A pod board system, pod and carrier

Abstract

The present application provides a pod card system, a pod and a carrier, and relates to the technical field of unmanned aerial vehicles. The pod card system is applied to the pod, and the system includes: an interface board, a signal transfer board, a main control board and a controlled unit; the interface board realizes two-way communication with the main control board via the signal transfer board, and the signal transfer board is used to transfer signals between the interface board and the main control board; the main control board is electrically connected to the controlled unit, and the main control board and the controlled unit communicate bidirectionally; the interface board is also used to supply power to the main control board, and then the main control board realizes power supply to the controlled unit. By adding a signal transfer board between the main control board and the interface board, so as to transfer the multi-channel signals between the interface board and the main control board, the signal cable connection of the main control board is reduced; the interface board supplies power to the main control board, and the main control board supplies power to the controlled unit, and the main control board adjusts the power supply to the controlled unit according to the operating conditions, which can improve the service life of the controlled unit and avoid the waste of power resources.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a pod board system, a pod and a carrier. Background Art

[0002] The current drone pod hardware architecture is not highly integrated, the internal wiring is messy, the electromagnetic compatibility (EMC) problem is serious, and the scalability is not high. The current pod hardware architecture is divided into two parts: separated from the main control board, the upper part is called the pod heading arm part, and the lower part is called the pod pitch and roll part. The pitch and roll can rotate 360 ​​degrees relative to the heading.

[0003] It should be noted that the lower part of the main control board requires four cables, namely the visible light SDI cable, serial port expansion cable, IMU cable, and roll motor cable; the cables are divided according to the transmission signals: one SDI cable, six IMU cables, six serial port expansion cables, and six roll motor cables. In other words, a total of nineteen ordinary signal cables are required for the signal lines inside the pod.

[0004] Therefore, the current solution has relatively more cables in the rotating cabin due to the separate hardware architecture of the pod and the placement of the main control board in the heading part. These cables have to pass through the rotating shaft inside the pod. Too many cables will cause the motor to be unable to rotate or have a large rotation resistance, which directly affects the stabilization accuracy of the pod. Moreover, these cables are squeezed together, that is, the power lines, signal lines, and motor lines are mixed together, which leads to EMC problems. Summary of the invention

[0005] The present application provides a pod card system, a pod and a carrier, which can at least solve the deficiencies of the background technology. The embodiments of the present application can be implemented as follows:

[0006] In the first aspect, the present application provides a pod board system, which is applied to a pod, and the pod board system includes: an interface board, a signal adapter board, a main control board and a controlled unit; the interface board realizes two-way communication with the main control board via the signal adapter board, and the signal adapter board is used to perform signal conversion between the interface board and the main control board; the main control board is electrically connected to the controlled unit, and the main control board communicates with the controlled unit in a two-way manner; the interface board is also used to supply power to the main control board, and the main control board then realizes power supply to the controlled unit.

[0007] By adding a signal adapter board between the main control board and the interface board, the multi-channel signals between the interface board and the main control board are transferred, thereby reducing the signal cable connections of the main control board; the main control board is powered by the interface board, and the main control board powers the controlled unit. The main control board adjusts the power supply to the controlled unit according to the operating conditions, which can increase the service life of the controlled unit and avoid waste of electricity resources.

[0008] In an optional embodiment, the controlled unit includes a motor, and the pod board system also includes a motor drive board, which is electrically connected to the motor; the main control board is electrically connected to the motor drive board to achieve power supply and communication with the motor drive board.

[0009] The motor drive board is set on the main control board, and the position of the motor drive board is not easy to disassemble. The motor drive is a power device with a relatively high failure rate. If the motor drive has a problem and needs to be repaired, many things need to be disassembled to remove the main control board. Using the pod card system provided by the embodiment of the present application, the motor drive board is set outside the main control board, and the main control board is electrically connected to the motor drive board, thereby realizing the control of the motor by the main control board, which can avoid the problem of difficult maintenance caused by the motor drive board integrated on the main control board.

[0010] In an optional embodiment, the motor drive board is also provided with a sensor for detecting the state of the motor; if the sensor is a photoelectric encoder, then: a code disk is provided on the rotor of the motor, the code disk is coaxial with the rotor, and the code disk rotates with the rotor; the motor drive board is fixed relative to the stator of the motor, and the photoelectric encoder and the code disk are arranged relative to each other in space to realize the scale reading of the code disk. In the above embodiment, the position detection of the motor rotation angle can also be performed by setting sensors such as linear Hall and magnetic encoder.

[0011] It should be understood that the photoelectric encoder reads the above-mentioned code disk, which can realize the accurate measurement of the rotor rotation angle. Specifically, the split-type brushless DC motor can be improved, and the code disk can be fixed by a code disk mounting frame fixedly connected to the rotor, and it is necessary to ensure that the motor rotor and the code disk are coaxially mounted, so that the code disk rotates with the rotor and the rotation angle is consistent; the stator of the above-mentioned motor is sleeved on the outer wall of the rotor and is coaxially arranged with the rotor, and the motor drive plate is fixed to the stator through the drive plate mounting frame, and the drive plate mounting frame is arranged on the side of the rotor code disk, so that the motor drive plate and the code disk are arranged relative to each other in space, and when the code disk rotates with the rotor, the photoelectric encoder on the motor drive plate can realize the reading of the code disk scale.

[0012] In an optional embodiment, if the distance between the main control board and the controlled unit is greater than the distance between the interface board and the controlled unit, the main control board is also used to control the controlled unit through the interface board.

[0013] It should be understood that, for different situations, different distributions are set for the power supply and communication of the controlled units, which is beneficial to reduce the use of cables in the pod board system and improve the overall rotation accuracy of the pod.

[0014] In an optional embodiment, the controlled unit includes a photoelectric component; the main control board is electrically connected to the photoelectric component to realize power supply and two-way communication of the photoelectric component; if the photoelectric component and the main control board cannot be directly connected, the pod board system also includes a adapter tail plate; signal transfer is realized between the main control board and the photoelectric component through the adapter tail plate.

[0015] When the main control board can be directly connected to the optoelectronic component, the main control board directly realizes power supply and two-way communication with the optoelectronic component; when the main control board cannot be directly connected to the optoelectronic component, a transfer tail plate is set to realize power supply and two-way communication between the main control board and the optoelectronic component. In different situations, different settings are made for the connection between the optoelectronic component and the main control board, which is conducive to ensuring the realization of the normal function of the pod.

[0016] In an optional embodiment, there are multiple optoelectronic components, and the signal adapter board includes a first signal connector and multiple second signal connectors; the signal adapter board receives data fed back from the first optoelectronic component forwarded by the main control board through the first signal connector, and then feeds the data back to the interface board via a connector among the multiple second signal connectors corresponding to the first optoelectronic component; the first optoelectronic component is any one of the multiple optoelectronic components.

[0017] The signal adapter board is used to realize the communication transmission of the optoelectronic components. That is, the main control board and the signal adapter board only need one first signal connector to complete the signal transmission of multiple groups of optoelectronic components. Firstly, it can avoid the EMC problem caused by mixing various cables together. Secondly, in the pod system, by reducing the total amount of cables, the rotation flexibility and accuracy of the pod system can be improved.

[0018] In an optional embodiment, the pod board system further includes a slip ring; the signal lines led out from the plurality of second signal connectors on the signal adapter board are electrically connected to the interface board via the slip ring.

[0019] By adopting the above-mentioned signal adapter board, electrical connection between multiple second connectors and the interface board can be achieved through slip rings, so that multiple connecting cables are fixed inside the slip rings, avoiding EMC problems caused by cable disorder; by arranging a slip ring between the interface board and the signal adapter board, continuous rotation of the interface board and the signal adapter board can be achieved, avoiding entanglement or twisting of the cables due to rotation, thereby adversely affecting the control accuracy of the pod system.

[0020] In an optional embodiment, if the data fed back by the first optoelectronic component does not conform to the data format supported by the interface board, the main control board or the adapter tail board is also used to convert the format of the data fed back by the first optoelectronic component according to the data format supported by the interface board; the data format supported by the interface board may include but is not limited to VGA, HDMI, DVI, TTL, AV, SDI, LVDS. For example, the interface board can support LVDS signals. Compared with other video signals, LVDS signals have stronger anti-interference capabilities and improve image quality. Compared with Serial Digital Interface (SDI) video, the pod board system provided in this application can also support 1080 / 60 frame video output.

[0021] In an optional embodiment, the optoelectronic component is also used to directly send its feedback data to the interface board through the slip ring.

[0022] It should be understood that the slip ring is used to organize and fix the cables between the optoelectronic component and the interface board to achieve data communication between the optoelectronic component and the interface board, thereby reducing the problem of cable disorder in the pod.

[0023] In an optional embodiment, the main control board is connected to the slip ring via a power line, and the interface board supplies power to the main control board via the slip ring.

[0024] It should be understood that the use of slip rings to organize and fix the cables between the optoelectronic components and the interface board to enable the interface board to supply power to the main control board, thereby reducing the problem of cable disorder in the pod.

[0025] In an optional embodiment, the main control board is provided with a third signal connector corresponding to the first signal connector, and a power supply interface for receiving power from the interface board; the main control board realizes the interaction of communication control signals with the interface board through the third signal connector or the power supply interface.

[0026] For example, in one possible case, the power supply interface can implement the transmission of a controller area network (CAN) signal so as to complete the interaction of communication control signals between the main control board and the interface board when a failure occurs in the third signal connector.

[0027] In an optional embodiment, the pod includes a gimbal and a rotating cabin body arranged at one end of the gimbal, the main control board and the optoelectronic component are arranged in the rotating cabin body; a fixing frame is provided at the other end of the gimbal away from the rotating cabin, which is used to realize the fixed installation between the gimbal and the carrying equipment carried by it, and the interface board is arranged in the fixing frame; the gimbal also includes at least one direction arm tube, and the at least one direction arm tube is located between the fixing frame and the rotating cabin body, and each direction arm tube is provided with a corresponding motor to realize the rotation of the rotating cabin body in the corresponding direction; the signal adapter board is arranged in the first direction arm tube close to the fixing frame.

[0028] It should be understood that the main control board is arranged in the rotating cabin, the interface board is arranged in the fixed frame, and the signal adapter board is arranged in the first direction arm tube close to the fixed frame. Compared with the existing design, by arranging the main control board in the rotating cabin and realizing the signal transfer between the main control board and the interface board through the signal adapter board, it can avoid the problem that the overall rotation accuracy of the pod system is low and the EMC problem is serious due to the main control board being usually arranged in the fixed frame or the heading arm. Secondly, by setting the signal adapter board, the overall pod system is further made lighter and the rotation flexibility and accuracy of the pod system are improved.

[0029] In an optional embodiment, the second direction arm on the gimbal near one end of the rotating cabin includes a wire-passing arm and a motor arm, the rotating cabin is clamped between the wire-passing arm and the motor arm, and the motor arm is provided with a second motor; the second motor line of the main control board passes through the motor arm to realize the control of the second motor; the communication data line and power line connected between the main control board and the interface board are connected to the interface board via the wire-passing arm; if the first direction arm tube is different from the second direction arm tube, the gimbal also includes other motors in addition to the second motor; the control signal of the main control board controlling the other motors also realizes the drive control of the other motors via the wire-passing arm.

[0030] It can be understood that the rotating cabin is clamped between the wire-passing arm and the motor arm, and the second motor line of the main control board is inserted into the motor arm to realize the control of the second motor; the communication data line and power line connected between the main control board and the interface board are connected to the interface board via the wire-passing arm. In this way, interference with the motor signal is avoided, and the control accuracy of the motor is further improved.

[0031] In an optional embodiment, a slip ring is provided in the first direction arm tube, and the interface board is electrically connected to the signal adapter board through the moving end and the fixed end of the slip ring in sequence. Specifically, if the first direction arm tube is provided with a slip ring, the signal adapter board is provided on one side of the fixed end of the slip ring.

[0032] It should be understood that the fixed end can also be used to fix the position of the slip ring, and the moving end can adjust the position of the cable in the pod when the pod rotates. The slip ring can be used to integrate the signal lines of the pod board system, the power lines of the main control board, and the motor lines of each motor (such as the heading motor, roll motor and pitch motor, etc.) to prevent the cables from affecting the rotation of the pod and the motor.

[0033] In an optional embodiment, the motor includes a stator and a rotor, and a through hole is provided along the rotating shaft of the rotor for passing a signal cable; the rotor realizes rotation output through a bearing along one end of the rotating shaft, and a code disk is provided at the other end of the rotor, and the code disk is coaxially arranged with the rotor; the motor also includes a motor drive board, which is fixed relative to the stator of the motor, and a photoelectric encoder is provided on the motor drive board to enable reading of the code disk.

[0034] The invention solves the problem that the brushless DC motor of the existing solution usually does not contain a photoelectric encoder and cannot realize electrical angle measurement; and realizes the measurement of the rotation angle of the motor rotor in the control system to realize the control of the equipment.

[0035] In an optional embodiment, the gimbal includes a three-axis direction arm tube, and the fixed frame is sequentially composed of a yaw arm, a roll arm and a pitch arm to achieve a fixed connection with the rotating cabin; the pitch arm is provided with a wire-passing arm and a motor arm, and the pitch motor signal line of the main control board penetrates into the motor arm to drive and control the pitch motor in the motor arm;

[0036] The communication data line and the power line of the main control board pass through the wire-passing arm, the rolling arm, and the heading arm in sequence to achieve electrical connection with the interface board;

[0037] The rolling motor line of the main control board first passes through the wire-passing arm, and then passes into the rolling arm to achieve electrical connection with the rolling motor;

[0038] The heading motor line of the main control board passes through the roll arm and the heading arm in sequence, and finally realizes electrical connection with the heading motor; or, the main control board sends a heading motor control signal to the interface board through the communication data line, and then the interface board forwards the heading motor control signal to the heading motor to realize drive control of the heading motor.

[0039] It should be understood that since the heading motor may be far away from the main control board, the heading motor can also be directly powered and controlled by the interface board. Optionally, the interface board receives the control signal from the main control board through the signal line, and realizes the driving control of the heading motor according to the signal. In other words, the heading motor can be controlled by the interface board, further avoiding the pod circuit being too complicated and affecting the motor rotation control accuracy.

[0040] In an optional embodiment, a slip ring is provided in the navigation arm, and the slip ring is coaxially arranged with the navigation motor. The signal adapter board is arranged at the end of the navigation arm away from the fixed frame. The signal adapter board realizes the passage of the signal line through the navigation arm through the slip ring, and finally realizes electrical connection with the interface board at the end of the navigation arm close to the fixed frame.

[0041] The slip ring can be used to integrate the signal lines of the pod board system, the power lines of the main control board, and the motor lines of each motor (such as heading motor, roll motor and pitch motor, etc.), so as to prevent the cables from affecting the rotation of the pod and the motor.

[0042] In an optional embodiment, the optoelectronic components include: visible light and / or infrared components; if the visible light or the infrared components do not support target format data output, the pod board system also includes a corresponding adapter tail plate, which converts non-target format data sent by the visible light or infrared components into target format data; the main control board is connected to the adapter tail plate, and power and bidirectional communication are provided to the visible light or the infrared components through the adapter tail plate.

[0043] The adapter tail plate can provide a variety of signal interfaces to enable the pod board system to transmit data in the target format, and power the visible light or infrared components through the adapter tail plate.

[0044] In an optional embodiment, the main control board has an inertial measurement circuit area, which is used to place a first inertial navigation system (Inertial measurement unit, IMU) chip module; and / or, the main control board has an external IMU interface, which is used to electrically connect to a second IMU chip module, and the second IMU chip module is arranged in the rotating cabin of the pod.

[0045] That is to say, the main control board can be provided with a first IMU chip module; that is, the first IMU chip module is integrated on the main control board to reduce the number of boards and avoid signal interference between cables. In a possible implementation, the main control board can also be electrically connected to the second IMU chip module, and the second IMU chip module is arranged in the rotating cabin of the pod; that is, the main control board can reserve an external IMU interface for backup.

[0046] In an optional embodiment, a plurality of isolation grooves are evenly arranged around the first IMU chip module, the isolation grooves are not covered with copper foil, and the first IMU chip module is electrically connected via an in-board wire.

[0047] For example, if the first IMU chip module is rectangular, isolation areas are respectively provided on the main control board along the four sides of the first IMU chip module, and the isolation areas are not connected to each other in space, so as to isolate the external temperature and prevent the inertial measurement control unit from deformation; on the control substrate, the isolation areas and the space enclosed by the isolation areas are not covered with copper.

[0048] The isolation area may be an isolation groove formed by hollowing out the main control board, or may refer to other parts or structures that can form heat or stress isolation.

[0049] For another example, if the first IMU chip module is disposed at the edge of the main control board, a corresponding isolation groove may be disposed on at least one side of the first IMU chip module that is not close to the edge, and the isolation groove and the edge of the main control board together constitute the isolation area disposed around the first IMU chip module;

[0050] For another example, if the first IMU chip module is not disposed at the edge of the main control board, isolation grooves are respectively disposed around the first IMU chip module, and the isolation grooves together constitute the isolation area disposed around the first IMU chip module;

[0051] Wherein, the isolation groove passes through the control substrate, such as being directly hollowed out to form a rectangular strip-shaped through hole; or, the isolation groove does not pass through the control substrate, and a heat insulating or wave absorbing material is arranged in the isolation groove.

[0052] A plurality of isolation grooves are evenly arranged around the first IMU chip module to avoid EMC problems between the components of the main control board and the first IMU chip module, thereby improving the stability of the main control board.

[0053] In a second aspect, the present application provides a pod, comprising the pod board system described in any one of the aforementioned embodiments.

[0054] In a third aspect, the present application provides a transport device comprising the pod described in the aforementioned embodiment.

[0055] Compared with the prior art, the present application provides a pod board system, a pod and a carrier, which relates to the field of UAV technology. The pod board system is applied to the pod, and the pod board system includes: an interface board, a signal transfer board, a main control board and a controlled unit; the interface board can realize two-way communication with the main control board via the signal transfer board, and the signal transfer board is used to perform signal transfer between the interface board and the main control board; the main control board is electrically connected to the controlled unit, and the main control board communicates with the controlled unit in a two-way manner; the interface board is also used to supply power to the main control board, and the main control board then supplies power to the controlled unit. By adding a signal adapter board between the main control board and the interface board, the multi-channel signals between the interface board and the main control board can be transferred, thereby reducing the signal cable connections of the main control board; the main control board is powered by the interface board, and the main control board powers the controlled unit. The main control board adjusts the power supply to the controlled unit according to the operating conditions, which can increase the service life of the controlled unit and avoid waste of electricity resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A schematic diagram of a pod board system provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0061] Figure 5 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0062] Figure 6 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0063] Figure 7 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0064] Figure 8A schematic diagram of a pod provided in an embodiment of the present application;

[0065] Fig. 9 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0066] Fig.10 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0067] Fig.11 A schematic diagram of another pod board system provided in an embodiment of the present application;

[0068] Fig.12 A schematic diagram of another pod board system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] To make the purpose, technical scheme and advantages of the embodiment of the present application clearer, the technical scheme in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all the embodiments. The components of the embodiment of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiment of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but only represents the selected embodiment of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0070] In the description of the present application, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the invented product is usually placed when in use. This is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, if the terms "first", "second", etc. appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance. It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0071] In the current pod board layout, the main control board is placed between the pan arm and the roll arm (also called the pan-roll axis). When the pod moves, the cables connected to the main control board are prone to EMC problems and cable clutter.

[0072] In order to at least solve the above problems and the deficiencies of the background technology, the present application embodiment provides a pod card system, which is applied to the pod, see Figure 1 , Figure 1 A schematic diagram of a pod board system provided for an embodiment of the present application, the pod board system 100 may include: an interface board 200, a signal adapter board 300, a main control board 400 and a controlled unit 500; the interface board 200 realizes bidirectional communication with the main control board 400 via the signal adapter board 300, and the signal adapter board 300 is used for signal conversion between the interface board 200 and the main control board 400; the main control board 400 is electrically connected to the controlled unit 500, and the main control board 400 communicates bidirectionally with the controlled unit 500; the interface board 200 is also used to supply power to the main control board 400, and the main control board 400 then supplies power to the controlled unit 500.

[0073] For example, see Figure 1 , the interface board 200 can use a signal line to achieve two-way communication with the main control board 400 via the signal adapter board 300; the signal line can be, but not limited to, an ultra-fine coaxial line, and the ultra-fine coaxial line can be a "30p ultra-fine coaxial line". The main control board 400 can transmit video signals and communication signals through the ultra-fine coaxial line. It should be understood that the main control board 400 can transmit video signals to the interface board 200 through an ultra-fine coaxial line connector to improve the signal's anti-interference ability. In addition, an ultra-fine coaxial line is used to pass through the controlled unit 500. Since the ultra-fine coaxial line is soft and thin, the cable can be prevented from affecting the rotation of the controlled unit 500, further enhancing the overall stabilization accuracy of the pod system.

[0074] It should be understood that the interface board 200 may be provided with a user interface, a communication control interface, at least one optoelectronic component interface, and the like.

[0075] A signal transfer board 300 is added between the main control board 400 and the interface board 200 to transfer multiple signals between the interface board 200 and the main control board 400, thereby reducing the signal cable connections of the main control board 400; the interface board 200 is used to power the main control board 400, and the main control board 400 is used to power the controlled unit 500. The main control board 400 adjusts the power supply to the controlled unit 500 according to the operating conditions, thereby improving the service life of the controlled unit 500 and avoiding waste of power resources.

[0076] In an optional embodiment, in order to avoid EMC problems, Figure 1 Based on the above, taking the controlled unit 500 including a motor as an example, see Figure 2 , Figure 2A schematic diagram of another pod board system provided in an embodiment of the present application, wherein the pod board system 100 also includes a motor drive board 501, which is electrically connected to the motor; the main control board 400 is electrically connected to the motor drive board 501 to realize power supply and communication with the motor drive board 501.

[0077] The motor drive board 501 is set on the main control board 400. The position of the motor drive board is not easy to disassemble. The motor drive is a power device with a relatively high failure rate. If the motor drive has a problem and needs to be repaired, many things need to be disassembled to remove the main control board 400. Using the pod card system 100 provided in the embodiment of the present application, the motor drive board is set outside the main control board 400, and the main control board 400 is electrically connected to the motor drive board, thereby realizing the control of the motor by the main control board 400, which can avoid the problem of difficult maintenance caused by the motor drive board integrated on the main control board 400.

[0078] In an optional embodiment, please continue to see Figure 2 The motor driving board 501 is also provided with a sensor for detecting the state of the motor; if the sensor is a photoelectric encoder, then: a code disk is provided on the rotor of the motor, the code disk is coaxial with the rotor, and the code disk rotates with the rotor; the motor driving board 501 is fixed relative to the motor stator, and the photoelectric encoder and the code disk are relatively arranged in space to realize the scale reading of the code disk.

[0079] It should be understood that the photoelectric encoder reads the above-mentioned code disk, which can realize the accurate measurement of the rotor rotation angle. For example, the split-type brushless DC motor can be improved, and the code disk can be fixed by a code disk mounting frame fixedly connected to the rotor, and it is necessary to ensure that the motor rotor and the code disk are coaxially mounted, so that the code disk rotates with the rotor and the rotation angle is consistent; the stator of the above-mentioned motor is sleeved on the outer wall of the rotor and is coaxially arranged with the rotor, and the motor drive plate is fixed to the stator through the drive plate mounting frame, and the drive plate mounting frame is arranged on the side of the rotor code disk, so that the motor drive plate and the code disk are arranged relative to each other in space, and when the code disk rotates with the rotor, the photoelectric encoder on the motor drive plate can realize the reading of the code disk scale.

[0080] In an alternative embodiment, see Figure 3 , Figure 3 A schematic diagram of another pod board system provided for an embodiment of the present application, if the distance between the main control board 400 and the controlled unit 500 is greater than the distance between the interface board 200 and the controlled unit 500; then the main control board 400 is also used to control the controlled unit 500 through the interface board 200.

[0081] It should be understood that, for different situations, different distributions are set for the power supply and communication of the controlled unit 500, which is beneficial to reducing the use of cables in the pod board system 100 and improving the overall rotation accuracy of the pod.

[0082] In an alternative implementation, see Figure 4 , Figure 4 A schematic diagram of another pod board system provided in an embodiment of the present application, wherein the controlled unit 500 includes a photoelectric component; the main control board 400 is electrically connected to the photoelectric component to realize power supply and two-way communication for the photoelectric component; if the photoelectric component and the main control board 400 cannot be directly connected, the pod board system 100 may further include a transfer tail plate 502; signal transfer is realized between the main control board 400 and the photoelectric component through the transfer tail plate 502.

[0083] When the main control board 400 can be directly connected to the optoelectronic component, the main control board 400 directly realizes power supply and two-way communication with the optoelectronic component; when the main control board 400 cannot be directly connected to the optoelectronic component, a transfer tail plate is set to realize power supply and two-way communication between the main control board 400 and the optoelectronic component. In different situations, different settings are made for the connection between the optoelectronic component and the main control board 400, which is conducive to ensuring the realization of normal functions of the pod.

[0084] In an optional embodiment, taking the photoelectric components as an example, see Figure 5 , Figure 5 A schematic diagram of another pod board system provided for an embodiment of the present application, wherein the signal adapter board 300 includes a first signal connector 502a and multiple second signal connectors 502b; the signal adapter board 300 receives data fed back from the first optoelectronic component forwarded by the main control board 400 through the first signal connector 502a, and then feeds the data back to the interface board 200 via a connector corresponding to the first optoelectronic component among the multiple second signal connectors 502b; the first optoelectronic component is any one of the multiple optoelectronic components.

[0085] The signal adapter board 300 is used to realize the communication transmission of the optoelectronic components, that is, the main control board 400 and the signal adapter board 300 only need one first signal connector to complete the signal transmission of multiple groups of optoelectronic components. Firstly, it can avoid the EMC problem caused by mixing various cables together. Secondly, in the pod system, by reducing the total amount of cables, the rotation flexibility and accuracy of the pod system are improved.

[0086] In an optional embodiment, please continue to see Figure 5If the data fed back by the first optoelectronic component does not conform to the data format supported by the interface board 200, the main control board 400 or the adapter tail board 502 is also used to convert the format of the data fed back by the first optoelectronic component according to the data format supported by the interface board 200; the data formats supported by the interface board may include but are not limited to VGA, HDMI, DVI, TTL, AV, SDI, and LVDS. For example, the interface board 200 can support LVDS signals. Compared with other video signals, LVDS signals have stronger anti-interference capabilities and improve image quality. Compared with Serial Digital Interface (SDI) video, the pod card system 100 provided in this application can also support 1080 / 60 frame video output.

[0087] In an alternative embodiment, too many cables in the pod may cause EMC problems, see Figure 6 , Figure 6 A schematic diagram of another pod board system provided in an embodiment of the present application, the pod board system 100 may further include a slip ring 301; signal lines led out from a plurality of second signal connectors on the signal adapter board 300 are electrically connected to the interface board 200 through the slip ring 301.

[0088] By adopting the above-mentioned signal adapter board 300, electrical connection between multiple second connectors and the interface board 200 can be achieved through slip rings, so that multiple connecting cables are fixed inside the slip ring 301, avoiding EMC problems caused by cable disorder; by arranging a slip ring between the interface board and the signal adapter board, continuous rotation of the interface board and the signal adapter board can be achieved, avoiding entanglement or twisting of the cables due to rotation, thereby adversely affecting the control accuracy of the pod system.

[0089] In an optional embodiment, please continue to see Figure 6 The optoelectronic assembly can also be used to directly send its feedback data to the interface board 200 through the slip ring 301. It should be understood that the use of the slip ring to organize and fix the cables between the optoelectronic assembly and the interface board 200 to achieve data communication between the optoelectronic assembly and the interface board 200 reduces the problem of cable disorder in the pod.

[0090] In an optional embodiment, please continue to see Figure 6 , the main control board 400 is connected to the slip ring 301 through a power line, and the interface board 200 supplies power to the main control board 400 through the slip ring 301. It should be understood that the slip ring 301 is used to organize and fix the cables between the optoelectronic component and the interface board 200, so as to realize the power supply from the interface board 200 to the main control board 400, thereby reducing the disorder of the cables in the pod.

[0091] In an optional embodiment, if Figure 7 , Figure 7 A schematic diagram of another pod board system provided in an embodiment of the present application, wherein the main control board 400 is provided with a third signal connector 401 corresponding to the first signal connector 502a, and a power supply interface 402 for receiving power from the interface board 200; the main control board 400 realizes the interaction of communication control signals with the interface board 200 through the third signal connector 401 or the power supply interface 402.

[0092] For example, in one possible case, the power supply interface 402 can implement the transmission of a controller area network (CAN) signal so as to complete the interaction of communication control signals between the main control board 400 and the interface board 200 when a failure occurs in the third signal connector 401 .

[0093] In an optional embodiment, the present application provides a three-axis pod for illustration, see Figure 8 , Figure 8 This is a schematic diagram of a pod provided in an embodiment of the present application, wherein the pod includes a yaw arm, a roll arm, and a pitch arm. Figure 8 As shown, the heading arm is fixedly connected to the stator of the heading motor, the roll arm of the pod is located at the connection between the heading arm and the pitch arm, the pitch arm includes a pitch motor arm, and the pitch motor is arranged at the connection between the pitch motor arm and the rotating cabin of the pod.

[0094] It should be understood that Figure 8 The pod shown is only one possible implementation, and the pod board system provided in the present application can also be used on other types of pods.

[0095] Below Figure 8 The description is based on the pod shown, and the pod includes a gimbal and a rotating cabin body arranged at one end of the gimbal, and the main control board 400 and the optoelectronic component are arranged in the rotating cabin body; a fixed frame is provided at the other end of the gimbal away from the rotating cabin, which is used to realize the fixed installation between the gimbal and the carrying equipment carried by it, and the interface board 200 is arranged in the fixed frame; the gimbal also includes at least one direction arm tube, at least one direction arm tube is located between the fixed frame and the rotating cabin body, and each direction arm tube is provided with a corresponding motor to realize the rotation of the rotating cabin body in the corresponding direction; the signal adapter board 300 is arranged in the first direction arm tube close to the fixed frame.

[0096] It should be understood that the main control board 400 is arranged in the rotating cabin, the interface board 200 is arranged in the fixed frame, and the signal adapter board 300 is arranged in the first direction arm tube close to the fixed frame, thereby avoiding the problem of excessive winding when the main control board 400 is located in the heading part, which hinders the rotation of the motor.

[0097] In an optional embodiment, a second direction arm (such as Figure 8The pitch arm shown in the figure includes a wire-passing arm and a motor arm, the rotating cabin is clamped between the wire-passing arm and the motor arm, and a second motor (such as the pitch motor of the pod) is arranged in the motor arm; the second motor line of the main control board 400 passes through the motor arm to control the second motor; the communication data line and the power line connected between the main control board 400 and the interface board 200 are connected to the interface board 200 via the wire-passing arm; if the first direction arm tube is different from the second direction arm tube, the gimbal also includes other motors in addition to the second motor; the control signals of the main control board 400 controlling other motors are also realized through the wire-passing arm to realize the drive control of other motors (such as the lateral motor or the rolling motor of the pod, etc.).

[0098] It can be understood that the rotating cabin is clamped between the wire-passing arm and the motor arm, and the second motor wire of the main control board 400 is inserted into the motor arm to realize the control of the second motor; the communication data line and power line connected between the main control board 400 and the interface board 200 are connected to the interface board 200 via the wire-passing arm, avoiding the problem of excessive winding when the main control board 400 is located in the heading part, which hinders the rotation of the motor; in addition, since the motor wire is laid separately, signal interference of other signal wires to the motor wire can be avoided.

[0099] In an alternative embodiment, see Fig. 9 , Fig. 9 A schematic diagram of another pod board system provided in an embodiment of the present application, wherein a slip ring 301 is provided in a first direction arm tube (such as a heading arm of a pod), and the interface board 200 is electrically connected to the signal adapter board 300 through the moving end and the fixed end of the slip ring 301. Specifically, if a slip ring is provided in the first direction arm tube, the signal adapter board is provided on one side of the fixed end of the slip ring.

[0100] It should be understood that the fixed end can also be used to fix the position of the slip ring 301, and the moving end can adjust the position of the cable in the pod when the pod rotates. The slip ring 301 can be used to integrate the signal lines of the pod board system 100, the power lines of the main control board 400, and the motor lines of each motor (such as the heading motor, roll motor, and pitch motor, etc.) to prevent the cables from affecting the rotation of the pod and the motor.

[0101] It should be understood that the motor includes a stator and a rotor, and a through hole is provided along the rotating shaft of the rotor for the insertion of a signal cable; the rotor realizes rotation output through a bearing at one end along the rotating shaft, and a code disk is provided at the other end of the rotor, and the code disk is coaxially arranged with the rotor; the motor also includes a motor drive board 501, which is fixed relative to the motor stator, and a photoelectric encoder is provided on the motor drive board 501 to realize the reading of the code disk. The problem that the brushless DC motor of the existing solution usually does not contain a photoelectric encoder and cannot realize electrical angle measurement is solved; the rotation angle of the motor rotor is measured in the control system to realize the control of the equipment.

[0102] In an optional embodiment, please continue to see Figure 8 The gimbal includes a three-axis direction arm tube, and the fixed frame is composed of a yaw arm, a roll arm and a pitch arm in sequence to achieve a fixed connection with the rotating cabin; the pitch arm is provided with a wire arm and a motor arm, and the pitch motor signal line of the main control board 400 penetrates into the motor arm to drive and control the pitch motor in the motor arm;

[0103] The communication data line and power line of the main control board 400 pass through the wire arm, the roll arm, and the heading arm in sequence to achieve electrical connection with the interface board 200;

[0104] The rolling motor line of the main control board 400 first passes through the wire arm and then into the rolling arm to achieve electrical connection with the rolling motor;

[0105] The heading motor line of the main control board 400 passes through the roll arm and the heading arm in sequence, and finally realizes electrical connection with the heading motor; or, the main control board 400 sends a heading motor control signal to the interface board 200 through the communication data line, and then the interface board 200 forwards the heading motor control signal to the heading motor to realize drive control of the heading motor.

[0106] It should be understood that since the heading motor may be far away from the main control board 400, the heading motor can also be directly powered and controlled by the interface board 200. Optionally, the interface board 200 receives a control signal from the main control board 4004 through a signal line, and drives and controls the heading motor according to the signal. In other words, the heading motor can be controlled by the interface board 200, further avoiding the pod circuit being too complicated and affecting the motor rotation control accuracy.

[0107] For example, each of the above-mentioned motor cables can adopt an extremely fine coaxial cable, which is passed through each motor shaft. Since the extremely fine coaxial cable is soft and thin, the cable can be prevented from affecting the rotation of the motor shaft, further enhancing the overall stabilization accuracy of the pod system.

[0108] In an optional embodiment, a slip ring 301 may be provided in the heading arm, and the slip ring 301 is coaxially arranged with the heading motor. The signal adapter board 300 is arranged at the end of the heading arm away from the fixed frame. The signal adapter board 300 realizes the passage of the signal line in the heading arm through the slip ring 301, and finally realizes electrical connection with the interface board 200 at the end of the heading arm close to the fixed frame.

[0109] The slip ring 301 can be used to integrate the signal lines of the pod board system 100, the power lines of the main control board 400, and the motor lines of each motor (such as the heading motor, roll motor, and pitch motor, etc.), so as to prevent the cables from affecting the rotation of the pod and the motor.

[0110] In an optional embodiment, the above-mentioned optoelectronic components may include: visible light and / or infrared components; if the visible light or infrared components do not support the output of target format data, the pod board system 100 also includes a corresponding adapter tail plate, which converts the non-target format data sent by the visible light or infrared components into target format data; the main control board 400 is connected to the adapter tail plate, and power is supplied to the visible light or infrared components and bidirectional communication is performed through the adapter tail plate.

[0111] The adapter tail plate can provide a variety of signal interfaces to enable the pod board system 100 to transmit data in a target format, and power the visible light or infrared components through the adapter tail plate.

[0112] In an alternative embodiment, see Fig.10 , Fig.10 A schematic diagram of another pod board system provided in an embodiment of the present application, wherein the main control board 400 has an inertial measurement circuit area, which is used to place a first inertial navigation system (Inertial measurement unit, IMU) chip module; and / or, the main control board 400 has an external IMU interface 407, which is used to electrically connect to a second IMU chip module 600, and the second IMU chip module 600 is arranged in a rotating cabin of the pod.

[0113] That is, the main control board 400 may be provided with a first IMU chip module 406; that is, the first IMU chip module 406 is integrated on the main control board 400 to reduce the number of boards and avoid signal interference between cables. In a possible implementation, the main control board 400 may also be electrically connected to the second IMU chip module 600, and the second IMU chip module 600 is disposed in the rotating cabin of the pod; that is, the main control board 400 may reserve an external IMU interface 407 for backup.

[0114] In an alternative embodiment, see Fig.11 , Fig.11 A schematic diagram of another pod board system provided in an embodiment of the present application, wherein a plurality of isolation grooves are evenly arranged around the first IMU chip module 406, the isolation grooves are not covered with copper, and the first IMU chip module 406 is electrically connected through the internal board wires.

[0115] For example, if the first IMU chip module 406 is rectangular, then isolation areas are provided on the main control board along the four sides of the first IMU chip module 406, and each isolation area is not connected to each other in space, which is used to isolate the external temperature and prevent the inertial measurement control unit from deformation; on the control substrate, each isolation area and the space surrounded by each isolation area are not covered with copper. By setting the above isolation area, the first IMU chip module 406 and the main control board are treated with temperature drift and stress isolation to improve the temperature drift caused by the first chip module being disturbed by temperature and stress.

[0116] The isolation area may be an isolation groove formed by hollowing out the main control board, or may refer to other parts or structures that can form heat or stress isolation.

[0117] For another example, if the first IMU chip module 406 is disposed at the edge of the main control board, see Fig.12 , Fig.12 A schematic diagram of another pod board system provided for an embodiment of the present application, in which a corresponding isolation groove can be set on at least one side of the first IMU chip module 406 that is not close to the edge, and the isolation groove and the edge of the main control board together constitute the isolation area set around the first IMU chip module 406.

[0118] For another example, if the first IMU chip module 406 is not disposed at the edge of the main control board, isolation grooves are respectively disposed along the four sides of the first IMU chip module 406 , and the isolation grooves together constitute the isolation area disposed along the four sides of the first IMU chip module 406 .

[0119] Wherein, the isolation groove passes through the control substrate, such as being directly hollowed out to form a rectangular strip-shaped through hole; or, the isolation groove does not pass through the control substrate, and a heat insulating or wave absorbing material is arranged in the isolation groove.

[0120] The embodiment of the present application integrates the first IMU chip module 406 on the main control board 400, and there is no need to perform complex secondary connection or assembly based on the first IMU chip module 406, thereby increasing the accuracy and reliability of information transmission between each other, and eliminating the need for cumbersome wiring and independent boards, namely, attitude acquisition. This not only reduces the volume required for hardware boards and the difficulty of assembling components, but more importantly, avoids the serious EMC problems caused by the prior art, such as the need for the IMU to be connected to the main control board with a cable, and there is a clock signal in the cable, and the leakage of the clock signal will interfere with GPS and other technical problems.

[0121] It can be foreseen that the main control board 400 supports the transmission of multiple video signals; for example, the solution of the present application can meet the application of simultaneous LVDS signal transmission of infrared and visible light. Compared with other signals, such as AV signals, the pod card system 100 provided in the embodiment of the present application has stronger anti-interference ability, improves image quality, and can support 1080 / 60 frames of video output compared to the serial digital interface (Serial Digital Interface, SDI). For example, since the SDI directly output by the visible light camera can only support 1080 / 30 frames of video output, the pod card system 100 provided in the embodiment of the present application can achieve 1080 / 60 frames of video output. In addition, at the user interface, the LVDS can also be converted into an SDI signal, so that the output SDI video signal also supports the 1080 / 60 frame video format.

[0122] For example, the pod can be mounted on a fixed frame of the drone body, and the above-mentioned interface board 200 and the heading motor are arranged on the fixed frame. In a possible specific embodiment, the heading arm can be fixedly connected to the stator of the heading motor, and the torque is output to the roll arm through the rotor of the heading motor, and a slip ring is arranged in the heading arm, which can be used to summarize the signal line of the pod board system, the power line of the main control board 400, and the motor line of each motor (heading motor, roll motor and pitch motor). It should be understood that the camera module of the pod can also be arranged in the rotating cabin to avoid the lengthy cable connection between the main control board 400 and the camera module; in addition, the camera module and the main control can also realize signal transmission through an extremely fine coaxial line, such as an extremely fine coaxial line connector of the visible light movement is arranged on the main control board 400.

[0123] The roll arm can be arranged at the connection between the yaw arm and the pitch arm, and a roll motor can be arranged on the roll arm, and the rotation connection can be realized through the roll motor and the pitch motor. The above-mentioned signal adapter board 300 can be arranged on the roll arm.

[0124] The pitch arm includes a pitch motor arm and a wire-passing arm. The rotating cabin where the camera module of the pod is located is clamped between the pitch motor arm and the wire-passing arm. A pitch motor is arranged at the connection between the pitch motor arm and the rotating cabin. The rotation control of the rotating cabin in the pitch direction is realized by the pitch motor.

[0125] The power line and the ultra-fine coaxial line are regulated by using a slip ring, and the main control board 400 is located in the rotating cabin, so that the resistance of the cable to the rotation of the pitch motor shaft is reduced, which is beneficial to the pod's image acquisition and improves the clarity of the pod's image acquisition. In addition, the power line of the main control board 400 is separated from the ultra-fine coaxial line, which can also reduce the EMC problem of the pod.

[0126] In the current technical solution, the driving modules of the heading motor and the pitch motor are integrated on the main control board. Due to the limited card area of ​​the main control board 400, it should be noted that the main control board 400 (main control board) is not easy to disassemble at the position where it is placed. The motor drive board is a power device with a relatively high failure rate. If the motor drive board has a problem and needs to be repaired, a lot of things need to be disassembled to take out the main control board 400.

[0127] In a possible embodiment, take the pod board system 100 further including a pitch motor drive board, a roll motor drive board, a heading motor drive board, a pitch motor line, a roll motor line and a heading motor line as an example: the pitch motor drive board is arranged on the pitch motor, the roll motor drive board is arranged on the roll motor, and the heading motor drive board is arranged on the heading motor. The pitch motor drive board is electrically connected to the main control board 400 through the pitch motor line; the roll motor line is passed through the line body via the line passing arm to electrically connect the main control board 400 with the roll motor drive board; the heading motor line is passed through the line body via the line passing arm, through the roll motor, and the slip ring of the line passing arm to electrically connect the main control board 400 with the heading motor drive board.

[0128] Since the signal cables (ultra-thin coaxial line, power line and motor line) led out from the rotating cabin, except for the pitch motor signal line, all other signal lines are routed through the wire passing arm, and the pitch motor signal line is connected to the motor drive board of the pitch motor arm to avoid signal interference.

[0129] In the existing solution, the main control board integrates the driving modules of the heading motor and the pitch motor. Since the main control board is not easy to disassemble at the location where it is placed in the existing solution, the motor drive is a power device with a relatively high failure rate. If the motor drive has a problem and needs to be repaired, a lot of things need to be disassembled to take out the main control board 400. Using the pod card system 100 provided in the embodiment of the present application, the motor drive module is no longer integrated on the main control board 400, but a motor drive board is set on each motor, that is, the motor drive board uses a discrete module and is independently installed at the corresponding motor (that is, the heading motor, the roll motor and the pitch motor are all provided with corresponding motor drive boards). The main control board 400 is electrically connected to the motor drive board to realize power supply and communication control, which is more convenient for the disassembly and maintenance of the motor drive board.

[0130] In an optional embodiment, an inertial navigation system IMU board may be provided on the main control board 400; that is, the IMU board is integrated on the main control board 400 to reduce the number of boards and avoid signal interference between cables. In another optional embodiment, the main control board 400 may also be electrically connected to the IMU board, and the IMU board is provided in the rotating cabin of the pod. In other words, the main control board 400 may reserve an external IMU interface for backup.

[0131] The embodiment of the present application also provides a pod, including the pod board system of any one of the aforementioned embodiments. The pod can be, but is not limited to, an airborne optoelectronic pod, which can be loaded on drones, vehicles, ships, passenger and cargo aircraft, satellites, etc.

[0132] The embodiment of the present application also provides a transport device, including the pod of the aforementioned embodiment. The transport device can be a train, a car, a ship, an aircraft, etc. The aircraft can be a drone, a passenger plane, a cargo plane, a remote-controlled aircraft, etc., and can also be an irrigation drone for farmland irrigation, etc.

[0133] In summary, the present application provides a pod card system, a pod and a carrier, which relate to the field of UAV technology. The pod card system is applied to the pod, and the pod card system includes: an interface board, a signal transfer board, a main control board and a controlled unit; the interface board realizes two-way communication with the main control board via the signal transfer board, and the signal transfer board is used to transfer signals between the interface board and the main control board; the main control board is electrically connected to the controlled unit, and the main control board and the controlled unit communicate bidirectionally; the interface board is also used to supply power to the main control board, and then the main control board realizes power supply to the controlled unit. By adding a signal transfer board between the main control board and the interface board, so as to transfer the multi-channel signals between the interface board and the main control board, the signal cable connection of the main control board is reduced; the interface board realizes power supply to the main control board, and the main control board realizes power supply to the controlled unit, and the main control board adjusts the power supply to the controlled unit according to the operating conditions, which can improve the service life of the controlled unit and avoid the waste of power resources.

[0134] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A pod card system, characterized in that: Applied to a pod, the pod board system includes: an interface board, a signal transfer board, a main control board and a controlled unit; the interface board realizes two-way communication with the main control board via the signal transfer board, and the signal transfer board is used to perform signal transfer between the interface board and the main control board; the main control board is electrically connected to the controlled unit, and the main control board and the controlled unit communicate bidirectionally; or, if the distance between the main control board and the controlled unit is greater than the distance between the interface board and the controlled unit, the main control board is electrically connected to the interface board, and the main control board is also used to control the controlled unit through the interface board; the interface board is also used to supply power to the main control board, and then the main control board supplies power to the controlled unit; the controlled unit includes a photoelectric component; the main control board is electrically connected to the photoelectric component to realize power supply and bidirectional communication of the photoelectric component communication; if the optoelectronic component cannot be directly connected to the main control board, the pod board system also includes a transfer tail plate; signal transfer is achieved between the main control board and the optoelectronic component through the transfer tail plate; there are multiple optoelectronic components, and the signal transfer board includes a first signal connector and multiple second signal connectors; the signal transfer board receives data fed back from the first optoelectronic component forwarded by the main control board through the first signal connector, and then feeds the data back to the interface board via the connector corresponding to the first optoelectronic component among the multiple second signal connectors; the first optoelectronic component is any one of the multiple optoelectronic components; the controlled unit includes a motor, and the pod board system also includes a motor drive board, which is electrically connected to the motor; the main control board is electrically connected to the motor drive board to realize power supply and communication to the motor drive board.

2. The system according to claim 1, characterized in that The motor drive board is also provided with a sensor for detecting the motor state; if the sensor is a photoelectric encoder, then: A code disk is provided on the rotor of the motor, the code disk is coaxial with the rotor, and the code disk rotates with the rotor; the motor drive plate is fixed relative to the stator of the motor, and the photoelectric encoder and the code disk are arranged relative to each other in space to realize scale reading of the code disk.

3. The system according to claim 1, characterized in that If the distance between the main control board and the controlled unit is greater than the distance between the interface board and the controlled unit, the main control board is also used to control the controlled unit through the interface board.

4. The system according to claim 1, characterized in that: The pod board system also includes a slip ring; The signal lines led out from the plurality of second signal connectors on the signal adapter board are electrically connected to the interface board via a slip ring.

5. The system according to claim 1, characterized in that If the data fed back by the first optoelectronic component does not conform to the data format supported by the interface board, the main control board or the adapter tail board is further used to convert the format of the data fed back by the first optoelectronic component according to the data format supported by the interface board; The interface board supports receiving data in a format including LVDS.

6. The system according to claim 4, characterized in that The optoelectronic component is also used to directly send its feedback data to the interface board through the slip ring.

7. The system according to claim 4, characterized in that The main control board is connected to the slip ring via a power line, and the interface board supplies power to the main control board via the slip ring.

8. The system according to claim 4, characterized in that The main control board is provided with a third signal connector corresponding to the first signal connector, and a power supply interface for receiving power from the interface board; the main control board realizes the interaction of communication control signals with the interface board through the third signal connector or the power supply interface.

9. The system according to claim 1, characterized in that The pod includes a gimbal and a rotating cabin body arranged at one end of the gimbal, the main control board and the optoelectronic component are arranged in the rotating cabin body; a fixing frame is provided at the other end of the gimbal away from the rotating cabin, which is used to realize the fixed installation between the gimbal and the carrying equipment carried by it, and the interface board is arranged in the fixing frame; the gimbal also includes at least one direction arm tube, and the at least one direction arm tube is located between the fixing frame and the rotating cabin body, and each direction arm tube is provided with a corresponding motor to realize the rotation of the rotating cabin body in the corresponding direction; the signal adapter board is arranged in the first direction arm tube close to the fixing frame.

10. The system according to claim 9, characterized in that The second direction arm on the gimbal close to one end of the rotating cabin includes a wire-passing arm and a motor arm, the rotating cabin is clamped between the wire-passing arm and the motor arm, and the motor arm is provided with a second motor; the second motor line of the main control board passes through the motor arm to realize the control of the second motor; the communication data line and the power line connected between the main control board and the interface board are connected to the interface board via the wire-passing arm; if the first direction arm tube is different from the second direction arm tube, the gimbal also includes other motors in addition to the second motor; the control signal of the other motors controlled by the main control board is also realized through the wire-passing arm to realize the drive control of the other motors.

11. The system according to claim 9, characterized in that A slip ring is arranged inside the first direction arm tube, and the interface board is electrically connected to the signal adapter board through the moving end and the fixed end of the slip ring in sequence.

12. The system according to claim 9, characterized in that: The motor includes a stator and a rotor, and a through hole is provided along the rotating shaft of the rotor for passing the signal cable; the rotor realizes rotation output through a bearing along one end of the rotating shaft, and a code disk is provided at the other end of the rotor, and the code disk is coaxially arranged with the rotor; the motor also includes a motor drive board, and the motor drive board is fixed relative to the motor stator, and a photoelectric encoder is provided on the motor drive board to realize the reading of the code disk.

13. The system according to claim 9, characterized in that The gimbal includes a three-axis direction arm tube, and the fixed frame is composed of a panning arm, a rolling arm and a pitching arm in sequence to realize a fixed connection with the rotating cabin; the pitching arm is provided with a wire-passing arm and a motor arm, and the pitching motor signal line of the main control board penetrates into the motor arm to drive and control the pitching motor in the motor arm; The communication data line and the power line of the main control board pass through the wire-passing arm, the rolling arm, and the heading arm in sequence to achieve electrical connection with the interface board; The rolling motor line of the main control board first passes through the wire-passing arm, and then passes into the rolling arm to achieve electrical connection with the rolling motor; The heading motor line of the main control board passes through the roll arm and the heading arm in sequence, and finally realizes electrical connection with the heading motor; or, the main control board sends a heading motor control signal to the interface board through the communication data line, and then the interface board forwards the heading motor control signal to the heading motor to realize drive control of the heading motor.

14. According to the system of claim 13, a slip ring is provided in the navigation arm, and the slip ring is coaxially arranged with the navigation motor. The signal adapter board is arranged at the end of the navigation arm away from the fixed frame. The signal adapter board realizes the passage of the signal line through the navigation arm through the slip ring, and finally realizes electrical connection with the interface board at the end of the navigation arm close to the fixed frame.

15. The system according to any one of claims 1 to 14, characterized in that The optoelectronic components include: visible light and / or infrared components; if the visible light or the infrared components do not support target format data output, the pod board system also includes the corresponding adapter tail plate, which converts the non-target format data sent by the visible light or infrared components into target format data; the main control board is connected to the adapter tail plate, and power is supplied to the visible light or the infrared components and bidirectional communication is performed through the adapter tail plate.

16. The system according to any one of claims 9 to 14, characterized in that: The main control board has an inertial measurement circuit area, which is used to place a first IMU chip module; and / or the main control board has an external IMU interface, which is used to be electrically connected to a second IMU chip module, and the second IMU chip module is arranged in the rotating cabin of the pod.

17. The system according to claim 16, characterized in that The first IMU chip module is rectangular, and isolation areas are respectively provided on the main control board along the four sides of the first IMU chip module, and the isolation areas are not connected to each other in space, so as to isolate the external temperature and prevent the first IMU chip module from deformation; On the control substrate of the main control board, each of the isolation areas and the space enclosed by each of the isolation areas are not covered with copper.

18. The system of claim 17, wherein: If the first IMU chip module is arranged at the edge of the main control board, a corresponding isolation groove is arranged on at least one side of the first IMU chip module that is not close to the edge, and the isolation groove and the edge of the main control board together constitute the isolation area arranged around the first IMU chip module; If the IMU chip module is not arranged at the edge of the main control board, isolation grooves are respectively arranged along the four sides of the first IMU chip module, and the isolation grooves together constitute the isolation area arranged along the four sides of the first IMU chip module; Wherein, the isolation groove passes through the main control board, or, if the isolation groove does not pass through the control substrate, a heat insulating or wave absorbing material is arranged in the isolation groove.

19. A pod, characterized in that: A pod board system comprising any one of claims 1-18.

20. A carrier, characterized in that: Comprising the pod as claimed in claim 19.

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