A pan-tilt device and unmanned aerial vehicle using the same

Abstract

The present invention discloses a pan-tilt device, including a camera, a pointing part for adjusting the viewing angle of the camera lens, and a stabilization part for maintaining the stability of the pointing part; the camera, the pointing part, and the stabilization part are connected in sequence. The present invention adds the design of the stabilization part on the basis of the pointing part, wherein the function of the stabilization part is to maintain the stability of the pointing part, and no matter how the carrier moves, the connection part between the stabilization part and the pointing part remains stable, that is, the pointing part mounted on the pitch axis arm of the stabilization part also remains stable; and the function of the pointing part is to change the camera's shooting angle. The present invention also provides a drone, using the above-mentioned pan-tilt device, wherein the pan-tilt is installed on the drone body, and while ensuring the stable shooting of the camera, the camera can complete shooting at multiple angles in a short time through the rapid rotation of the pointing part, so that a small number of cameras can achieve the same shooting effect as multiple cameras at the same shooting angle in the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile pan-tilt platforms, and in particular to a pan-tilt platform device and a drone using the same. Background Art

[0002] In actual oblique photography operations, in order to ensure the model effect, it is necessary to collect photos of the object from various angles. Currently, there are two mainstream solutions. One is to mount multiple cameras at different angles. The most commonly used method is multiple cameras. The other is to use a gimbal to mount a camera, and through the rotation of the axes of the gimbal, the mounted camera can be turned to different angles to take pictures.

[0003] However, if the second method is used, using one camera to take photos instead of multiple cameras, in addition to the gimbal rotating to multiple different angles, in order to meet the same aerial photo overlap rate, the second method camera must take multiple photos at the same time. The shooting time includes the time it takes for the gimbal to rotate from the beginning to the end and the time it takes for the camera to start taking photos and complete the exposure. The actual time left for the gimbal to rotate is very short. At present, it is difficult for conventional gimbal devices to simultaneously meet the functions of stabilization and rapid rotation and pointing. Summary of the invention

[0004] In view of the defects existing in the prior art, the present invention provides a pan / tilt device.

[0005] The present invention is achieved through the following technical solutions:

[0006] A pan-tilt device comprises a shooting part composed of a camera, a pointing part for adjusting the viewing angle of a camera lens of the shooting part, and a stabilizing part for maintaining the stability of the pointing part; the shooting part, the pointing part and the stabilizing part are connected in sequence.

[0007] This solution uses one camera to take photos instead of multiple cameras. In addition to the gimbal rotating to different angles, the camera needs to take photos multiple times at the same time to meet the same aerial photo overlap rate. For example, if the five cameras take photos every 1 second, the camera in this solution needs to take photos every 0.2 seconds, and this 0.2 seconds includes the time it takes for the gimbal to rotate from the beginning to the end and the time it takes for the camera to start taking photos and complete the exposure.

[0008] The present invention adds a stabilization part to the pointing part, wherein the function of the stabilization part is to maintain the stability of the pointing part. No matter how the carrier moves, the connection between the stabilization part and the pointing part remains stable, that is, the pointing part mounted on the pitch axis arm of the stabilization part also remains stable; and the function of the pointing part is to quickly change the shooting angle of the camera.

[0009] Preferably, the camera of the shooting unit can be set to one or more. For example, two cameras can be used, and the two cameras are fixedly connected: if five cameras take a photo every 1 second, and the shooting unit uses one camera, it takes 0.2 seconds to take a photo. In this solution, two cameras are used, and the shooting effect of the shooting unit can be equivalent to the original shooting effect of ten cameras.

[0010] Further:

[0011] The stabilizing part is also provided with a connecting block for connecting with the aircraft.

[0012] The stabilization part is composed of a yaw axis assembly, a roll axis assembly and a pitch axis assembly.

[0013] The yaw axis assembly includes a yaw axis arm and a yaw axis motor arranged at one end of the yaw axis arm, connected to the connecting block, and used to realize the yaw of the stabilization augmentation part; the roll axis assembly includes a roll axis arm and a roll axis motor used to drive the roll axis arm to rotate with the roll axis as the rotation axis, and the roll axis motor is connected to the other end of the yaw axis arm; a first roll support arm and a second roll support arm extend outwardly from both ends of the roll axis arm body, the first roll support arm and the second roll support arm cooperate to clamp the pitch axis assembly, the pitch axis assembly includes a pitch axis arm and a pitch axis motor driving the pitch axis arm to rotate with the pitch axis as the rotation axis, and the pitch axis motor is connected to the first roll support arm;

[0014] The pointing portion is mounted on the main body of the pitch axis arm.

[0015] In the scheme, the three axes of the stabilization unit are all used to maintain the set angles, but the reference system of the roll and pitch axis angles is the horizontal coordinate system, and the yaw axis angle is maintained in two modes: 1. Follow mode, in which the reference system of the yaw axis angle is the drone's body coordinate system, and the yaw axis will maintain an unchanged angle with the drone's nose; 2. Lock mode, in which the reference system of the yaw axis angle is the horizontal reference system, and no matter how the carrier moves, the angle between the yaw axis and the horizontal coordinate system remains unchanged. This setting ensures that the pointing part mounted on the pitch axis arm of the stabilization unit remains stable.

[0016] Further technical solutions are:

[0017] The pointing part is formed by connecting a yaw axis assembly, a roll axis assembly and a pitch axis assembly.

[0018] The yaw axis assembly includes a second yaw axis arm and a second yaw axis motor arranged at one end of the second yaw axis arm and connected to the stabilization part; the roll axis assembly includes a second roll axis arm and a second roll axis motor for driving the second roll axis arm to rotate with the roll axis as the rotation axis, and the second roll axis motor is connected to the other end of the second yaw axis arm; two roll arms extending outward from both ends of the second roll axis arm body cooperate to clamp the camera; the pitch axis assembly is a second pitch axis motor arranged between one of the roll arms of the second roll axis arm and the camera, and is used to realize the pitch of the camera (23).

[0019] The purpose of quickly adjusting the camera lens angle can be achieved through the driving action of the second yaw axis motor, the second roll axis motor and the second pitch axis motor.

[0020] Another technical solution that can be provided is:

[0021] The pointing part is fixed to the pitch axis arm of the stabilization part through a fixing piece; a connecting plate is fixed to the fixing piece;

[0022] The pointing part further comprises a moving plate, the camera is fixed on one side of the moving plate, and the other side of the moving plate is fixed on the connecting plate via a universal joint;

[0023] A steering gear is also arranged on the connecting plate, and the steering gear and the movable plate are located on the same side of the connecting plate; the steering gear is connected to the movable plate through a connecting structure.

[0024] With this arrangement, the movable plate can only rotate around the axis of the universal joint under the constraint of the universal joint. By adjusting the angle of the movable plate under the pull of the servo, the camera lens angle of view can be adjusted.

[0025] Preferably, the universal joint is fixed at the center of the connecting plate; there are three servos, which are respectively arranged at the three vertices of an equilateral triangle centered on the universal joint; each servo is matched with a corresponding connection structure. Compared with one servo, the three servos arranged in the device can ensure the stability of the camera lens when rotating to a greater extent.

[0026] Preferably, the connection structure is configured as two connecting rods, the two connecting rods are connected via a rotating structure, and the connecting rod and the movable plate are connected via a rotating sliding rod, so that the camera lens angle can obtain a larger angle adjustment range.

[0027] Another technical solution is:

[0028] The pointing part comprises a bracket, one end of which is fixedly connected to the main body of the pitch axis arm, and the other end of which is open; the camera is arranged at the opening of the bracket through a rotating structure with two axes perpendicular to each other;

[0029] A motor is installed inside the bracket, and the motor shaft is connected to the back of the camera through two ball head connecting rods, and the two ball head connecting rods are connected through a ball head.

[0030] The rotation of the motor drives the camera to rotate around the two axes of the rotating structure through the connecting structure, thereby achieving the adjustment of the camera lens angle.

[0031] Preferably, a section of the ball-end connecting rod directly connected to the motor shaft is set as a length-adjustable ball-end connecting rod, and another section of the ball-end connecting rod is fixedly connected to the camera. By adjusting the length of the section of the ball-end connecting rod, the tilt angle of the camera can be adjusted, and the camera can obtain a larger shooting range.

[0032] The present invention also provides a drone, comprising a drone body and the above-mentioned pan-tilt device, wherein the pan-tilt device is installed on the drone body.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] While ensuring stable shooting of the camera, the camera can complete shooting at multiple angles in a short time through rapid rotation of the pointing part, allowing a small number of cameras to achieve the same shooting effect as multiple cameras at the same shooting angle in the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0036] Figure 1 Schematic diagram of the overall structure of the pan / tilt device in Example 1;

[0037] Figure 2 Schematic diagram of the overall structure of the pan / tilt device in Example 2;

[0038] Figure 3 for Figure 2 A schematic diagram of the structure of the middle pointing part;

[0039] Figure 4 Schematic diagram of the overall structure of the pan / tilt device in Example 3;

[0040] Figure 5 for Figure 4 A schematic diagram of the structure of the middle pointing part;

[0041] The marks in the figure are: 1. connecting block, 2. first yaw axis motor, 3. first yaw axis arm, 4. first roll axis motor, 5. first roll axis arm, 6. first pitch axis motor, 7. pitch axis arm, 8. second yaw axis motor, 9. second yaw axis arm, 10. second roll axis motor, 11. second roll axis arm, 12. second pitch axis motor, 13. fixing part, 14. connecting plate, 15. universal joint, 16. moving plate, 17. servo, 18. connecting structure, 19. bracket, 20. motor, 21. rotating structure, 22. ball head connecting rod, 23. camera. DETAILED DESCRIPTION

[0042] The present invention is further described in detail below in conjunction with embodiments, but the present invention is not limited to the following embodiments:

[0043] Embodiment 1:

[0044] like Figure 1 As shown, a gimbal device includes a shooting part composed of a camera 23, a pointing part for adjusting the viewing angle of the camera 23 lens, and a stabilization part for maintaining the stability of the pointing part; the shooting part, the pointing part, and the stabilization part are connected in sequence, and the stabilization part is connected to the aircraft through a connecting block 1.

[0045] The stabilization part includes a yaw axis assembly, a roll axis assembly and a pitch axis assembly; the yaw axis assembly includes a first yaw axis arm 3 and a first yaw axis motor 2 arranged at one end of the first yaw axis arm 3, connected to the connecting block 1, and used to realize the yaw of the stabilization part; the roll axis assembly includes a first roll axis arm 5 and a first roll axis motor 4 used to drive the first roll axis arm 5 to rotate with the roll axis as the rotation axis, and the first roll axis motor 4 is connected to the other end of the first yaw axis arm 3; two roll support arms extending outward from both ends of the main body of the first roll axis arm 5 cooperate to clamp the pitch axis assembly, and the pitch axis assembly includes a pitch axis arm 7 and a first pitch axis motor 6 that drives the pitch axis arm 7 to rotate with the pitch axis as the rotation axis, and the first pitch axis motor 6 is connected to one of the roll support arms;

[0046] The pointing part is connected to the main body of the pitch axis arm 7; the pointing part is composed of a yaw axis assembly, a roll axis assembly and a pitch axis assembly. The load of the stabilization part is the pointing part, and an IMU (inertial measurement unit) is installed on the pitch axis arm 7 connected to the pointing part. Its main function is to calculate the attitude by measuring the angular velocity and acceleration value of the load in three-dimensional space. The IMU monitors the attitude of the load at all times. Once it senses that the load has a tendency to tilt or shift, it will promptly drive the motor to generate a counteracting force to maintain the stable attitude of the load.

[0047] The yaw axis assembly includes a second yaw axis arm 9 and a second yaw axis motor 8 arranged at one end of the second yaw axis arm 9 and connected to the stabilization part; the roll axis assembly includes a second roll axis arm 11 and a second roll axis motor 10 for driving the second roll axis arm 11 to rotate with the roll axis as the rotation axis, and the second roll axis motor 10 is connected to the other end of the second yaw axis arm 9; two roll support arms extending outward from both ends of the body of the second roll axis arm 11 cooperate to clamp the camera 23; the pitch axis assembly is a second pitch axis motor 12 arranged between one of the roll support arms of the second roll axis arm 11 and the camera 23, and used to achieve the pitch of the camera 23. Two cameras 23 are arranged, and the two cameras are fixedly connected; the second pitch axis motor 12 is arranged on one side of one of the cameras, and the second pitch axis motor 12 can synchronously drive the two cameras to achieve pitch.

[0048] Through the driving action of the second yaw axis motor 8, the second roll axis motor 10 and the second pitch axis motor 12, the camera lens angle can be quickly adjusted.

[0049] Embodiment 2:

[0050] like Figure 2 and Figure 3 As shown, a gimbal device includes a shooting part composed of a camera 23, a pointing part for adjusting the viewing angle of the camera 23 lens, and a stabilization part for maintaining the stability of the pointing part; the shooting part, the pointing part, and the stabilization part are connected in sequence, and the stabilization part is connected to the aircraft through a connecting block 1.

[0051] The stabilization part includes a yaw axis assembly, a roll axis assembly and a pitch axis assembly; the yaw axis assembly includes a first yaw axis arm 3 and a first yaw axis motor 2 arranged at one end of the first yaw axis arm 3, connected to the connecting block 1, and used to realize the yaw of the stabilization part; the roll axis assembly includes a first roll axis arm 5 and a first roll axis motor 4 used to drive the first roll axis arm 5 to rotate with the roll axis as the rotation axis, and the first roll axis motor 4 is connected to the other end of the first yaw axis arm 3; two roll support arms extending outward from both ends of the main body of the first roll axis arm 5 cooperate to clamp the pitch axis assembly, and the pitch axis assembly includes a pitch axis arm 7 and a first pitch axis motor 6 that drives the pitch axis arm 7 to rotate with the pitch axis as the rotation axis, and the first pitch axis motor 6 is connected to one of the roll support arms;

[0052] The pointing part is fixed to the main body of the pitch axis arm 7 of the stabilization part through a fixing part 13; a connecting plate 14 is fixed to the fixing part 13;

[0053] The pointing part further includes a moving plate 16, the camera 23 is fixed on one side of the moving plate 16, and the other side of the moving plate 16 is fixed on the connecting plate 14 through a universal joint 15; the universal joint 15 is arranged at the center of the connecting plate 14;

[0054] A steering engine 17 is also disposed on the connecting plate 14 . The steering engine 17 and the movable plate 16 are located on the same side of the connecting plate 14 . The steering engine 17 is connected to the movable plate 16 via a connecting structure 18 .

[0055] With this arrangement, the movable plate 16 can only rotate around the axis of the universal shaft under the constraint of the universal joint 15 , and the angle of the movable plate 16 can be adjusted under the pull of the servo 17 to adjust the lens viewing angle of the camera 23 .

[0056] There are three servos 17 , which are respectively arranged at three vertices of an equilateral triangle with the universal joint 15 as the center; each servo 17 is matched with a corresponding connecting structure 18 .

[0057] The connecting structure 18 is configured as two connecting rods, the two connecting rods are connected via a rotating structure, and the connecting rod and the movable plate 16 are connected via a rotating sliding rod.

[0058] Embodiment 3:

[0059] like Figure 4 and Figure 5 As shown, a gimbal device includes a shooting part composed of a camera 23, a pointing part for adjusting the viewing angle of the camera 23 lens, and a stabilization part for maintaining the stability of the pointing part; the shooting part, the pointing part, and the stabilization part are connected in sequence, and the stabilization part is connected to the aircraft through a connecting block 1.

[0060] The stabilization part includes a yaw axis assembly, a roll axis assembly and a pitch axis assembly; the yaw axis assembly includes a first yaw axis arm 3 and a first yaw axis motor 2 arranged at one end of the first yaw axis arm 3, connected to the connecting block 1, and used to realize the yaw of the stabilization part; the roll axis assembly includes a first roll axis arm 5 and a first roll axis motor 4 used to drive the first roll axis arm 5 to rotate with the roll axis as the rotation axis, and the first roll axis motor 4 is connected to the other end of the first yaw axis arm 3; two roll support arms extending outward from both ends of the main body of the first roll axis arm 5 cooperate to clamp the pitch axis assembly, and the pitch axis assembly includes a pitch axis arm 7 and a first pitch axis motor 6 that drives the pitch axis arm 7 to rotate with the pitch axis as the rotation axis, and the first pitch axis motor 6 is connected to one of the roll support arms;

[0061] The pointing part includes a bracket 19, one end of which is fixed to the main body of the pitch axis arm 7, and the other end is open; the camera 23 is arranged at the opening of the bracket 19 through a rotating structure 21 with two axes perpendicular to each other;

[0062] A motor 20 is installed inside the bracket 19, and the rotating shaft of the motor 20 is connected to the back of the camera 23 through two sections of ball head connecting rods, and the two ball head connecting rods are connected through a ball head.

[0063] The rotation of the motor 20 drives the camera 23 to rotate around the two axes of the rotating structure 21 through the connecting structure, thereby adjusting the lens angle of the camera 23.

[0064] A section of the ball head connecting rod 22 directly connected to the rotating shaft of the motor 20 is set as a length-adjustable ball head connecting rod, and another section of the ball head connecting rod is fixedly connected to the camera. By adjusting the length of the section of the ball head connecting rod 22, the tilt angle of the camera 23 is adjusted, and the camera can obtain a larger shooting range.

[0065] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific embodiments of the present invention are limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, other embodiments obtained without departing from the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A pan / tilt device, characterized in that: It comprises a shooting part composed of a camera (23), a pointing part for adjusting the viewing angle of the camera lens (23) of the shooting part, and a stabilization part for maintaining the stability of the pointing part; the shooting part, the pointing part, and the stabilization part are connected in sequence; The stabilizing part is also provided with a connecting block (1) for connecting to the aircraft; The stabilization part is composed of a yaw axis assembly, a roll axis assembly and a pitch axis assembly; the yaw axis assembly comprises a first yaw axis arm (3) and a first yaw axis motor (2) arranged at one end of the first yaw axis arm (3), connected to the connecting block (1) and used to realize the yaw of the stabilization part; the roll axis assembly comprises a first roll axis arm (5) and a first roll axis motor (4) used to drive the first roll axis arm (5) to rotate with the roll axis as the rotation axis, and the first roll axis motor (4) is connected to the other end of the first yaw axis arm (3); two roll support arms extending outward from both ends of the main body of the first roll axis arm (5) cooperate to clamp the pitch axis assembly, and the pitch axis assembly comprises a pitch axis arm (7) and a first pitch axis motor (6) that drives the pitch axis arm (7) to rotate with the pitch axis as the rotation axis, and the pitch axis motor (6) is connected to one of the roll support arms; the pointing part is installed on the main body of the first pitch axis arm (7); The pointing part is composed of a yaw axis assembly, a roll axis assembly and a pitch axis assembly connected together; the yaw axis assembly includes a second yaw axis arm (9) and a second yaw axis motor (8) arranged at one end of the second yaw axis arm (9) and connected to the stabilization part; the roll axis assembly includes a second roll axis arm (11) and a second roll axis motor (10) for driving the second roll axis arm (11) to rotate with the roll axis as the rotation axis, and the second roll axis motor (10) is connected to the other end of the second yaw axis arm (9); two roll arms extending outward from both ends of the second roll axis arm (11) body cooperate to clamp the camera (23); the pitch axis assembly is a second pitch axis motor (12) arranged between one of the roll arms of the second roll axis arm (11) and the camera (23) and used to achieve the pitch of the camera (23); or, The pointing part is fixed to the stabilizing part through a fixing member (13); a connecting plate (14) is fixed to the fixing member (13); the pointing part also includes a moving plate (16); a camera (23) is fixed to one side of the moving plate (16); the other side of the moving plate (16) is fixed to the connecting plate (14) through a universal joint (15); a steering gear (17) is also arranged on the connecting plate (14); the steering gear (17) and the moving plate (16) are located on the same side of the connecting plate (14); the steering gear (17) is connected to the moving plate (16) through a universal joint (15); The connecting structure (18) is connected to the movable plate (16); the universal joint (15) is fixed at the center of the connecting plate (14); there are three steering gears (17), which are respectively arranged at three vertices of an equilateral triangle with the universal joint (15) as the center; each steering gear (17) is matched with a corresponding connecting structure (18); the connecting structure (18) is arranged as two connecting rods, and the two connecting rods are connected by a rotating structure; the connecting rod and the movable plate (16) are connected by a rotating sliding rod; or, The pointing part comprises a bracket (19), one end of the bracket (19) is fixedly connected to the stabilizing part, and the other end is open; a camera is arranged at the opening of the bracket (19) through a rotating structure (21) with two axes perpendicular to each other; a motor (20) is installed inside the bracket (19), the rotating shaft of the motor (20) is connected to the back of the camera (23) through two sections of ball head connecting rods, and the two ball head connecting rods are connected through ball heads; a section of the ball head connecting rod (22) connected to the rotating shaft of the motor (20) is set as a ball head connecting rod with adjustable length, and the other section of the ball head connecting rod is fixedly connected to the camera (23).

2. The pan / tilt device according to claim 1, characterized in that: The photographing unit is composed of one or more cameras (23).

3. A drone, characterized in that: It comprises a drone body and the pan-tilt device according to claim 1 or 2, wherein the pan-tilt device is installed on the drone body.

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