the mounting member is a " ⁇ "-shaped structure, and the " ⁇ "-shaped structure encloses the receiving space.
  • control elements are received in the receiving space and located between the mounting member and the second bracket.
  • control element is a control circuit board.
  • the electrical component is a rotating electrical machine
  • the control circuit board is provided with an electronic governor corresponding to the rotating electrical machine, and each of the transmitting components is connected to the rotating electrical machine and corresponding to the rotating electrical machine Between the electronic governors.
  • a plurality of said control elements are disposed on said bracket assembly, and a structure of a plurality of said control elements is adapted to the structure of said bracket assembly.
  • the transmission member is a data line or a flexible circuit board for transmitting power or transmitting data.
  • the electronic device is any one of the following: a camera, a camera, a camera, an infrared camera, or a portable communication device.
  • the UAV further includes a flight controller and an inertial measurement unit electrically connected to the flight controller, the inertial measurement unit is configured to detect a posture of the UAV to allow the flight controller to The attitude controls the UAV flight.
  • a plurality of the electrical components are used to drive the brackets to generate relative motion, and the electrical components are respectively connected to the control components through independent transmission members, which facilitates the control components and the plurality of
  • the connection structure between the electrical components and the optimization of the connection path enable any one of the transmission members to be connected to the corresponding drive member through the shortest path without interfering with or entanglement with other transmission members. Thereby, the miniaturization of the pan/tilt is facilitated.
  • FIG. 1 is a schematic perspective view of a cloud platform according to an embodiment of the present invention.
  • FIG. 2 is a perspective view of another perspective view of the pan/tilt head shown in FIG. 1.
  • FIG. 3 is a perspective view showing another perspective of the pan/tilt head shown in FIG. 1.
  • FIG. 4 is a perspective view showing another perspective of the pan/tilt head shown in FIG. 1.
  • a component when referred to as being “fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the terms “vertical,” “horizontal,” “left,” “right,” and the like, as used herein, are for illustrative purposes only.
  • Embodiments of the present invention provide a cloud platform including a plurality of control elements and a plurality of brackets that are rotatably connected in sequence.
  • Each of the brackets is provided with an electrical component
  • the plurality of brackets include a mounting member and a bracket assembly, and the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.
  • Embodiments of the present invention also provide a photographing apparatus including an electronic device for taking an image.
  • the photographing apparatus further includes a pan/tilt for carrying the electronic device, and the pan/tilt head includes a plurality of control elements and a plurality of brackets that are rotatably connected in sequence.
  • Each of the brackets is provided with an electrical component
  • the plurality of brackets include a mounting member and a bracket assembly
  • the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.
  • An embodiment of the present invention further provides an unmanned aerial vehicle including a body, a cloud platform connected to the body, and an electronic device connected to the cloud platform, wherein the electronic device is used for capturing an image, the cloud
  • the stage can adjust a shooting attitude of the electronic device, and the platform includes a plurality of control elements and a plurality of brackets that are rotatably connected in sequence.
  • Each of the brackets is provided with an electrical component
  • the plurality of brackets include a mounting member and a bracket assembly
  • the plurality of the control components are electrically connected by a flexible circuit board to form a soft and hard composite board, the soft and hard composite board Integratedly disposed between the mounting member and the bracket assembly; a plurality of the control elements respectively capable of controlling the electrical component, wherein the mounting component and the electrical component on the bracket component are respectively connected to each other through a separate transmission component Corresponding to the control element.
  • a pan/tilt head 100 is configured to carry an image capturing device (not shown) to perform photographing, video recording, and the like.
  • the pan/tilt 100 and the image acquisition device constitute a photographing device, and the photographing device can be applied to an application platform such as an unmanned aerial vehicle to perform aerial photography work.
  • the photographing device can also be applied to a handle as a handheld photographing device to allow a user to manually operate the photographing device to perform photographing, video recording, and the like.
  • the pan/tilt head 100 is a three-axis pan/tilt head, and includes a first bracket 10, a second bracket 30, and a third bracket 50.
  • the second bracket 30 is rotatably mounted on the first bracket 10
  • the third bracket 50 is rotatably mounted on the second bracket 30 .
  • the first bracket 10 includes a mounting member 12 and a first driving member 14 .
  • the first driving member 14 is disposed on the mounting member 12 and is configured to drive the second bracket 30 to rotate about a first axis.
  • the mounting member 12 is configured to integrally mount the platform 100 on an application platform, and the application platform may be an unmanned aerial vehicle or a handle.
  • the mounting member 12 has a substantially " ⁇ "-shaped structure.
  • the mounting member 12 includes an outer portion 121, a first support arm 123, and a second support arm 125.
  • the external portion 121 is substantially in the shape of a rod for connecting to the application platform.
  • the first support arm 123 and the second support arm 125 are respectively disposed at two ends of the external portion 121, and the first support arm 123 and the second support arm 125 are respectively connected to the external portion 121.
  • the mounting member 12 is disposed at a predetermined angle so that the mounting member 12 has a substantially " ⁇ " shape as a whole.
  • the ⁇ -shaped structure encloses the mounting member 12 into a receiving space (not shown), and the receiving space is configured to receive the bracket assembly formed by the second bracket 30 and the third bracket 50 And a sufficient space is reserved for the rotational movement of the second bracket 30 and the third bracket 50, so that the structure of the platform 100 is more compact and flexible.
  • the first support arm 123 and the second support arm 125 are respectively disposed substantially perpendicular to the external portion 121 , and form the receiving space together with the external portion 121 .
  • the outer connecting portion 121, the first supporting arm 123, and the second supporting arm 125 are integrally formed. It can be understood that in other embodiments, the external portion 121, the first support arm 123, and the second support arm 125 can be assembled together.
  • the first support arm 123 is provided with a mounting portion 1231 for mounting the first driving member 14 .
  • the mounting portion 1231 is located at an end of the first support arm 123 away from the external portion 121.
  • the first driving member 14 is disposed on the mounting portion 1231 for connecting the second bracket 30 and for driving the second bracket 30 to rotate relative to the mounting member 12 about the first axis.
  • the first driving member 14 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the first driving member 14 is a brushless motor, and serves as a pitch driving member of the pan/tilt head 100 for driving the second bracket 30 to rotate about the first axis.
  • One axis is the pitch axis of the pan/tilt head 100.
  • the first driving member 14 can serve as a roll driving or heading driving member of the pan/tilt head 100 for driving the second bracket 30 around the first axis.
  • Rotating, correspondingly, the first axis may be a roll axis or a heading axis of the platform 100.
  • the second bracket 30 is connected to the first driving member 14 and is substantially received in the receiving space of the first bracket 10 .
  • the second bracket 30 includes a support member 32 and a second drive member 34.
  • the support member 32 is coupled to the first driving member 14
  • the second driving member 34 is disposed on the support member 32 and is configured to drive the third bracket 50 to a second The axis rotates.
  • the support member 32 has a substantially " ⁇ "-shaped structure. Specifically, the support member 32 includes a support portion 321 , a first connecting arm 323 , and a second connecting arm 325 .
  • the support portion 321 is substantially in the shape of a rod for mounting the third bracket 50.
  • the first connecting arm 323 and the second connecting arm 325 are respectively disposed at two ends of the supporting portion 321 , and the first connecting arm 323 and the second connecting arm 325 are respectively connected to the supporting portion 321 .
  • the support member 32 is disposed at a predetermined angle so that the support member 32 has a substantially " ⁇ " shape as a whole.
  • the " ⁇ "-shaped structure encloses the support member 32 into an installation space (not shown) for accommodating the third bracket 50 and rotating the third bracket 50 The movement reserves enough space to make the structure of the pan/tilt head 100 more compact and flexible.
  • the first connecting arm 323 and the second connecting arm 325 are respectively bent and formed at two ends of the supporting portion 321 , and the first connecting arm 323 and the second The connecting arm 325 and the support portion 321 together form the installation space, and the installation space is located on a side of the second bracket 30 facing away from the external portion 121.
  • the first connecting arm 323 is connected to the first driving member 14
  • the second connecting arm 325 is pivotally connected to the second supporting arm 125 via a rotating shaft 3251 .
  • the support portion 321 , the first connecting arm 323 , and the second connecting arm 325 are integrally formed. It can be understood that in other embodiments, the support portion 321 , the first connecting arm 323 and the second connecting arm 325 can be assembled together.
  • the second driving member 34 is disposed on the support portion 321 , specifically on a side of the support portion 321 facing the installation space.
  • the second driving member 34 is configured to connect the third bracket 50 and is configured to drive the third bracket 50 to rotate relative to the support member 32 about the second axis, the second axis being substantially perpendicular to the The first axis.
  • the second driving member 34 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the second driving member 34 is a brushless motor, and serves as a heading driving member of the platform 100 for driving the third bracket 50 to rotate about the second axis.
  • the two axes are the heading axes of the pan/tilt head 100.
  • the second driving member 34 can serve as a pitch driving member or a rolling driving member of the pan/tilt head 100 for driving the third bracket 50 around the second axis.
  • Rotating, correspondingly, the second axis may be a pitch axis or a roll axis of the platform 100.
  • the third bracket 50 is connected to the second driving component 34 and is substantially received in the installation space of the second bracket 30 .
  • the third bracket 50 includes a connecting member 52, a third driving member 54, and a carrier 56.
  • the connecting member 52 is connected to the second driving member 34
  • the third driving member 54 is disposed on the connecting member 52
  • the carrying member 56 is coupled to the third driving member.
  • the carrier 56 is configured to carry the image capturing device
  • the third driving member 54 is configured to drive the carrier 56 to rotate about a third axis to adjust a shooting angle of the image capturing device.
  • one end of the connecting member 52 is connected to the second driving member 34, and the other end extends in a direction away from the supporting portion 321 .
  • the third driving member 54 is disposed at an end of the connecting member 52 away from the second driving member 34 for driving the carrier 56 to rotate relative to the connecting member 52 about the third axis.
  • the third axis is substantially perpendicular to the second axis and is substantially perpendicular to the first axis.
  • the third driving member 54 is a rotating electrical machine, which may be any suitable type of motor such as a brushless motor or a brushed motor.
  • the third driving member 54 is a brushless motor, and is used as a rolling driving member of the pan/tilt head 100 for driving the third bracket 50 to rotate about the third axis.
  • the third axis is the roll axis of the pan/tilt head 100.
  • the third driving member 54 can serve as a pitch driving member or a heading driving member of the pan/tilt head 100 for driving the third bracket 50 to rotate around the third axis.
  • the third axis may be a pitch axis or a heading axis of the pan/tilt head 100.
  • the image capturing device is detachably disposed on the carrier 56 for performing photographing, video recording, and the like.
  • the image acquisition device described above is an electronic device, which may be a camera, a camera, a camera, an infrared camera, a portable communication device, or the like.
  • the pan/tilt head 100 further includes a control element 70 and a transporting member 90 for controlling the pan/tilt head 100 to be adjusted to a desired state.
  • the working posture is also used to control the operation of the image acquisition device.
  • the transmission member 90 is configured to connect the control element 70 to the first driving member 14, the second driving member 34, and the third driving member 54, and the control member 70 passes through a control station
  • the first driving member 14, the second driving member 34 and the third driving member 54 are operated to control the rotational movement of the second bracket 30, the third bracket 50 and the image capturing device, thereby Adjusting the working posture of the pan/tilt head 100 to achieve the purpose of adjusting the shooting angle of the image capturing device.
  • the control element 70 can be a control chip or a control circuit board.
  • the control component 70 is disposed on the support member 32, and includes a main controller 72 and an auxiliary controller 74, and the main controller 72 is configured to control the pan/tilt head 100 to adjust To the desired working posture and used to control the operation of the image acquisition device.
  • the auxiliary controller 74 is configured to connect to the application platform and accept control commands from the application platform or/and a user to assist the main controller 72 to operate, and at the same time, the auxiliary controller 74 further And used to transmit the image acquired by the image obtaining device to the application platform or/and the user.
  • the auxiliary controller 74 may be integrated with all control commands for controlling the PTZ 100, and can acquire all signals and control information of the PTZ 100 during operation, and can pass the transmission.
  • the device 90 is electrically connected to the core board of the application platform and/or the controller or/and the image processor.
  • the controller may be a flight controller.
  • the auxiliary controller 74 is electrically connected to the main controller 72.
  • the auxiliary controller 74 is electrically connected to the main controller 72 through a flexible circuit board. It can be appreciated that in other embodiments, the main controller 72 can be integrated with the auxiliary controller 74.
  • the plurality of transmission members 90 are plural, and the plurality of transmission members 90 are independent of each other.
  • the first driving member 14, the second driving member 34 and the third driving member 54 are respectively connected to the main controller 72 through independent transmission members 90, so that the main controller 72 can control a plurality of The drive member.
  • the "independent" state of the above-mentioned transmission member 90 should be understood as the connection point where the transmission members 90 do not physically meet each other, and the plurality of the transmission members 90 can be separated from each other without interfering with each other. They are not involved in each other.
  • the transmission member 90 is a flexible circuit board for transmitting data or/and transmitting power. It can be understood that in other embodiments, the transmission member 90 can also be a data line.
  • the main controller 72 includes a first control element 721 and a second control element 723.
  • the first control element 721 is disposed on the support portion 321 of the support member 32, and the second control The element 723 is disposed on the first connecting arm 323 of the support member 32, and the first control element 721 is electrically connected to the second control element 723.
  • the first control element 721 is electrically connected to the second control element 723 through a flexible circuit board.
  • the plurality of transport members 90 include a first transport member 92, a second transport member 94, a third transport member 96, a fourth transport member 98, and a fifth transport member 99. It can be understood that in other embodiments, the first control element 721 and the second control element 723 can be integrated together.
  • An electronic component for controlling the second driving component 34 is disposed on the first control component 721, and the electronic component may be a controller or an electronic governor, etc., the electronic component is used to adjust the second driving The rotational speed of the member 34 and the direction of rotation.
  • the first control element 721 is coupled to the second drive member 34 via the third transmission member 96. Specifically, one end of the third transmission member 96 is connected to the first control element 721 , and the other end extends toward the second driving member 34 and is connected to the second driving member 34 .
  • the first control element 721 is further provided with an electronic component for controlling the third driving component 54.
  • the electronic component may be a controller or an electronic governor or the like, and the electronic component is used to adjust the third component.
  • the first control element 721 is coupled to the third drive member 54 via the fourth transmission member 98.
  • one end of the fourth transmission member 98 is connected to the first control element 721, and the other end is extended toward the second driving member 34, and extends from the side of the second driving member 34.
  • the end surface of the second driving member 34 is bent and continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52 and is connected to the third driving member 54.
  • a portion of the fourth transmission member 98 extending along the end surface of the second driving member 34 passes through the second driving member 34 to drive a center of rotation when the connecting member 52 rotates.
  • the portion of the fourth transmission member 98 connected to the third driving member 54 rotates relative to the portion connected to the first control member 721 as the third bracket 50 rotates.
  • the bending/mining is small and the resistance to rotation/bending is also small, and the fourth transmission member 98 is relatively durable.
  • the third bracket 50 is rotated from an initial state in a clockwise or counterclockwise direction to During the maximum limit angle, the flexibility and freedom of rotation of the third bracket 50 are not limited by the length of the fourth transmission member 98, and the fourth transmission member 98 is not due to the third bracket 50.
  • the rotation of the rotation is tight and broken, and does not accumulate into a mass or entanglement; in addition, the fourth transmission member 98 passes through the center of rotation of the third bracket 50 at the end surface of the second driving member 34, so that the rotation When the third bracket 50 rotates relative to the second bracket 30, the resilience of the fourth transmission member 98 after bending is relatively small, which facilitates the control element to control the third bracket 50 and The rotation of the third bracket 50 is relatively smoother.
  • the second driving member 34 drives the third bracket 50 to move relative to the support member 32 by a maximum amount of rotation of less than one week.
  • the second driving member 34 is a motor, a portion of the fourth transmitting member 98 extending along an end surface of the second driving member 34 passes through a rotation axis of the second driving member 34.
  • the first control element 721 is further provided with an electronic component for controlling the image acquiring device, and the electronic component may be a control chip or a control circuit board, etc., the first control component 721 passes through the fifth transmission component 99 is connected to the image acquisition device.
  • a portion of the extension path of the fifth transmission member 99 connected from the first control element 721 to the image acquisition device is substantially the same as the extension path of the fourth transmission member 98.
  • one end of the fifth transmission member 99 is connected to the first control element 721, and the other end is extended toward the second driving member 34, and extends from the side of the second driving member 34.
  • the end surface of the second driving member 34 is bent and continues to extend along the end surface of the second driving member 34, and extends along the outer surface of the connecting member 52, and further along the side of the third driving member 54.
  • the portion extends and is ultimately connected to the image acquisition device disposed on the carrier 56.
  • the carrier 56 may be provided with other electronic components, such as a circuit board or a processor, a controller, etc., for connecting to the image acquisition device through an interface, the fifth transmission
  • One end of the member 99 remote from the first control element 721 can be coupled to an electronic component within the carrier 56.
  • the portion of the fifth transmission member 99 extending along the end surface of the second driving member 34 is driven by the second driving member 34.
  • the connecting member 52 rotates, the center of rotation of the connecting member 52 causes the fifth transmitting member 99 to rotate/bend less when the third bracket 50 rotates, and the resistance of the turning/bending is also small.
  • the fifth transmission member 99 is relatively durable; at the same time, the flexibility and freedom of rotation of the third bracket 50 are not limited by the length of the fifth transmission member 99, and the fifth transmission member 99 is not The third bracket 50 is rotated and tightened or broken, and does not pile up or wrap.
  • the second driving member 34 is a motor, a portion of the fifth transmitting member 99 extending along an end surface of the second driving member 34 passes through a rotation axis of the second driving member 34.
  • a portion of the fifth transmission member 99 extending along the outer surface of the connecting member 52 drives the center of rotation of the carrier member 56 through the third driving member 54 (see FIG. 3).
  • the control member 70 controls the carrier member 56 and The rotation of the carrier 56 is relatively smoother.
  • An electronic component for controlling the first driving component 14 is disposed on the second control component 723, and the electronic component may be a controller or an electronic governor or the like, the electronic component is used to adjust the first driving The rotational speed of the piece 14 and the direction of rotation.
  • the first control element 721 is coupled to the first drive member 14 via the first transmission member 92. Specifically, one end of the first transmission member 92 is connected to the second control element 723, and the other end extends along the first connection arm 323 to the first driving member 14, and at the first driving After the outer circumference of the piece 14 is wound by a predetermined number of turns, it is connected to the first driving member 14.
  • the first transmission member 92 is movably wound around the first driving member 14 and the number of windings thereof is two, so that the second bracket 30 is mounted relative to the second bracket 30. Flexibility of rotation of the second bracket 30 during the rotation of the member 12 from a first state to a maximum limit angle in a first direction or to a maximum limit angle in a direction opposite the first direction And the degree of freedom is not limited by the length of the first transport member 92, the first transport member 92 does not become tight or broken due to the rotation of the second bracket 30, and does not accumulate into a mass or entangle .
  • the first transmission member 92 is movably wound around the outer circumference of the first driving member 14 and then connected to the first driving member 14, so that the first transmitting member 92 has a certain a length allowance to accommodate a change in the relative position or/and a relative distance between the second bracket 30 and the first driving member 14 when the second bracket 30 is rotated, thereby causing the pan/tilt head
  • the rotation of 100 is smoother.
  • the first driving member 14 drives the second bracket 30 to move relative to the mounting member 12 by a maximum amount of rotation of less than one week.
  • the first transmission member 92 may be connected between the second control element 723 and the first driving member 14 in other manners, and is not limited to the implementation of the present invention.
  • the example is described.
  • one end of the first transmission member 92 may be connected to the second control element 723, and the other end is connected to the first driving member 14 along the first connecting arm 323 without surrounding the
  • the first driving member 14 is externally disposed, and the first transmitting member 92 is reserved with a sufficient length margin, so that the flexibility and freedom of rotation of the second bracket 30 are not restricted by the first transmitting member 92.
  • the auxiliary controller 74 is a pan/tilt controller, and the auxiliary controller 74 is connected to the application platform through the second transmission member 94.
  • the auxiliary controller 74 can be used to transmit the image or the image captured by the image acquisition device 200 to the application platform or/and the user through an image transmission device, and also to receive The application platform or/and a control command issued by the user, and controlling the cloud platform 100 or/and the image acquisition device to operate according to the control command.
  • the auxiliary controller 74 is integrated with a control instruction for controlling the PTZ 100, and is used to acquire signals and control information generated by the PTZ 100 during operation, and can pass the second
  • the transmission component 94 is electrically connected to the core board of the application platform, or/and the controller, or/and the image processor, to allow the application platform to control the platform 100 according to the signal and control information, or And allowing the pan/tilt 100 to transmit back the image captured by the image acquisition device 200 to the application platform.
  • one end of the second transmission member 94 is connected to the auxiliary controller 74, and the other end is connected to the controller on the application platform after a predetermined number of turns outside the rotating shaft 3251.
  • the second transmission member 94 is movably disposed outside the rotating shaft 3251, and the number of windings thereof is two, so that the second bracket 30 is opposite to the mounting member 12 Flexibility and freedom of rotation of the second bracket 30 during an initial state of rotation in a first direction to a maximum limit angle or in a direction opposite the first direction to a maximum limit angle Not limited by the length of the second transport member 94, the second transport member 94 does not become tight or broken due to the rotation of the second bracket 30, nor does it accumulate into a mass or entangle.
  • the second transmission member 94 is movably wound around the outer circumference of the rotating shaft 3251 and then connected to the application platform, so that the second transmission member 94 has a certain length margin to adapt.
  • the relative position or/and the relative distance between the second bracket 30 and the application platform are changed, so that the rotation of the platform 100 is smoother.
  • the second transmission member 94 may be connected between the auxiliary controller 74 and the application platform in other manners, and is not limited to the description of the embodiments of the present invention.
  • one end of the second transmission member 94 may be connected to the auxiliary controller 74, and the other end is connected to the application platform along the second connecting arm 325 without surrounding the rotating shaft 3251.
  • the second transmission member 94 is reserved for a sufficient length margin so that the flexibility and freedom of rotation of the second bracket 30 are not limited by the second transmission member 94.
  • the first control element 721, the second control element 723, and the auxiliary controller 74 are all circuit boards, and the three are electrically connected to each other through a flexible circuit board to form a soft and hard composite. board.
  • the second control element 723 and the auxiliary controller 74 are electrically connected to the first control element 721 through a flexible circuit board, respectively.
  • the second control element 723 and the auxiliary controller 74 can also be electrically connected through a flexible circuit board.
  • the manner in which the first control element 721, the second control element 723, and the auxiliary controller 74 are disposed may not be limited to the manner described in the above embodiments.
  • the first control element 721, the second control element 723, and the auxiliary controller 74 may be integrated on a control element, and the first control element 721, the The functions of the second control element 723 and the auxiliary controller 74 are described.
  • electronic components such as an electronic governor for controlling the first driving member 14, the second driving member 34, and the third driving member 54 may be simultaneously disposed on the control component, and may also be configured.
  • the control element may be disposed on an appropriate portion of the support member 32, for example, disposed on the support portion 321, on the first connecting arm 323, on the second connecting arm 325, and the like. Wait.
  • the control element may be disposed on a suitable portion of the first bracket 10, and the control element is connected to the corresponding driving member through the independent transmission member, and is not limited to the implementation of the present invention. The example is described.
  • first control element 721 and the second control element 723 can be integrated on a control element, and the first control element 721 and the second control element 723 are implemented by the control element.
  • the control element is electrically connected to the auxiliary controller 74.
  • a plurality of the driving members are provided as respective brackets (first bracket 10, second) provided on the platform 100 Electrical components on the bracket 30 and the third bracket 50) for driving the brackets to generate relative motion, and the electrical components are respectively connected to the control component 70 through separate transmission members 90, which facilitates the control components
  • the connection structure between the 70 and the plurality of drive members and the optimization of the connection path enable any one of the transmission members 90 to be connected to the corresponding drive member through the shortest path without any other transmission member 90 interference or entanglement occurs, thereby facilitating the miniaturization and lightweight design of the pan/tilt head 100.
  • the arrangement of the data/power transmission is performed by the transmission members 90 independent of each other, and the support structure and the space of the pan/tilt head 100 are rationally utilized, and the transmission member is prevented from being entangled into a group, and the cloud is reduced.
  • the overall volume of the stage 100 is reduced, and the overall length of the transmission member is reduced, so that the resistance of the transmission member 90 is reduced, thereby reducing the overall power consumption of the platform 100, and prolonging the pan/tilt 100 Life time.
  • first control element 721, the second control element 723, and the auxiliary controller 74 are all circuit boards, and the three are electrically connected to each other through a flexible circuit board to form a soft and hard composite board type control element.
  • 70, and the control element 70 is integrally disposed on the second bracket 30, and is located between the mounting member 12 and the bracket assembly formed by the second bracket 30 and the third bracket 50, and is adapted to
  • the structural feature of the pan/tilt head 100 effectively utilizes the support structure of the pan/tilt head 100, further facilitating the optimization of the connection structure between the control element 70 and the plurality of the drive members and the connection path, so that the pan/tilt head The overall size of the 100 is more compact.
  • the application platform of the pan/tilt head 100 or/and the photographing device is an unmanned aerial vehicle, and the pan/tilt head 100 is connected to the unmanned aerial vehicle through the mounting member 12, and is Unmanned aerial vehicles are carried to perform tasks.
  • the UAV may be a rotary wing unmanned aerial vehicle and includes a fuselage and a power mechanism disposed on the fuselage.
  • the power mechanism can include a motor and a propeller that drives the propeller to rotate to provide propulsion for the UAV.
  • the UAV also includes a controller, an Inertial Measurement Unit (IMU), an electronic governor, and an image transmission device.
  • the controller may be a flight controller disposed on the airframe and configured to control the overall flight operation of the UAV, including flight speed, flight attitude, etc., and also used to control the pan/tilt movement. To adjust the shooting angle of the image acquisition device.
  • the inertial measurement unit may be disposed on the fuselage for an attitude of the UAV to allow the flight controller to control the UAV flight according to the attitude.
  • pan/tilt head 100 is not limited to being applied in the aircraft, and can also be applied to other mobile devices or remote control mobile devices such as an unmanned vehicle and an automatic obstacle avoidance system of an unmanned ship.
  • the instructions are not described in detail.

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Abstract

一种云台（100）及使用该云台（100）的拍摄设备和无人飞行器。所述云台（100）包括多个控制元件（70）以及依次转动连接的多个支架。每个所述支架上设置有电气元件，多个所述支架包括安装件（12）以及支架组件，多个所述控制元件（70）之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件（12）与所述支架组件之间；多个所述控制元件（70）分别能够控制所述电气元件，所述安装件（12）及所述支架组件上的电气元件分别通过独立的传输件（90）连接至对应的所述控制元件（70）。

Description

云台、拍摄设备和无人飞行器 技术领域
本发明涉及一种云台、拍摄设备和无人飞行器。
背景技术
在使用电动云台架设摄影机、照相机等电子装置拍摄的过程中，常需要在将云台的控制元件与设于所述云台上的电气元件电性连接，以传输数据或/及传输电力。所述云台通常为两轴云台或三轴云台，所述电气元件通常为所述云台各个轴的驱动元件。现有的云台的控制元件一般通过一传输件与所述各电气元件电连接。为了给云台各个轴的转动预留足够的转动角度，当将所述控制元件与各所述电气元件电性连接时，需要采用较长且结构相对复杂的传输件进行连接。然而，由于所述传输件长度较长且结构较为复杂，为了避免所述传输件发生缠绕，所述云台需预留足够的空间供所述传输件活动，使云台体积较大，不利于云台的小型化设计。
发明内容
鉴于上述状况，有必要提供一种体积相对较小的云台，还有必要提供一种使用该云台的拍摄设备和无人飞行器。
一种云台，包括多个控制元件以及依次转动连接的多个支架，每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间。多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
进一步地，所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
进一步地，所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
进一步地，所述第一驱动件的转动轴线为所述云台的俯仰轴。
进一步地，所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
进一步地，所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
进一步地，所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
进一步地，多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
进一步地，所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
进一步地，所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
进一步地，所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
进一步地，所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
进一步地，所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
进一步地，所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
进一步地，所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
进一步地，所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
进一步地，所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
进一步地，所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
进一步地，所述第二驱动件的转动轴线为所述云台的航向轴。
进一步地，多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
进一步地，所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
进一步地，所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
进一步地，所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
进一步地，多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
进一步地，所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
进一步地，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
进一步地，所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
进一步地，所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
进一步地，所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
进一步地，所述第三驱动件的转动轴线为所述云台的横滚轴。
进一步地，所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
进一步地，所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
进一步地，所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
进一步地，所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
进一步地，所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
进一步地，多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述控制元件为控制电路板。
进一步地，所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
进一步地，多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
进一步地，所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
一种拍摄设备，包括电子装置，所述电子装置用于拍摄图像。所述拍摄设备还包括用于承载所述电子装置的云台，所述云台包括多个控制元件以及依次转动连接的多个支架，每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间。多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
进一步地，所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
进一步地，所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
进一步地，所述第一驱动件的转动轴线为所述云台的俯仰轴。
进一步地，所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
进一步地，所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
进一步地，所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
进一步地，多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
进一步地，所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
进一步地，所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
进一步地，所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
进一步地，所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
进一步地，所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
进一步地，所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
进一步地，所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
进一步地，所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
进一步地，所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
进一步地，所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
进一步地，所述第二驱动件的转动轴线为所述云台的航向轴。
进一步地，多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
进一步地，所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
进一步地，所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
进一步地，所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
进一步地，多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
进一步地，所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
进一步地，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
进一步地，所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
进一步地，所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
进一步地，所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
进一步地，所述第三驱动件的转动轴线为所述云台的横滚轴。
进一步地，所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
进一步地，所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
进一步地，所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
进一步地，所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
进一步地，所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
进一步地，多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述控制元件为控制电路板。
进一步地，所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
进一步地，多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
进一步地，所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
进一步地，所述电子装置为以下几种中的任一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
一种无人飞行器，包括机身及连接于所述机身上的云台以及连接于所述云台上的电子装置，所述电子装置用于拍摄图像，所述云台能够调整所述电子装置的拍摄姿态，所述云台包括多个控制元件以及依次转动连接的多个支架，每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间。多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
进一步地，所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
进一步地，所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
进一步地，所述第一驱动件的转动轴线为所述云台的俯仰轴。
进一步地，所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
进一步地，所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
进一步地，所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
进一步地，多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
进一步地，所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
进一步地，所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
进一步地，所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
进一步地，所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
进一步地，所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
进一步地，所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
进一步地，所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
进一步地，所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
进一步地，所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
进一步地，所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
进一步地，所述第二驱动件的转动轴线为所述云台的航向轴。
进一步地，多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
进一步地，所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
进一步地，所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
进一步地，所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
进一步地，多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
进一步地，所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
进一步地，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
进一步地，所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
进一步地，所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
进一步地，所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
进一步地，所述第三驱动件的转动轴线为所述云台的横滚轴。
进一步地，所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
进一步地，所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
进一步地，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
进一步地，所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
进一步地，所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
进一步地，所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
进一步地，所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
进一步地，所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
进一步地，所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
进一步地，多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
进一步地，所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
进一步地，所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
进一步地，多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
进一步地，所述控制元件为控制电路板。
进一步地，所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
进一步地，多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
进一步地，所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
进一步地，所述电子装置为以下几种中的任一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
进一步地，所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
上述的云台中，多个所述电气元件，用于驱动所述各支架产生相对运动，且所述电气元件分别通过独立的传输件连接至所述控制元件，有利于所述控制元件与多个所述电气元件之间连接结构以及连接路径的优化，使所述传输件中的任一个能够通过最短的路径连接至对应的所述驱动件，而不会与其他的传输件发生干扰或缠绕，从而有利于所述云台的小型化。
 附图说明
图1为本发明实施例提供的云台的立体示意图。
图2为图1所示的云台的另一视角的立体示意图。
图3为图1所示的云台的又一视角的立体示意图。
图4为图1所示的云台的再一视角的立体示意图。
主要元件符号说明
云台 100
第一支架 10
安装件 12
外接部 121
第一支撑臂 123
安装部 1231
第二支撑臂 125
第一驱动件 14
第二支架 30
支撑件 32
支撑部 321
第一连接臂 323
第二连接臂 325
转轴 3251
第二驱动件 34
第三支架 50
连接件 52
第三驱动件 54
承载件 56
控制元件 70
主控制器 72
第一控制元件 721
第二控制元件 723
辅助控制器 74
传输件 90
第一传输件 92
第二传输件 94
第三传输件 96
第四传输件 98
第五传输件 99
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。本文所使用的术语“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，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“或／及”包括一个或多个相关的所列项目的任意的和所有的组合。
本发明实施例提供一种云台，包括多个控制元件以及依次转动连接的多个支架。每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
本发明实施例还提供一种拍摄设备，包括电子装置，所述电子装置用于拍摄图像。所述拍摄设备还包括用于承载所述电子装置的云台，所述云台包括多个控制元件以及依次转动连接的多个支架。每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
本发明实施例还提供一种无人飞行器，包括机身、连接于所述机身上的云台以及连接于所述云台上的电子装置，所述电子装置用于拍摄图像，所述云台能够调整所述电子装置的拍摄姿态，所述云台包括多个控制元件以及依次转动连接的多个支架。每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1及图2，本发明的一实施方式提供的云台100，用于搭载一图像获取装置（图中未示出）进行拍照、录像等工作。所述云台100与所述图像获取装置构成一拍摄设备，所述拍摄设备可以应用于一应用平台如无人飞行器上，以进行航拍工作。所述拍摄设备也可以应用于一手柄上作为手持式拍摄设备，以允许用户手动操作所述拍摄设备进行拍照、录像等工作。
在本实施方式中，所述云台100为三轴云台，其包括第一支架10、第二支架30以及第三支架50。所述第二支架30可转动地装设于所述第一支架10上，所述第三支架50可转动地装设于所述第二支架30上。
所述第一支架10包括安装件12及第一驱动件14。在本实施方式中，所述第一驱动件14设置于所述安装件12上，并用于驱动所述第二支架30绕一第一轴线转动。
所述安装件12用于将所述云台100整体装设在一应用平台上，所述应用平台可以为无人飞行器或手柄。在本实施方式中，所述安装件12大致呈“Π”形结构。具体而言，所述安装件12包括外接部121、第一支撑臂123及第二支撑臂125。
所述外接部121大致呈杆状，其用于连接所述应用平台。所述第一支撑臂123及所述第二支撑臂125分别设置在所述外接部121的两端，且所述第一支撑臂123及所述第二支撑臂125分别与所述外接部121呈预定角度设置，使所述安装件12整体大致呈“Π”形结构。所述“Π”形结构使所述安装件12围成一收容空间（图中未标出），所述收容空间用于收容所述第二支架30及所述第三支架50构成的支架组件，并为所述第二支架30及所述第三支架50的转动运动预留足够的空间，使所述云台100的结构更为紧凑、灵活。
具体在图示的实施方式中，所述第一支撑臂123及所述第二支撑臂125分别大致垂直于所述外接部121设置，并与所述外接部121共同形成所述收容空间。在本实施方式中，所述外接部121、所述第一支撑臂123及所述第二支撑臂125之间为一体成型。可以理解，在其他的实施方式中，所述外接部121、所述第一支撑臂123及所述第二支撑臂125之间可以组装于一起。
进一步地，所述第一支撑臂123上设置有安装部1231，所述安装部1231用于装设所述第一驱动件14。具体地，所述安装部1231位于所述第一支撑臂123远离所述外接部121的一端。
所述第一驱动件14设置于所述安装部1231上，其用于连接所述第二支架30，并用于驱动所述第二支架30相对所述安装件12绕所述第一轴线转动。所述第一驱动件14为旋转电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第一驱动件14为无刷电机，其作为所述云台100的俯仰驱动件，用以驱动所述第二支架30绕所述第一轴线转动，所述第一轴线为所述云台100的俯仰轴。可以理解，在其他的一些实施例中，所述第一驱动件14可以作为所述云台100的横滚驱动件或航向驱动件，用以驱动所述第二支架30绕所述第一轴线转动，对应地，所述第一轴线可以为所述云台100的横滚轴或航向轴。
所述第二支架30连接于所述第一驱动件14上，并基本收容于所述第一支架10的所述收容空间内。所述第二支架30包括支撑件32以及第二驱动件34。在本实施方式中，所述支撑件32连接于所述第一驱动件14，所述第二驱动件34设置于所述支撑件32上，并用于驱动所述第三支架50绕一第二轴线转动。
在本实施方式中，所述支撑件32大致呈“Π”形结构。具体而言，所述支撑件32包括支撑部321、第一连接臂323及第二连接臂325。
所述支撑部321大致呈杆状，其用于装设所述第三支架50。所述第一连接臂323及所述第二连接臂325分别设置在所述支撑部321的两端，且所述第一连接臂323及所述第二连接臂325分别与所述支撑部321呈预定角度设置，使所述支撑件32整体大致呈“Π”形结构。所述“Π”形结构使所述支撑件32围成一安装空间（图中未标出），所述安装空间用于收容所述第三支架50，并为所述第三支架50的转动运动预留足够的空间，使所述云台100的结构更为紧凑、灵活。
具体在图示的实施方式中，所述第一连接臂323及所述第二连接臂325分别弯折形成于所述支撑部321的两端，所述第一连接臂323及所述第二连接臂325与所述支撑部321共同形成所述安装空间，所述安装空间位于所述第二支架30背离所述外接部121的一侧。所述第一连接臂323连接于所述第一驱动件14，所述第二连接臂325通过一转轴3251枢接于所述第二支撑臂125上。在本实施方式中，所述支撑部321、所述第一连接臂323及所述第二连接臂325之间为一体成型。可以理解，在其他的实施方式中，所述支撑部321、所述第一连接臂323及所述第二连接臂325之间可以组装于一起。
所述第二驱动件34设置于所述支撑部321上，具体地位于所述支撑部321朝向所述安装空间的一侧。所述第二驱动件34用于连接所述第三支架50，并用于驱动所述第三支架50相对所述支撑件32绕所述第二轴线转动，所述第二轴线大致垂直于所述第一轴线。所述第二驱动件34为旋转电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第二驱动件34为无刷电机，其作为所述云台100的航向驱动件，用以驱动所述第三支架50绕所述第二轴线转动，所述第二轴线为所述云台100的航向轴。可以理解，在其他的一些实施例中，所述第二驱动件34可以作为所述云台100的俯仰驱动件或横滚驱动件，用以驱动所述第三支架50绕所述第二轴线转动，对应地，所述第二轴线可以为所述云台100的俯仰轴或横滚轴。
请同时参阅图3及图4，所述第三支架50连接于所述第二驱动件34上，并基本收容于所述第二支架30的所述安装空间中。所述第三支架50包括连接件52、第三驱动件54以及承载件56。在本实施方式中，所述连接件52连接于所述第二驱动件34，所述第三驱动件54设置于所述连接件52上，所述承载件56连接于所述第三驱动件54。所述承载件56用于承载所述图像获取装置，所述第三驱动件54用于驱动所述承载件56绕一第三轴线转动，以调整所述图像获取装置的拍摄角度。
具体在图示的实施方式中，所述连接件52的一端连接于所述第二驱动件34上，另一端朝背离所述支撑部321的方向延伸。
所述第三驱动件54设置于所述连接件52远离所述第二驱动件34的一端，其用于驱动所述承载件56相对所述连接件52绕所述第三轴线转动，所述第三轴线大致垂直于所述第二轴线，且大致垂直于所述第一轴线。所述第三驱动件54为旋转电机，其可以为无刷电机、有刷电机等任意合适类型的电机。在本实施方式中，所述第三驱动件54为无刷电机，其作为所述云台100的横滚驱动件，用以驱动所述第三支架50绕所述第三轴线转动，所述第三轴线为所述云台100的横滚轴。可以理解，在其他的一些实施例中，所述第三驱动件54可以作为所述云台100的俯仰驱动件或航向驱动件，用以驱动所述第三支架50绕所述第三轴线转动，对应地，所述第三轴线可以为所述云台100的俯仰轴或航向轴。
所述图像获取装置可拆卸地设置于所述承载件56上，其用于进行拍照、录像等工作。可以理解，上述的图像获取装置为电子装置，其可以为摄影机、照相机、摄像头、红外相机或便携式通讯装置等。
请再次参阅图1，为了控制所述图像获取装置进行拍摄工作，所述云台100进一步地包括控制元件70以及传输件90，所述控制元件70用于控制所述云台100调整至所需的工作姿态，还用于控制所述图像获取装置工作。具体地，所述传输件90用于将所述控制元件70连接至所述第一驱动件14、所述第二驱动件34及所述第三驱动件54，所述控制元件70通过控制所述第一驱动件14、所述第二驱动件34及所述第三驱动件54运行，以控制所述第二支架30、所述第三支架50及所述图像获取装置的转动运动，从而调整所述云台100的工作姿态，达到调整所述图像获取装置的拍摄角度的目的。所述控制元件70可以为控制芯片或控制电路板。
具体在图示的实施方式中，所述控制元件70设置在所述支撑件32上，其包括主控制器72及辅助控制器74，所述主控制器72用于控制所述云台100调整至所需的工作姿态，并用于控制所述图像获取装置工作。所述辅助控制器74用于连接至所述应用平台，并接受来自于所述应用平台或/及用户的控制指令，以辅助所述主控制器72工作，同时，所述辅助控制器74还用于将所述图像获取装置所获取的图像回传至所述应用平台或/及用户处。具体而言，所述辅助控制器74上可以集成有用于控制所述云台100的所有控制指令，并能够获取所述云台100在工作时的所有信号及控制信息，且能够通过所述传输件90与所述应用平台的核心板或/及控制器或/及影像处理器电性连接。当所述应用平台为无人飞行器时，所述控制器可以为飞行控制器。所述辅助控制器74与所述主控制器72电性连接。优选地，所述辅助控制器74通过柔性电路板与所述主控制器72电性连接。可以理解，在其他的实施方式中，所述主控制器72可以与所述辅助控制器74集成于一起。
请再次同时参阅图2至图4，具体在图示的实施方式中，所述传输件90为多个，多个所述传输件90彼此独立。所述第一驱动件14、所述第二驱动件34及所述第三驱动件54分别通过独立的传输件90连接至所述主控制器72，使所述主控制器72能够控制多个所述驱动件。应当理解的是，上述传输件90的“独立”的状态，应当理解为所述传输件90在物理形态上没有彼此汇合的连接点，多个所述传输件90能够彼此分离、互不干扰、互不牵连地设置。多个所述传输件90彼此独立的设置方式，有利于所述主控制器72与多个所述驱动件之间的连接结构以及连接路径的优化，使所述传输件90中的任一个均能够通过最短的路径连接至对应的所述驱动件，而不会与其他的传输件90发生干扰或缠绕，从而有利于所述云台100的小型化及轻量化设计。在本实施方式中，所述传输件90为柔性电路板，其用于传输数据或/及传输电力。可以理解，在其他的实施方式中，所述传输件90也可以为数据线。
具体而言，所述主控制器72包括第一控制元件721及第二控制元件723，所述第一控制元件721设置在所述支撑件32的所述支撑部321上，所述第二控制元件723设置在所述支撑件32的所述第一连接臂323上，所述第一控制元件721与第二控制元件723电性连接。优选地，所述第一控制元件721通过柔性电路板与第二控制元件723电性连接。多个所述传输件90包括第一传输件92、第二传输件94、第三传输件96、第四传输件98以及第五传输件99。可以理解，在其他的实施方式中，所述第一控制元件721及所述第二控制元件723可以集成于一起。
所述第一控制元件721上设置有用于控制所述第二驱动件34的电子元件，所述电子元件可以为控制器或电子调速器等，所述电子元件用于调节所述第二驱动件34的转动速度与转动方向。所述第一控制元件721通过所述第三传输件96与所述第二驱动件34连接。具体地，所述第三传输件96的一端连接于所述第一控制元件721，另一端朝向所述第二驱动件34延伸，并连接于所述第二驱动件34。
所述第一控制元件721上还设置有用于控制所述第三驱动件54的电子元件，所述电子元件可以为控制器或电子调速器等，所述电子元件用于调节所述第三驱动件54的转动速度与转动方向。所述第一控制元件721通过所述第四传输件98与所述第三驱动件54连接。具体地，所述第四传输件98的一端连接于所述第一控制元件721，另一端朝向所述第二驱动件34伸展，并自所述第二驱动件34的侧部延伸后朝所述第二驱动件34的端面弯折，再沿所述第二驱动件34的端面继续延伸，且沿所述连接件52的外表面延伸并连接至所述第三驱动件54。
在本实施方式中，所述第四传输件98沿所述第二驱动件34的端面延伸的部分，穿过所述第二驱动件34驱动所述连接件52转动时的回转中心。由此，使所述第四传输件98连接于所述第三驱动件54上的部分随着所述第三支架50转动时，其相对于连接于所述第一控制元件721的部分的转动/弯折的幅度较小，且转动/弯折的阻力亦较小，所述第四传输件98较为耐用。同时，由于所述第四传输件98在所述第二驱动件34的端面经过所述第三支架50的回转中心，所述第三支架50由一初始状态沿顺时针或逆时针方向转动至最大极限角度的过程中，所述第三支架50转动的灵活性以及自由度不会被所述第四传输件98的长度限制，所述第四传输件98不会由于所述第三支架50的转动绷紧而断裂，也不会堆积成团或发生缠绕；另外，所述第四传输件98在所述第二驱动件34的端面经过所述第三支架50的回转中心，使所述第三支架50相对所述第二支架30转动时，所述第四传输件98在弯折后的回弹力相对较小，有利于所述控制元件对所述第三支架50进行控制，并使所述第三支架50的转动相对更为顺畅。在本实施方式中，所述第二驱动件34驱动所述第三支架50相对所述支撑件32动的最大转动量不超过一周。当所述第二驱动件34为电机时，所述第四传输件98沿所述第二驱动件34的端面延伸的部分，穿过所述第二驱动件34的转动轴线。
所述第一控制元件721上还设置有用于控制所述图像获取装置的电子元件，所述电子元件可以为控制芯片或控制电路板等，所述第一控制元件721通过所述第五传输件99与所述图像获取装置连接。所述第五传输件99从所述第一控制元件721连接至所述图像获取装置的延伸路径的一部分，与所述第四传输件98的延伸路径大致相同。具体地，所述第五传输件99的一端连接于所述第一控制元件721，另一端朝向所述第二驱动件34伸展，并自所述第二驱动件34的侧部延伸后朝所述第二驱动件34的端面弯折，再沿所述第二驱动件34的端面继续延伸，且沿所述连接件52的外表面延伸，并再沿着所述第三驱动件54的侧部延伸，最终连接至设置在所述承载件56上的所述图像获取装置。可以理解，所述承载件56内可以设置有其他的电子元件，如电路板或处理器、控制器等，所述电子元件用于通过一接口与所述图像获取装置连接，所述第五传输件99远离所述第一控制元件721的一端可以连接至所述承载件56内的电子元件上。
与所述第四传输件98相类似，在本实施方式中，所述第五传输件99沿所述第二驱动件34的端面延伸的部分，穿过所述第二驱动件34驱动所述连接件52转动时的回转中心，使所述第五传输件99在随着所述第三支架50转动时，转动/弯折的幅度较小，且转动/弯折的阻力亦较小，所述第五传输件99较为耐用；同时，所述第三支架50转动的灵活性以及自由度不会被所述第五传输件99的长度限制，所述第五传输件99不会由于所述第三支架50的转动而且绷紧或者断裂，也不会堆积成团或发生缠绕。当所述第二驱动件34为电机时，所述第五传输件99沿所述第二驱动件34的端面延伸的部分，穿过所述第二驱动件34的转动轴线。
进一步地，所述第五传输件99沿所述连接件52的外表面延伸的部分，穿过所述第三驱动件54驱动所述承载件56转动时的回转中心（请参阅图3），使所述承载件56相对所述连接件52转动时，所述第五传输件99在弯折后的回弹力相对较小，所述控制元件70对所述承载件56进行控制，并使所述承载件56的转动相对更为顺畅。
所述第二控制元件723上设置有用于控制所述第一驱动件14的电子元件，所述电子元件可以为控制器或电子调速器等，所述电子元件用于调节所述第一驱动件14的转动速度与转动方向。所述第一控制元件721通过所述第一传输件92与所述第一驱动件14连接。具体地，所述第一传输件92的一端连接于所述第二控制元件723，另一端沿所述第一连接臂323延伸至所述第一驱动件14处，并在所述第一驱动件14外绕设预定圈数后，连接至所述第一驱动件14。在本实施方式中，所述第一传输件92可活动地绕设在所述第一驱动件14外，且其缠绕的圈数为两圈，使所述第二支架30相对于所述安装件12由一初始状态沿一第一方向转动至最大极限角度的过程中，或沿与所述第一方向相反的方向转动至最大极限角度的过程中，所述第二支架30转动的灵活性以及自由度不会被所述第一传输件92的长度限制，所述第一传输件92不会由于所述第二支架30的转动而绷紧或者断裂，也不会堆积成团或发生缠绕。简而言之，所述第一传输件92可活动地绕设在所述第一驱动件14外周后再连接至所述第一驱动件14上，使所述第一传输件92具有一定的长度余量，以适应所述第二支架30在转动时，所述第二支架30与所述第一驱动件14之间的相对位置或/及相对距离的改变量，从而使所述云台100的转动更为顺畅。在本实施方式中，所述第一驱动件14驱动所述第二支架30相对所述安装件12动的最大转动量不超过一周。
可以理解，在其他的实施方式中，所述第一传输件92可以以其他的设置方式连接在所述第二控制元件723及所述第一驱动件14之间，并不局限于本发明实施例所描述。例如，所述第一传输件92的一端可以连接于所述第二控制元件723，另一端沿着所述第一连接臂323连接至所述第一驱动件14，而不需环绕在所述第一驱动件14外，并使所述第一传输件92预留足够的长度余量，使所述第二支架30转动的灵活性以及自由度不会被所述第一传输件92限制。
在本实施方式中，所述辅助控制器74为云台控制器，所述辅助控制器74通过所述第二传输件94连接至所述应用平台。所述辅助控制器74能够用于所述图像获取装置200所拍摄的图像或画面通过一图像传输装置将所述图像或画面传送至所述应用平台或/及用户处，还用于接收有所述应用平台或/及用户发出的控制指令，并根据所述控制指令，控制所述云台100或/及所述图像获取装置作业。具体而言，所述辅助控制器74上集成有用于控制所述云台100的控制指令，其用于获取所述云台100在工作时产生的信号及控制信息，并能够通过所述第二传输件94与所述应用平台的核心板、或/及控制器、或/及影像处理器电性连接，以允许所述应用平台根据所述信号及控制信息来控制所述云台100，或/及允许所述云台100将所述图像获取装置200所拍摄的图像回传至所述应用平台。
具体而言，所述第二传输件94的一端连接于所述辅助控制器74，另一端在所述转轴3251外绕设预定圈数后，连接至所述应用平台上的控制器。在本实施方式中，所述第二传输件94可活动地绕设在所述转轴3251外，且其缠绕的圈数为两圈，使所述第二支架30相对于所述安装件12由一初始状态沿一第一方向转动至最大极限角度的过程中，或沿与所述第一方向相反的方向转动至最大极限角度的过程中，所述第二支架30转动的灵活性以及自由度不会被所述第二传输件94的长度限制，所述第二传输件94不会由于所述第二支架30的转动而绷紧或者断裂，也不会堆积成团或发生缠绕。简而言之，所述第二传输件94可活动地绕设在所述转轴3251外周后再连接至所述应用平台上，使所述第二传输件94具有一定的长度余量，以适应所述第二支架30在转动时，所述第二支架30与所述应用平台之间的相对位置或/及相对距离的改变量，从而使所述云台100的转动更为顺畅。
可以理解，在其他的实施方式中，所述第二传输件94可以以其他的设置方式连接在所述辅助控制器74及所述应用平台之间，并不局限于本发明实施例所描述。例如，所述第二传输件94的一端可以连接于所述辅助控制器74，另一端沿着所述第二连接臂325连接至所述应用平台，而不需环绕在所述转轴3251外，并使所述第二传输件94预留足够的长度余量，使所述第二支架30转动的灵活性以及自由度不会被所述第二传输件94限制。
在本实施方式中，所述第一控制元件721、所述第二控制元件723以及所述辅助控制器74均为电路板，三者之间通过柔性电路板相互电连接，以形成软硬复合板。具体而言，所述第二控制元件723以及所述辅助控制器74分别通过柔性电路板与所述第一控制元件721电连接。可以理解，在一些实施方式中，所述第二控制元件723与所述辅助控制器74之间也可以通过柔性电路板实现电连接。可以理解，在其他的实施方式中，所述第一控制元件721、所述第二控制元件723以及所述辅助控制器74的设置方式可以不局限于上文实施例所描述的方式。
例如，所述第一控制元件721、所述第二控制元件723以及所述辅助控制器74三者可以集成于一控制元件上，并由所述控制元件实现所述第一控制元件721、所述第二控制元件723以及所述辅助控制器74的功能。具体地，所述控制元件上可以同时设置有用于控制所述第一驱动件14、所述第二驱动件34及所述第三驱动件54的电子元件如电子调速器等，还可以设置有所述图像获取装置的控制器，并可以用于传输图像或/及控制指令。所述控制元件可以设置在所述支撑件32上适当的部位，例如，设置在所述支撑部321上、设置在所述第一连接臂323上、设置在所述第二连接臂325上等等。甚至，所述控制元件可以设置在所述第一支架10上合适的部位，并使所述控制元件通过独立的所述传输件连接至相应的所述驱动件上，并不局限于本发明实施例所描述。
又如，所述第一控制元件721、所述第二控制元件723二者可以集成于一控制元件上，并由所述控制元件实现所述第一控制元件721、所述第二控制元件723的功能。所述控制元件与所述辅助控制器74电性连接。
上述的云台100中，多个所述驱动件：第一驱动件14、第二驱动件34及第三驱动件54作为设置在所述云台100的各个支架（第一支架10、第二支架30及第三支架50）上的电气元件，用于驱动所述各支架产生相对运动，且所述电气元件分别通过独立的传输件90连接至所述控制元件70，有利于所述控制元件70与多个所述驱动件之间连接结构以及连接路径的优化，使所述传输件90中的任一个能够通过最短的路径连接至对应的所述驱动件，而不会与其他的传输件90发生干扰或缠绕，从而有利于所述云台100的小型化及轻量化设计。通过彼此独立的所述传输件90进行数据/电力传输的设置方式，合理利用了所述云台100的支架结构以及空间，免了所述传输件缠绕成团的同时，减小了所述云台100的整体体积，且减小了所述传输件的总体长度，使所述传输件90的电阻减小，从而降低了所述云台100整体的功耗，延长了所述云台100的续航时间。
另外，所述第一控制元件721、所述第二控制元件723以及所述辅助控制器74均为电路板，三者之间通过柔性电路板相互电连接，以形成软硬复合板式的控制元件70，且所述控制元件70整体设置于所述第二支架30上，并位于所述安装件12与所述第二支架30、所述第三支架50构成的支架组件之间，适应了所述云台100的结构特征，有效利用了所述云台100的支架结构，进一步有利于所述控制元件70与多个所述驱动件之间连接结构以及连接路径的优化，使得所述云台100整体的体积更为紧凑。
在本实施方式中，所述云台100或/及所述拍摄设备的应用平台为无人飞行器，所述云台100通过所述安装件12连接于所述无人飞行器上，并由所述无人飞行器搭载以执行任务。
所述无人飞行器可以为旋翼式的无人飞行器，并包括机身以及设置于所述机身上的动力机构。所述动力机构可以包括电机以及螺旋桨，所述电机驱动所述螺旋桨转动，以为所述无人飞行器提供行进的动力。所述无人飞行器还包括控制器、惯性测量单元（IMU，Inertial measurement unit）、电子调速器以及图像传输装置。所述控制器可以为飞行控制器，其设置于所述机身上，并用于控制所述无人飞行器整体的飞行作业，包括飞行速度、飞行姿态等，还用于控制所述云台运动，以调整所述图像获取装置的拍摄角度。所述惯性测量单元可以设置在所述机身上，其用于所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
可以理解，所述云台100不局限于在所述飞行器中应用，其还可以应用于其他的可移动设备或遥控移动装置如无人驾驶车辆、无人驾驶船舶的自动避障系统中，本说明书不作一一赘述。
以上实施方式仅用以说明本发明的技术方案而非限制，尽管参照以上较佳实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或等同替换都不应脱离本发明技术方案的精神和范围。本领域技术人员还可在本发明精神内做其它变化等用在本发明的设计，只要其不偏离本发明的技术效果均可。这些依据本发明精神所做的变化，都应包含在本发明所要求保护的范围之内。

Claims (168)

  1. 一种云台，包括多个控制元件以及依次转动连接的多个支架，其特征在于：每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
  2. 如权利要求1所述的云台，其特征在于：所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
  3. 如权利要求2所述的云台，其特征在于：所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
  4. 如权利要求3所述的云台，其特征在于：所述第一驱动件的转动轴线为所述云台的俯仰轴。
  5. 如权利要求3所述的云台，其特征在于：所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
  6. 如权利要求4所述的云台，其特征在于：所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
  7. 如权利要求6所述的云台，其特征在于：所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
  8. 如权利要求6所述的云台，其特征在于：多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
  9. 如权利要求3所述的云台，其特征在于：所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
  10. 如权利要求9所述的云台，其特征在于：所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
  11. 如权利要求9所述的云台，其特征在于：所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
  12. 如权利要求11所述的云台，其特征在于：所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
  13. 如权利要求12所述的云台，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  14. 如权利要求8所述的云台，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  15. 如权利要求12所述的云台，其特征在于：所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
  16. 如权利要求15所述的云台，其特征在于：所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
  17. 如权利要求10所述的云台，其特征在于：所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
  18. 如权利要求12所述的云台，其特征在于：所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
  19. 如权利要求13所述的云台，其特征在于：所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
  20. 如权利要求4所述的云台，其特征在于：所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
  21. 如权利要求20所述的云台，其特征在于：所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
  22. 如权利要求15所述的云台，其特征在于：所述第二驱动件的转动轴线为所述云台的航向轴。
  23. 如权利要求22所述的云台，其特征在于：多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
  24. 如权利要求20所述的云台，其特征在于：所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
  25. 如权利要求24所述的云台，其特征在于：所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
  26. 如权利要求24所述的云台，其特征在于：所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
  27. 如权利要求24所述的云台，其特征在于：多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
  28. 如权利要求20所述的云台，其特征在于：所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
  29. 如权利要求20所述的云台，其特征在于：所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
  30. 如权利要求29所述的云台，其特征在于：所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  31. 如权利要求30所述的云台，其特征在于：所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  32. 如权利要求29所述的云台，其特征在于：所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
  33. 如权利要求32所述的云台，其特征在于：所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
  34. 如权利要求33所述的云台，其特征在于：所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
  35. 如权利要求34所述的云台，其特征在于：所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
  36. 如权利要求34所述的云台，其特征在于：所述第三驱动件的转动轴线为所述云台的横滚轴。
  37. 如权利要求34所述的云台，其特征在于：所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
  38. 如权利要求33所述的云台，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
  39. 如权利要求33所述的云台，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
  40. 如权利要求39所述的云台，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
  41. 如权利要求39所述的云台，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  42. 如权利要求41所述的云台，其特征在于：所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  43. 如权利要求41所述的云台，其特征在于：所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
  44. 如权利要求20所述的云台，其特征在于：所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
  45. 如权利要求44所述的云台，其特征在于：所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
  46. 如权利要求45所述的云台，其特征在于：所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
  47. 如权利要求46所述的云台，其特征在于：所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
  48. 如权利要求46所述的云台，其特征在于：多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
  49. 如权利要求44所述的云台，其特征在于：所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
  50. 如权利要求49所述的云台，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  51. 如权利要求49所述的云台，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  52. 如权利要求1所述的云台，其特征在于：所述控制元件为控制电路板。
  53. 如权利要求52所述的云台，其特征在于：所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
  54. 如权利要求52所述的云台，其特征在于：多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
  55. 如权利要求1所述的云台，其特征在于：所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
  56. 一种拍摄设备，包括电子装置，所述电子装置用于拍摄图像，其特征在于：所述拍摄设备还包括用于承载所述电子装置的云台，所述云台包括多个控制元件以及依次转动连接的多个支架，每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
  57. 如权利要求56所述的拍摄设备，其特征在于：所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
  58. 如权利要求57所述的拍摄设备，其特征在于：所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
  59. 如权利要求58所述的拍摄设备，其特征在于：所述第一驱动件的转动轴线为所述云台的俯仰轴。
  60. 如权利要求58所述的拍摄设备，其特征在于：所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
  61. 如权利要求59所述的拍摄设备，其特征在于：所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
  62. 如权利要求61所述的拍摄设备，其特征在于：所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
  63. 如权利要求61所述的拍摄设备，其特征在于：多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
  64. 如权利要求58所述的拍摄设备，其特征在于：所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
  65. 如权利要求64所述的拍摄设备，其特征在于：所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
  66. 如权利要求64所述的拍摄设备，其特征在于：所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
  67. 如权利要求66所述的拍摄设备，其特征在于：所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
  68. 如权利要求67所述的拍摄设备，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  69. 如权利要求63所述的拍摄设备，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  70. 如权利要求67所述的拍摄设备，其特征在于：所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
  71. 如权利要求70所述的拍摄设备，其特征在于：所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
  72. 如权利要求65所述的拍摄设备，其特征在于：所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
  73. 如权利要求67所述的拍摄设备，其特征在于：所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
  74. 如权利要求68所述的拍摄设备，其特征在于：所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
  75. 如权利要求59所述的拍摄设备，其特征在于：所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
  76. 如权利要求75所述的拍摄设备，其特征在于：所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
  77. 如权利要求70所述的拍摄设备，其特征在于：所述第二驱动件的转动轴线为所述云台的航向轴。
  78. 如权利要求77所述的拍摄设备，其特征在于：多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
  79. 如权利要求75所述的拍摄设备，其特征在于：所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
  80. 如权利要求79所述的拍摄设备，其特征在于：所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
  81. 如权利要求79所述的拍摄设备，其特征在于：所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
  82. 如权利要求79所述的拍摄设备，其特征在于：多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
  83. 如权利要求75所述的拍摄设备，其特征在于：所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
  84. 如权利要求75所述的拍摄设备，其特征在于：所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
  85. 如权利要求84所述的拍摄设备，其特征在于：所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  86. 如权利要求85所述的拍摄设备，其特征在于：所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  87. 如权利要求84所述的拍摄设备，其特征在于：所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
  88. 如权利要求87所述的拍摄设备，其特征在于：所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
  89. 如权利要求88所述的拍摄设备，其特征在于：所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
  90. 如权利要求89所述的拍摄设备，其特征在于：所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
  91. 如权利要求89所述的拍摄设备，其特征在于：所述第三驱动件的转动轴线为所述云台的横滚轴。
  92. 如权利要求89所述的拍摄设备，其特征在于：所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
  93. 如权利要求88所述的拍摄设备，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
  94. 如权利要求88所述的拍摄设备，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
  95. 如权利要求94所述的拍摄设备，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
  96. 如权利要求94所述的拍摄设备，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  97. 如权利要求96所述的拍摄设备，其特征在于：所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  98. 如权利要求96所述的拍摄设备，其特征在于：所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
  99. 如权利要求75所述的拍摄设备，其特征在于：所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
  100. 如权利要求99所述的拍摄设备，其特征在于：所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
  101. 如权利要求100所述的拍摄设备，其特征在于：所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
  102. 如权利要求101所述的拍摄设备，其特征在于：所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
  103. 如权利要求101所述的拍摄设备，其特征在于：多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
  104. 如权利要求99所述的拍摄设备，其特征在于：所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
  105. 如权利要求104所述的拍摄设备，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  106. 如权利要求104所述的拍摄设备，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  107. 如权利要求56所述的拍摄设备，其特征在于：所述控制元件为控制电路板。
  108. 如权利要求107所述的拍摄设备，其特征在于：所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
  109. 如权利要求107所述的拍摄设备，其特征在于：多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
  110. 如权利要求56所述的拍摄设备，其特征在于：所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
  111. 如权利要求56所述的拍摄设备，其特征在于：所述电子装置为以下几种中的任一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
  112. 一种无人飞行器，包括机身，其特征在于，所述无人飞行器还包括连接于所述机身上的云台以及连接于所述云台上的电子装置，所述电子装置用于拍摄图像，所述云台能够调整所述电子装置的拍摄姿态，所述云台包括多个控制元件以及依次转动连接的多个支架，每个所述支架上设置有电气元件，多个所述支架包括安装件以及支架组件，多个所述控制元件之间通过柔性电路板电连接以形成软硬复合板，所述软硬复合板整体设置于所述安装件与所述支架组件之间；多个所述控制元件分别能够控制所述电气元件，所述安装件及所述支架组件上的电气元件分别通过独立的传输件连接至对应的所述控制元件。
  113. 如权利要求112所述的无人飞行器，其特征在于：所述电气元件包括设置在所述安装件上的第一驱动件，所述安装件与所述第一驱动件构成所述云台的第一支架，所述支架组件包括与所述安装件转动连接的第二支架，多个所述控制元件设置在所述第二支架上。
  114. 如权利要求113所述的无人飞行器，其特征在于：所述第二支架连接在所述第一驱动件上，所述第一驱动件能够驱动所述第二支架绕一转动轴线相对所述安装件转动。
  115. 如权利要求114所述的无人飞行器，其特征在于：所述第一驱动件的转动轴线为所述云台的俯仰轴。
  116. 如权利要求114所述的无人飞行器，其特征在于：所述第二支架相对所述第一支架转动的轴线为所述云台的俯仰轴。
  117. 如权利要求115所述的无人飞行器，其特征在于：所述云台还包括转动连接于所述第二支架上的第三支架，所述第三支架相对所述第二支架转动的轴线为所述云台的航向轴。
  118. 如权利要求117所述的无人飞行器，其特征在于：所述第三支架包括转动连接于所述第二支架的连接件以及转动连接于所述连接件的承载件，所述承载件用于装设电子装置；所述承载件相对所述连接件转动的轴线为所述云台的横滚轴。
  119. 如权利要求117所述的无人飞行器，其特征在于：多个所述控制元件设置在所述第二支架上，并位于所述第二支架与所述安装件之间。
  120. 如权利要求114所述的无人飞行器，其特征在于：所述传输件包括第一传输件，所述第一传输件的一端连接于所述第一驱动件，另一端在所述第一驱动件外绕设预定圈数后连接于所述控制元件。
  121. 如权利要求120所述的无人飞行器，其特征在于：所述第一传输件在所述第一驱动件外周绕设两圈后，延伸至所述第二支架上，并与所述控制元件电性相接。
  122. 如权利要求120所述的无人飞行器，其特征在于：所述第二支架包括连接于所述第一驱动件上的支撑件，所述控制元件设置在所述支撑件上；所述第一传输件在所述第一驱动件外周绕设后，沿着所述支撑件延伸，并与所述控制元件电性相接。
  123. 如权利要求122所述的无人飞行器，其特征在于：所述安装件形成一收容空间，所述第二支架收容于所述收容空间内。
  124. 如权利要求123所述的无人飞行器，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  125. 如权利要求119所述的无人飞行器，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  126. 如权利要求123所述的无人飞行器，其特征在于：所述安装件包括外接部以及分别设置于所述外接部两端的第一支撑臂及第二支撑臂，所述第一支撑臂及所述第二支撑臂分别与所述外接部之间呈预定角度设置，所述第一支撑臂、所述第二支撑臂及所述外接部共同形成所述收容空间。
  127. 如权利要求126所述的无人飞行器，其特征在于：所述支撑件的两端分别能够转动地连接于所述第一支撑臂及所述第二支撑臂。
  128. 如权利要求121所述的无人飞行器，其特征在于：所述第一驱动件设置在所述第一支撑臂上，所述支撑件的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂。
  129. 如权利要求123所述的无人飞行器，其特征在于：所述第二支架的一端连接于所述第一驱动件，另一端通过枢轴连接于所述第二支撑臂；所述传输件包括第二传输件，所述第二传输件的一端连接于所述控制元件，另一端在所述枢轴外绕设预定圈数后连接于外部控制器。
  130. 如权利要求124所述的无人飞行器，其特征在于：所述控制元件包括云台控制器，所述云台控制器用于控制所述云台运动，所述第二传输件连接于所述云台控制器及所述外部控制器之间。
  131. 如权利要求115所述的无人飞行器，其特征在于：所述电气元件还包括设置于所述第二支架上的第二驱动件，多个所述支架还包括第三支架，所述第三支架连接于所述第二驱动件，所述第二驱动件能够驱动所述第三支架绕一转动轴线相对所述第二支架转动。
  132. 如权利要求131所述的无人飞行器，其特征在于：所述第二驱动件的转动轴线垂直于所述第一驱动件的转动轴线。
  133. 如权利要求126所述的无人飞行器，其特征在于：所述第二驱动件的转动轴线为所述云台的航向轴。
  134. 如权利要求133所述的无人飞行器，其特征在于：多个所述控制元件所述设置在所述第二支架上，并邻近所述第二驱动件设置。
  135. 如权利要求131所述的无人飞行器，其特征在于：所述第二支架包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置。
  136. 如权利要求135所述的无人飞行器，其特征在于：所述第二驱动件设置于所述支撑部上，多个所述控制元件包括第一控制元件，所述第一控制元件设置在所述支撑部上，并与所述第二驱动件电连接。
  137. 如权利要求135所述的无人飞行器，其特征在于：所述第一驱动件设置于所述第一连接臂上，多个所述控制元件还包括与所述第一控制元件连接的第二控制元件，所述第二控制元件设置在所述第一连接臂上，并与所述第一驱动件电连接。
  138. 如权利要求135所述的无人飞行器，其特征在于：多个所述控制元件还包括与所述第一控制元件连接的辅助控制器，所述辅助控制器设置在所述第二连接臂上。
  139. 如权利要求131所述的无人飞行器，其特征在于：所述传输件还包括第三传输件，所述第三传输件连接于所述第二驱动件及所述控制元件之间。
  140. 如权利要求131所述的无人飞行器，其特征在于：所述传输件还包括第四传输件，所述第四传输件的一端连接于所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述第二支架上的电气元件。
  141. 如权利要求140所述的无人飞行器，其特征在于：所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  142. 如权利要求141所述的无人飞行器，其特征在于：所述第二驱动件为电机，所述第四传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  143. 如权利要求140所述的无人飞行器，其特征在于：所述第三支架还包括连接件，所述连接件连接于所述第二驱动件，所述第四传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述第三支架上的电气元件。
  144. 如权利要求143所述的无人飞行器，其特征在于：所述第三支架还包括能够转动地连接于所述连接件的承载件，所述承载件用于装设电子装置。
  145. 如权利要求144所述的无人飞行器，其特征在于：所述电气元件还包括设置在所述连接件上的第三驱动件，所述承载件连接于所述第三驱动件，所述第三驱动件能够驱动所述承载件绕一转动轴线相对所述连接件转动，所述第四传输件连接至所述第三驱动件。
  146. 如权利要求145所述的无人飞行器，其特征在于：所述第三驱动件的转动轴线垂直于所述第二驱动件的转动轴线。
  147. 如权利要求145所述的无人飞行器，其特征在于：所述第三驱动件的转动轴线为所述云台的横滚轴。
  148. 如权利要求145所述的无人飞行器，其特征在于：所述云台为三轴云台，所述第一驱动件的转动轴线、所述第二驱动件的转动轴线及所述第三驱动件的转动轴线分别对应于三轴云台的俯仰轴、航向轴以及横滚轴。
  149. 如权利要求144所述的无人飞行器，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端沿与所述第四传输件相同的延伸路径延伸后，连接于所述承载件上的电子装置。
  150. 如权利要求144所述的无人飞行器，其特征在于：所述传输件还包括第五传输件，所述第五传输件一端连接至所述控制元件，另一端自所述第二驱动件的侧部沿所述第二驱动件的端面延伸，并连接至所述承载件上的电子装置。
  151. 如权利要求150所述的无人飞行器，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸后，再沿所述连接件的外表面延伸并连接至所述承载件上的电子装置。
  152. 如权利要求150所述的无人飞行器，其特征在于：所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件驱动所述第三支架转动时的回转中心。
  153. 如权利要求152所述的无人飞行器，其特征在于：所述第二驱动件为电机，所述第五传输件沿所述第二驱动件的端面延伸的部分，穿过所述第二驱动件的转动轴线。
  154. 如权利要求152所述的无人飞行器，其特征在于：所述第五传输件沿所述连接件延伸的部分，穿过所述承载件相对所述连接件转动时的回转中心。
  155. 如权利要求131所述的无人飞行器，其特征在于：所述第二支架包括能够转动地连接于所述安装件的支撑件，所述支撑件形成一安装空间，所述第三支架收容于所述安装空间内。
  156. 如权利要求155所述的无人飞行器，其特征在于：所述支撑件为“Π”形结构，所述“Π”形结构围成所述安装空间。
  157. 如权利要求156所述的无人飞行器，其特征在于：所述支撑件包括支撑部以及分别设置于所述支撑部两端的第一连接臂及第二连接臂，所述第一连接臂及所述第二连接臂分别与所述支撑部之间呈预定角度设置，第一连接臂、所述第二连接臂及所述外接部共同形成所述安装空间。
  158. 如权利要求157所述的无人飞行器，其特征在于：所述第二驱动件设置连接于所述支撑部，使所述第三支架收容于所述安装空间。
  159. 如权利要求157所述的无人飞行器，其特征在于：多个所述控制元件包括第一控制元件、第二控制元件及辅助控制器，所述第一控制元件设置在所述支撑部上，所述第二控制元件设置在所述第一连接臂上，所述辅助控制器设置在所述第二连接臂上。
  160. 如权利要求155所述的无人飞行器，其特征在于：所述安装件形成一收容空间，所述支撑件可转动地连接于所述安装件使所述第二支架收容于所述收容空间内。
  161. 如权利要求160所述的无人飞行器，其特征在于：所述安装件为“Π”形结构，所述“Π”形结构围成所述收容空间。
  162. 如权利要求160所述的无人飞行器，其特征在于：多个所述控制元件收容于所述收容空间内，并位于所述安装件与所述第二支架之间。
  163. 如权利要求112所述的无人飞行器，其特征在于：所述控制元件为控制电路板。
  164. 如权利要求163所述的无人飞行器，其特征在于：所述电气元件为旋转电机，所述控制电路板上设置有对应于所述旋转电机的电子调速器，每个所述传输件连接于所述旋转电机及对应于所述旋转电机的所述电子调速器之间。
  165. 如权利要求163所述的无人飞行器，其特征在于：多个所述控制元件设置在所述支架组件上，多个所述控制元件的结构适应于所述支架组件的结构。
  166. 如权利要求112所述的无人飞行器，其特征在于：所述传输件为数据线或柔性电路板，其用于传输电力或传输数据。
  167. 如权利要求112所述的无人飞行器，其特征在于：所述电子装置为以下几种中的任一种：摄影机、照相机、摄像头、红外相机或便携式通讯装置。
  168. 如权利要求112所述的无人飞行器，其特征在于：所述无人飞行器还包括飞行控制器以及与所述飞行控制器电性连接的惯性测量单元，所述惯性测量单元用于检测所述无人飞行器的姿态以允许该飞行控制器根据该姿态控制所述无人飞行器飞行。
PCT/CN2016/092428 2016-07-29 2016-07-29 云台、拍摄设备和无人飞行器 Ceased WO2018018635A1 (zh)

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