Gimbal, gimbal control method, unmanned aerial vehicle, control system and control method thereof

Abstract

The present invention relates to the technical field of unmanned aerial vehicle equipment, and discloses a pan-tilt, a pan-tilt control method, an unmanned aerial vehicle, a control system and a control method thereof, wherein the pan-tilt comprises a pan-tilt body, a bracket, a camera module, a motor and a posture sensor, wherein the posture sensor is used to send a position change amount to the pan-tilt control board when detecting a change in the spatial position of the camera module, wherein the pan-tilt control board is used to calculate a compensation amount according to the position change amount, and send the compensation amount to the motor drive board, wherein the motor drive board is used to drive the motor to rotate according to the compensation amount. The spatial position of the camera module is corrected by the motor, and the impact of the bumps or vibrations generated by the flight of the unmanned aerial vehicle on the camera module is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to a pan / tilt platform, a pan / tilt platform control method, an unmanned aerial vehicle, a control system and a control method thereof. Background Art

[0002] With the advancement of technology, in order to enable drones to be used in film and television shooting, power inspection, traffic surveillance, gas monitoring, post-disaster rescue and other fields, drone gimbals for aerial photography mounted on drones have come into being.

[0003] However, since drones are easily affected by airflow during flight and are prone to bumps or vibrations due to wing rotation, when the drone gimbal is mounted on the drone, the bumps or vibrations generated by the drone will cause the camera module of the drone gimbal to shake, causing the spatial position of the camera module to change with the shaking, which in turn makes the camera module unable to capture images stably and the captured image quality is poor. Summary of the invention

[0004] The embodiments of the present invention disclose a pan / tilt platform, a pan / tilt platform control method, an unmanned aerial vehicle, a control system and a control method thereof, which correct the spatial position of a camera module by a motor, thereby effectively reducing the influence of turbulence or vibration generated by the flight of the unmanned aerial vehicle on the camera module.

[0005] In a first aspect, an embodiment of the present invention discloses a gimbal, comprising a gimbal body, a bracket, a camera module, a motor and a posture sensor, wherein the gimbal body comprises a gimbal shell and a gimbal control board arranged in the gimbal shell, the bracket is arranged below the gimbal shell, the camera module comprises a main shell, an infrared camera and a visible light camera, the main shell is arranged on the bracket, the infrared camera is arranged on the main shell, the visible light camera is arranged on the main shell and is located on one side of the infrared camera, the motor is arranged on the bracket and is used to drive the main shell to rotate relative to the gimbal shell, the motor is provided with a motor drive board, the motor drive board is electrically connected to the gimbal control board, and the posture sensor is arranged on the main shell and is electrically connected to the gimbal control board;

[0006] The attitude sensor is used to send the position change amount to the pan-tilt control board when detecting that the spatial position of the camera module changes. The pan-tilt control board is used to calculate the compensation amount according to the position change amount and send the compensation amount to the motor drive board. The motor drive board is used to drive the motor to rotate according to the compensation amount.

[0007] The motor is also provided with an angle sensor electrically connected to the pan-tilt control board, for monitoring the rotation angle of the motor and sending the rotation angle to the pan-tilt control board, and the pan-tilt control board is also used to compare the rotation angle with the compensation amount;

[0008] When the rotation angle is not equal to the compensation amount, the gimbal control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board, and the motor drive board is also used to drive the motor to rotate according to the difference.

[0009] As an optional implementation, in an embodiment of the present invention, the attitude sensor is a six-axis attitude sensor, the number of the motors is three, namely, a first motor, a second motor and a third motor, the motor shaft axes of the three motors are perpendicular to each other, and the motor drive boards provided on the first motor, the second motor and the third motor are respectively a first motor drive board, a second motor drive board and a third motor drive board;

[0010] The compensation amount sent to the first motor driving board is a first compensation amount, the compensation amount sent to the second motor driving board is a second compensation amount, and the compensation amount sent to the third motor driving board is a third compensation amount.

[0011] As an optional implementation, in the embodiment of the present invention, there are three motors, namely a first motor, a second motor and a third motor, the bracket includes a first support rod and a second support rod, one end of the first support rod is rotatably connected to the pan / tilt housing, the second support rod is rotatably connected to the other end of the first support rod, and the main housing is rotatably connected to the second support rod;

[0012] The first motor is arranged between the one end of the first support rod and the pan / tilt housing, the second motor is arranged between the other end of the first support rod and the second support rod, and the third motor is arranged between the second support rod and the main housing.

[0013] As an optional implementation, in an embodiment of the present invention, the first support rod includes a first rotating portion and a first arm portion, the first rotating portion is arranged parallel to the bottom of the gimbal housing, the first rotating portion is rotatably connected to the gimbal housing, the first arm portion is connected to the first rotating portion and forms an angle with the first rotating portion, and the first arm portion is provided with a first housing at one end away from the first rotating portion;

[0014] The second support rod comprises a second rotating portion and a second support arm portion, the second rotating portion is rotatably connected to the first housing, the second support arm portion is connected to the second rotating portion and forms an angle with the second rotating portion, a second housing is disposed at one end of the second support arm portion away from the second rotating portion, and the main housing is rotatably connected to the second housing;

[0015] The first motor is arranged between the first rotating part and the pan / tilt housing, the second motor is arranged between the first housing and the second rotating part, and the third motor is arranged between the second housing and the main housing.

[0016] As an optional implementation, in an embodiment of the present invention, the main shell includes a first side and a second side relative to each other, the first side is provided with the visible light camera, the second side is provided with a third shell, the third shell is rotatably connected to the second shell, and the third motor is provided between the second shell and the third shell.

[0017] As an optional implementation, in an embodiment of the present invention, the first support rod is provided with a first wire groove connected to the interior of the pan / tilt housing, and the second support rod is provided with a second wire groove, and the second wire groove connects the first wire groove and the interior of the main housing;

[0018] The infrared camera is provided with a first circuit, and the visible light camera is provided with a second circuit. The first circuit and the second circuit extend from the second wire groove and the first wire groove into the pan / tilt housing and are connected to the pan / tilt control board.

[0019] As an optional implementation, in an embodiment of the present invention, a first wiring hole communicating with the interior of the pan / tilt housing and the first wire groove is provided on the first rotating portion, the first wire groove is provided on the first arm portion, and the first housing is provided with a first opening communicating with the first wire groove;

[0020] The second rotating part is provided with a second wiring hole communicating with the first opening and the second wire groove, the second wire groove is provided on the second arm part, and the second housing is provided with a second opening communicating with the second wire groove;

[0021] The third shell is provided with a third opening, and the third opening is connected with the second opening and the interior of the main shell.

[0022] As an optional implementation, in an embodiment of the present invention, the first support rod is provided with a first wire trough cover to cover the first wire trough, and the second support rod is provided with a second wire trough cover to close the second wire trough.

[0023] As an optional implementation, in an embodiment of the present invention, the bracket also includes a third support rod, the third support rod includes a first end and a second end, the first end is connected to the second support rod, and the second end is rotatably connected to the visible light camera.

[0024] As an optional implementation, in an embodiment of the present invention, the main shell includes a front cover, a middle frame and a rear shell which are sequentially connected to form an internal space, the infrared camera is arranged on the front cover, and the visible light camera is arranged near the connection between the front cover and the middle frame.

[0025] As an optional implementation, in an embodiment of the present invention, a sub-shell is protruding outwardly from one side of the front cover, and a cover plate is protruding from the middle frame corresponding to the sub-shell, the cover plate and the sub-shell are covered and connected to form a first cavity, and the first cavity is connected to the internal space, and the visible light camera is arranged in the sub-shell.

[0026] As an optional implementation, in an embodiment of the present invention, the front cover is provided with a first mounting hole, the infrared camera includes an infrared lens and an infrared acquisition module electrically connected to the infrared lens, the infrared acquisition module is provided on the front cover and located in the internal space, and the infrared lens is embedded in the first mounting hole;

[0027] The sub-shell is provided with a second mounting hole, the visible light camera includes a visible light lens and a visible light collection module electrically connected to the visible light lens, the visible light collection module is provided in the sub-shell and located in the first cavity, and the visible light lens is embedded in the second mounting hole.

[0028] As an optional implementation, in an embodiment of the present invention, the gimbal further includes a memory card electrically connected to the visible light camera, and the memory card is disposed on the rear shell and located in the internal space.

[0029] As an optional implementation, in the embodiment of the present invention, the main shell further includes a heat insulation component, the heat insulation component is provided between the middle frame and the rear shell, the heat insulation component divides the internal space into a second cavity and a third cavity, the second cavity is located on a side of the heat insulation component facing the front cover, and the third cavity is located on a side of the heat insulation component facing the rear shell;

[0030] The infrared camera further includes an infrared temperature sensor, which is disposed in the middle frame and located in the second cavity, and the memory card is located in the third cavity.

[0031] As an optional implementation, in an embodiment of the present invention, the middle frame includes a main frame and a sub-frame, the infrared temperature sensor is arranged in the sub-frame, the main frame includes two opening ends, namely a first opening end and a second opening end, the front cover is connected to the first opening end to close the opening of the first opening end, the sub-frame extends outward from the second opening end of the main frame, and the sub-frame is provided with a lateral opening connected to the opening of the second opening end, the heat insulation component includes a first heat insulation part and a second heat insulation part extending upward from the first heat insulation part, the first heat insulation part is provided at the second opening end to close the opening of the second opening end, and the second heat insulation part is provided at the sub-frame to close the lateral opening.

[0032] As an optional implementation, in an embodiment of the present invention, the rear shell is provided with a visible light processing module located in the internal space, and the visible light processing module is electrically connected to the visible light collection module, and the memory card is electrically connected to the visible light processing module.

[0033] As an optional implementation, in an embodiment of the present invention, the rear shell is provided with an insertion port corresponding to the memory card, and the insertion port and the visible light camera are located on the same side of the main shell.

[0034] As an optional implementation, in an embodiment of the present invention, the gimbal body also includes an infrared processing module and a transmission module electrically connected to the infrared processing module, the infrared processing module and the transmission module are arranged in the gimbal shell, and the projection intervals on the bottom of the gimbal shell are arranged, the projection of the gimbal control panel and the bracket on the bottom of the gimbal shell is located between the infrared processing module and the transmission module, and the infrared camera is electrically connected to the infrared processing module.

[0035] As an optional implementation, in an embodiment of the present invention, the gimbal shell includes an upper shell and a lower shell connected to form a fourth cavity, the lower shell is provided with a first window, the bracket is provided on the first window, the gimbal control panel is provided on the lower shell and is located above the first window, the infrared processing module and the transmission module are provided on the lower shell and are located on both sides of the first window.

[0036] As an optional implementation, in an embodiment of the present invention, the lower shell is a convex-shaped shell, including a first part, a second part and a third part, the second part and the third part are respectively arranged on both sides of the first part, the first window is arranged in the first part, and is located at a position where the first part protrudes from the second part and the third part, the pan-tilt control panel is arranged in the first part, the infrared processing module is arranged in the second part, and the transmission module is arranged in the third part.

[0037] As an optional implementation, in an embodiment of the present invention, a bottom surface of the lower shell is provided with a plurality of heat dissipation holes connected to the fourth cavity.

[0038] As an optional implementation, in an embodiment of the present invention, the gimbal body further includes two antennas, the two antennas are disposed on both sides of the gimbal shell and are arranged downward, and the two antennas are electrically connected to the transmission module.

[0039] As an optional implementation, in an embodiment of the present invention, the gimbal further includes a shock absorbing assembly, the shock absorbing assembly is disposed at the first window of the lower shell and is located in the fourth cavity, and the bracket is connected to the shock absorbing assembly.

[0040] As an optional embodiment, in an embodiment of the present invention, the lower shell is provided with a plurality of first connecting protrusions adjacent to the first window, and the plurality of first connecting protrusions are arranged in a circular array along the center of the first window. The shock absorbing assembly includes an annular component and a shock absorbing component. The annular component is located above the first window, and a heat dissipation gap is formed between the annular component and the first window. The annular component is provided with a plurality of second connecting protrusions, and the plurality of second connecting protrusions correspond to the plurality of first connecting protrusions. The shock absorbing component is connected to the first connecting protrusion and the second connecting protrusion, and the bracket is connected to the annular component.

[0041] As an optional implementation, in an embodiment of the present invention, the gimbal further includes a mounting seat, the size of the mounting seat matches the inner ring size of the annular component, the mounting seat is arranged on the inner ring surface of the annular component, and the bracket is connected to the mounting seat.

[0042] As an optional implementation, in an embodiment of the present invention, the upper shell is provided with a second window, and the second window has an arc-shaped connecting portion extending upward.

[0043] In a second aspect, an embodiment of the present invention discloses a gimbal control method, wherein the gimbal comprises a gimbal body, a bracket, a camera module and a motor, wherein a gimbal control board is arranged in the gimbal body, the bracket is arranged below the gimbal housing, the camera module is arranged in the bracket, a posture sensor is arranged in the camera module, the posture sensor is electrically connected to the gimbal control board, the motor is arranged in the bracket and used to drive the camera module to rotate relative to the gimbal housing, the motor is provided with a motor drive board, the motor drive board is electrically connected to the gimbal control board, the motor is also provided with an angle sensor, and the angle sensor is electrically connected to the gimbal control board;

[0044] The method comprises:

[0045] When the posture sensor monitors the change in the spatial position of the camera module, it sends the position change amount to the pan / tilt control board;

[0046] The pan / tilt control board calculates the compensation amount according to the position change amount and sends it to the motor drive board;

[0047] The motor driving board controls the rotation of the motor according to the compensation amount;

[0048] The angle sensor monitors the rotation angle of the motor and sends the rotation angle to the pan / tilt control board;

[0049] The pan / tilt control panel compares the rotation angle and the compensation amount;

[0050] If the rotation angle is not equal to the compensation amount, the pan / tilt control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board;

[0051] The motor driving board controls the motor to rotate according to the difference.

[0052] As an optional implementation, in an embodiment of the present invention, the attitude sensor is a six-axis attitude sensor, the number of the motors is three, including a first motor, a second motor and a third motor, and the motor shaft axes of the three motors are perpendicular to each other, and the motor drive boards provided on the first motor, the second motor and the third motor are respectively a first motor drive board, a second motor drive board and a third motor drive board;

[0053] The method of calculating the compensation amount according to the position change amount and sending the compensation amount to the motor drive board includes:

[0054] A first compensation amount, a second compensation amount, and a third compensation amount are calculated according to the position change amount, and are sent to the first motor drive board, the second motor drive board, and the third motor drive board, respectively.

[0055] In a third aspect, an embodiment of the present invention discloses a drone having the gimbal disclosed in the first aspect, comprising a fuselage and the gimbal, wherein the gimbal is connected to the fuselage.

[0056] In a fourth aspect, an embodiment of the present invention discloses a control system of the UAV disclosed in the third aspect, comprising a ground control device and the above-mentioned UAV, wherein the ground control device comprises a signal transmitter and a UAV remote controller detachably mounted on the signal transmitter, wherein the signal transmitter is used to establish a communication connection between the UAV remote controller and the gimbal, and the UAV remote controller is used to establish a communication connection with the fuselage.

[0057] In a fifth aspect, an embodiment of the present invention discloses a control method of the control system of the fourth aspect, wherein the drone remote controller is provided with a control module;

[0058] The method comprises:

[0059] The control module sends a pan / tilt control signal to the signal transmitter, and transmits the pan / tilt control signal to the transmission module of the pan / tilt via the signal transmitter;

[0060] The transmission module of the pan / tilt receives the pan / tilt control signal and sends it to the pan / tilt control board, and then sends it to the camera module via the pan / tilt control board;

[0061] The camera module starts shooting according to the pan / tilt control signal and sends a shooting signal to the pan / tilt control board;

[0062] The pan-tilt control board collects images and data information according to the shooting signal and sends them to the transmission module of the pan-tilt, and then transmits them to the signal transmitter via the transmission module of the pan-tilt;

[0063] The signal transmitter receives the image and data information and sends it to the control module.

[0064] The embodiments of the present invention provide a gimbal, a gimbal control method, a drone, a control system and a control method thereof. The spatial position of a camera module is monitored by a posture sensor and the position change is sent to a gimbal control board. The gimbal control board calculates a compensation amount based on the position change and sends it to a motor drive board. The motor drive board drives the motor to rotate based on the compensation amount, thereby correcting the spatial position of the camera module. When the camera module is shaken by the bumps or vibrations generated by the drone and its spatial position is changed, the above correction process can prevent the camera module from being affected by the bumps or vibrations generated by the drone, and can stably capture images with better image quality.

[0065] Furthermore, by setting up a shock-absorbing assembly, the bracket is connected to the shock-absorbing assembly, and the camera module is arranged on the bracket. The shock-absorbing assembly can reduce the bumps or vibrations generated by the flight of the drone and transmit them to the camera module through the bracket, thereby reducing the jitter of the camera module and improving the stability of the image captured by the camera module. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this technical field, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 It is a structural schematic diagram of a pan / tilt disclosed in Embodiment 1 of the present invention;

[0068] Figure 2 It is a schematic diagram of the exploded structure of a pan / tilt disclosed in the first embodiment of the present invention;

[0069] Figure 3 is a schematic diagram of the exploded structure of the camera module disclosed in the first embodiment of the present invention;

[0070] Figure 4 is a schematic diagram of the exploded structure of the bracket disclosed in the first embodiment of the present invention;

[0071] Figure 5 It is a structural schematic diagram of a pan / tilt head (with the upper housing omitted) disclosed in the first embodiment of the present invention;

[0072] Figure 6 It is a schematic diagram of the exploded structure of the pan / tilt head main body disclosed in the first embodiment of the present invention;

[0073] Figure 7 It is a flowchart of a pan / tilt control method provided in the second embodiment of the present invention;

[0074] Figure 8 is a structural schematic diagram of a ground control device provided by a fourth embodiment of the present invention;

[0075] Fig. 9 is a schematic diagram of the structure of a signal transmitter provided in Embodiment 4 of the present invention;

[0076] Fig.10 is a schematic structural diagram of a clamping component and a rotating connection portion provided in a fourth embodiment of the present invention;

[0077] Fig.11 It is a flow chart of a control method of a control system provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0078] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0079] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0080] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0081] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0083] The invention discloses a pan / tilt, a pan / tilt control method, an unmanned aerial vehicle, a control system and a control method thereof, which correct the spatial position of a camera module by a motor, thereby effectively reducing the influence of turbulence or vibration generated by the flight of the unmanned aerial vehicle on the camera module.

[0084] Embodiment 1

[0085] Please also read Figures 1 to 4, is a structural schematic diagram of a gimbal provided in Embodiment 1 of the present invention, the gimbal includes a gimbal body 1, a bracket 2, a camera module 3, a motor and a posture sensor, the gimbal body 1 includes a gimbal shell 11 and a gimbal control board arranged on the gimbal shell 11, the bracket 2 is arranged below the gimbal shell 11, the camera module 3 includes a main shell 31, an infrared camera 32 and a visible light camera 33, the main shell 31 is arranged on the bracket 2, the infrared camera 32 is arranged on the main shell 31, the visible light camera 33 is arranged on the main shell 31, and is located on one side of the infrared camera 32, the motor is arranged on the bracket 2, and is used to drive the main shell 31 to rotate relative to the gimbal shell 11, the motor is provided with a motor drive board, and the motor drive board is electrically connected to the gimbal control board, the posture sensor is arranged on the main shell 31, and is electrically connected to the gimbal control board.

[0086] Among them, the posture sensor is used to send the position change amount to the gimbal control board when it detects that the spatial position of the camera module 3 has changed. The gimbal control board is used to calculate the compensation amount based on the position change amount and send the compensation amount to the motor drive board. The motor drive board is used to drive the motor to rotate according to the compensation amount.

[0087] In this embodiment, the change in spatial position means that: the current spatial position of the camera module 3 is different from the initial spatial position, the position change amount is calculated by the attitude sensor based on the current spatial position and the initial spatial position, and the compensation amount is the angle required for the motor to drive the camera module 3 to rotate from the current spatial position to the initial spatial position.

[0088] The initial spatial position may be the position of the camera module when the camera function is activated and shooting is performed.

[0089] It can be understood that when the gimbal is mounted on a drone and the drone generates jitter or vibration during flight, causing the gimbal to shake, the camera module 3 will shake accordingly and the spatial position of the camera module 3 will change, that is, the current spatial position of the camera module 3 is different from the initial spatial position. At this time, the attitude sensor calculates the position change according to the current spatial position and the initial spatial position and sends it to the gimbal control board. The gimbal control board calculates the compensation amount for restoring the camera module 3 from the current spatial position to the initial spatial position according to the position change, and sends it to the motor drive board. The motor drive board drives the motor to rotate according to the compensation amount, so that the camera module 3 rotates from the current spatial position to the initial spatial position. The spatial position of the camera module 3 is finally corrected by the motor, which effectively reduces the impact of the turbulence or vibration generated by the flight of the drone on the spatial position of the camera module 3. The camera module 3 can shoot smoothly and the image quality is better. This is one of the invention points of the present application.

[0090] Further, in order to improve the accuracy of the motor correcting the spatial position of the camera module 3, the motor is also provided with an angle sensor electrically connected to the pan-tilt control board, which is used to monitor the rotation angle of the motor and send the rotation angle to the pan-tilt control board. The pan-tilt control board is also used to compare the rotation angle with the compensation amount. When the rotation angle is not equal to the compensation amount, the pan-tilt control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board, which is also used to drive the motor to rotate according to the difference. In other words, when the actual rotation angle of the motor (i.e., the angle at which the camera module 3 rotates) is different from the compensation amount, at this time, the camera module 3 has not been restored to the initial spatial position, and the motor further corrects the spatial position of the camera module 3 according to the difference until the camera module 3 rotates to the current spatial position, thereby improving the accuracy of the motor correcting the spatial position of the camera module 3.

[0091] Furthermore, the type of control signal of the motor driving board to control the rotation of the motor can be a square wave signal or a sine wave signal. Preferably, the control signal is a sine wave signal, which is more continuous and can control the motor to continuously correct the spatial position of the camera module 3, further improving the accuracy of the correction.

[0092] In this embodiment, in order to enable the motor to correct the spatial position of the camera module 3 from multiple axes and improve the accuracy of restoring the camera module 3 from the current spatial position to the initial spatial position, the posture sensor is a six-axis sensor, and there are three motors, including a first motor 41, a second motor 42 and a third motor 43. The axis lines of the three motor shafts are perpendicular to each other. The motor drive plates provided on the first motor 41, the second motor 42 and the third motor 43 are respectively the first motor 41 drive plate, the second motor 42 drive plate and the third motor 43 drive plate. The compensation amount sent to the first motor 41 drive plate is the first compensation amount, the compensation amount sent to the second motor 42 drive plate is the second compensation amount, and the compensation amount sent to the third motor 43 drive plate is the third compensation amount. It is understandable that the turbulence or vibration caused by the flight of the drone may cause the spatial position of multiple axes of the camera module 3 to change. The gimbal control board calculates three compensation amounts for three different axes based on the position change, so that the three motors correct the spatial position of the camera module 3 from the three axes respectively. The correction result is more reliable and the correction efficiency of the three motors is higher.

[0093] Specifically, the angle sensors are also three, namely, the first angle sensor, the second angle sensor and the third angle sensor, and are respectively arranged on the first motor 41, the second motor 42 and the third motor 43. The first angle sensor monitors the rotation angle of the first motor 41 as the first rotation angle, the second angle sensor monitors the rotation angle of the second motor 42 as the second rotation angle, and the third angle sensor monitors the rotation angle of the third motor 43 as the third rotation angle. The pan / tilt control board calculates the first difference between the first rotation angle and the first compensation amount, the second difference between the second rotation angle and the second compensation amount, and the third difference between the third rotation angle and the third compensation amount, and simultaneously sends the first difference, the second difference and the third difference to the motor drive board respectively.

[0094] In this embodiment, combined with Figure 3 and Figure 4 As shown, the bracket 2 includes a first support rod 21 and a second support rod 22, one end of the first support rod 21 is rotatably connected to the gimbal housing 11, the second support rod 22 is rotatably connected to the other end of the first support rod 21, the main housing 31 is rotatably connected to the second support rod 22, the first motor 41 is arranged between one end of the first support rod 21 and the gimbal housing 11, the second motor 42 is arranged between the other end of the first support rod 21 and the second support rod 22, and the third motor 43 is arranged between the second support rod 22 and the main housing 31.

[0095] It can be understood that, as shown in the figure, under the action of the first support rod 21, the infrared camera 32 and the visible light camera 33 can rotate relative to the gimbal housing 11 along the first direction x, under the action of the second support rod 22, the infrared camera 32 and the visible light camera 33 can rotate relative to the first support rod 21 along the second direction y, and under the action of the main housing 31, the infrared camera 32 and the visible light camera 33 can rotate relative to the second support rod 22 along the third direction z, thereby adjusting the shooting angles of the infrared camera 32 and the visible light camera 33 to meet different shooting requirements, and the shooting angles of the infrared camera 32 and the visible light camera 33 can be automatically adjusted by the first motor 41, the second motor 42 and the third motor 43.

[0096] Again, in combination with the figures and the figures, further, the bracket 2 of this embodiment is a three-axis bracket 2, and the rotation positions of the three axes are respectively the position where the first support rod 21 is rotationally connected to the pan-tilt housing 11, the position where the second support rod 22 is rotationally connected to the first support rod 21, and the position where the second support rod 22 is rotationally connected to the main housing 31. Specifically, the first support rod 21 includes a first rotating portion 211 and a first arm portion 212, the first rotating portion 211 is arranged parallel to the bottom of the pan-tilt housing 11, the first rotating portion 211 is rotationally connected to the pan-tilt housing 11, the first arm portion 212 is connected to the first rotating portion 211 and forms an angle with the first rotating portion 211, and a first housing 213 is provided at one end of the first arm portion 212 away from the first rotating portion 211. More specifically, the angle formed between the first arm portion 212 and the first rotating portion 211 can be an obtuse angle.

[0097] The second support rod 22 includes a second rotating portion 221 and a second support arm portion 222. The second rotating portion 221 is rotatably connected to the first shell 213. The second support arm portion 222 is connected to the second rotating portion 221 and forms an angle with the second rotating portion 221. The second support arm portion 222 is provided with a second shell 223 at one end away from the second rotating portion 221. The main shell 31 is rotatably connected to the second shell 223.

[0098] like Figure 2 As shown, it can be known that the direction in which the first rotating part 211 rotates relative to the gimbal shell 11 is the first direction x, the direction in which the second shell 223 rotates relative to the first shell 213 is the second direction y, and the direction in which the main shell 31 rotates relative to the two shells is the third direction z. An angle is formed between the first arm part 212 and the first rotating part 211, and the first shell 213 is arranged at the other end of the first arm part 212, so that the second direction y is perpendicular to the first direction x, and the second shell 223 is perpendicular to the first shell 213, so that the third direction z is perpendicular to the second direction y, that is, the first direction x, the second direction y and the third direction z are three directions that are perpendicular and different to each other, so that the infrared camera 32 and the visible light camera 33 can rotate along the above three different directions to obtain different shooting angles, and the shooting angles of the two are more adjustable.

[0099] Specifically, the first rotating part 211, the first arm part 212 and the first shell 213 can be integrally formed or connected by fasteners, welding, etc. Similarly, the second rotating part 221, the second arm part 222 and the second shell 223 can be integrally formed or connected by fasteners, welding, etc.

[0100] Furthermore, in order to enable the main shell 31 to be rotatably connected to the second shell 223, the main shell 31 includes a first side 31a and a second side 31b opposite to each other, the first side 31a is provided with the visible light camera 33, the second side 31b is protruding outwardly with a third shell 34, the third shell 34 is rotatably connected to the second shell 223, and the third motor 43 is provided between the second shell 223 and the third shell 34.

[0101] In this embodiment, the first support rod 21 is provided with a first wire groove 21a connected to the interior of the gimbal shell 11, the second support rod 22 is provided with a second wire groove 22a, the second wire groove 22a connects the first wire groove 21a and the interior of the main shell 31, the infrared camera 32 is provided with a first circuit, and the visible light camera 33 is provided with a second circuit. The first circuit and the second circuit extend from the second wire groove 22a and the first wire groove 21a to the inside of the gimbal shell 11 and are connected to the gimbal control board.

[0102] It can be seen from this that the first line of the infrared camera 32 and the second line of the visible light camera 33 of the gimbal of the present application can be extended from the second wire groove 22a and the first wire groove 21a to the inside of the gimbal housing 11 and connected to the gimbal control board. When the camera line is inspected, the first line and the second line can be inspected at the same time, and the inspection difficulty is low and the inspection efficiency is high. In addition, the first line and the second line can be installed in the wire groove at the same time, which simplifies the line installation process and improves production efficiency. The lines of the infrared camera and the visible light camera of the existing drone gimbal are independently connected to the gimbal controller in the gimbal housing, and the inspection difficulty of the lines of the infrared camera and the visible light camera is relatively high. In addition, two sets of wire grooves are set for two independent lines, and the line installation process is relatively complicated. Therefore, the wiring design of the gimbal of the present application is different from that of the existing gimbal, which is one of the inventive points of the present invention.

[0103] Specifically, the first rotating part 211 is provided with a first wiring hole 21b connecting the interior of the pan / tilt housing 11 and the first wire groove 21a, the first wire groove 21a is provided on the first arm part 212, the first housing 213 is provided with a first opening 21c connecting the first wire groove 21a, the second rotating part 221 is provided with a second wiring hole connecting the first opening 21c and the second wire groove 22a, the second wire groove 22a is provided on the second arm part 222, the second housing 223 is provided with a second opening 22b connecting the second wire groove 22a, the third housing 34 is provided with a third opening 34a, the third opening 34a connects the second opening 22b and the interior of the main housing 31.

[0104] It can be understood that since the first line and the second line both extend along the second line groove 22a and the first line groove 21a from the main shell 31 to the pan-tilt shell 11 and are connected to the pan-tilt control board, when adjusting the shooting angle of the infrared camera 32 and the visible light camera 33, the first line and the second line rotate with the first support rod 21 and the second support rod 22, thereby avoiding the situation where the lines are entangled with the support rods and cause damage to the lines.

[0105] As can be seen from the above, the extension paths of the first line and the second line from the main housing 31 to the pan / tilt housing 11 are as follows:

[0106] Inside the main shell 31 → third opening 34a → third shell 34 → second opening 22b → second shell 223 → second wire groove 22a part → second rotating part 221 → second wiring hole → first opening 21c → first shell 213 → first wire groove 21a part → first rotating part 211 → first wiring hole 21b → inside the pan / tilt shell 11.

[0107] Furthermore, in order to protect the first line and the second line, the first support rod 21 is provided with a first wire slot cover 21d to cover the first wire slot 21a, and the second support rod 22 is provided with a second wire slot cover 22c to cover the second wire slot 22a. By covering the first wire slot 21a and the second wire slot 22a with the first wire slot cover 21d and the second wire slot cover 22c, the first line and the second line are prevented from being exposed to impact and causing line failure, thereby extending the life of the pan / tilt head. When performing line maintenance, the first wire slot cover 21d and the second wire slot cover 22c can be disassembled to check whether the first line and the second line are faulty, and the maintenance difficulty is relatively low.

[0108] Combination Figure 2 and Figure 3 As shown, in this embodiment, the bracket 2 further includes a third support rod 23, the third support rod 23 includes a first end 23a and a second end 23b, the first end 23a is connected to the second support rod 22, and the second end 23b is rotatably connected to the visible light camera 33. Specifically, the second shell 223 of the second support rod 22 is convexly provided with a protrusion 22d, the first end 23a of the third support rod 23 is spaced apart with two connecting portions 23c, the protrusion 22d is connected to the two connecting portions 23c, and is located between the two connecting portions 23c.

[0109] It can be understood that a spacing space A is formed between the second shell 223 of the second support rod 22 and the second end 23b of the third support rod 23, and the main shell 31 is rotatably connected to the second shell 223 and the second end 23b, and is located in the spacing space A. The main shell 31 rotates along the third direction z more smoothly and reliably under the drive of the third motor 43, thereby improving the stability of the infrared camera 32 and the visible light camera 33 during shooting, reducing the jitter of the shooting picture, and improving the imaging quality.

[0110] In this embodiment, if Figure 3 As shown, the main shell 31 includes a front cover 311, a middle frame 312 and a rear shell 313 which are connected in sequence to form an internal space. The infrared camera 32 is arranged on the front cover 311, and the visible light camera 33 is arranged near the connection between the front cover 311 and the middle frame 312.

[0111] Further, a sub-housing 35 is protruded outwardly on one side of the front cover 311, and a cover plate 36 is protruded on the middle frame 312 corresponding to the sub-housing 35. The cover plate 36 and the sub-housing 35 are connected to form a first cavity, and the first cavity is communicated with the internal space, and the visible light camera 33 is arranged in the sub-housing 35. Specifically, the front cover 311 and the sub-housing 35 can be integrally formed or connected by fasteners, welding, etc. Similarly, the middle frame 312 and the cover plate 36 can be integrally formed or connected by fasteners, welding, etc.

[0112] Furthermore, in order to set up the infrared camera 32 and the visible light camera 33, the front cover 311 is provided with a first mounting hole 31c, the infrared camera 32 includes an infrared lens 321 and an infrared acquisition module electrically connected to the infrared lens 321, the infrared acquisition module is provided on the front cover 311 and located in the internal space, the infrared lens 321 is embedded in the first mounting hole 31c, the sub-shell 35 is provided with a second mounting hole 35a, the visible light camera 33 includes a visible light lens 331 and a visible light acquisition module 332 electrically connected to the visible light lens 331, the visible light acquisition module 332 is provided on the sub-shell 35 and located in the first cavity, and the visible light camera 33 is embedded in the second mounting hole 35a.

[0113] Specifically, the infrared acquisition module includes an infrared detector 322 and an infrared lens back plate 323, etc. The infrared lens 321 receives and gathers infrared radiation emitted by the photographed object (such as a power grid, a pipeline, etc.), and the infrared detector 322 detects the infrared radiation and transmits it to the infrared temperature sensor 324. The infrared temperature sensor 324 utilizes the thermal radiation effect to convert the radiation energy signal into an electrical signal. The visible light acquisition module 332 includes an image sensor, a PCB board, etc. The optical image generated by the visible light lens 331 is projected onto the image sensor and converted into an electrical signal. The PCB board is used to control the visible light camera 33 and transmit electrical signals. The second mounting hole 35a has the same orientation as the first mounting hole 31c, that is, the infrared lens 321 and the visible light lens 331 have the same framing orientation. That is to say, when the infrared camera 32 and the visible light camera 33 are shooting at the same time, the infrared image and data (such as temperature, time, coordinates, etc.) acquired by the infrared camera 32 and the image acquired by the visible light camera 33 are in the same field of view. By comparing or superimposing the images and data obtained by the two cameras, the needs of different application fields can be met, such as pipeline gas leakage detection, power grid inspection, etc.

[0114] In this embodiment, the gimbal further includes a memory card 51 electrically connected to the visible light camera 33, and the memory card 51 is disposed in the rear shell 313 and located in the internal space. It can be known that the circuit of the visible light camera 33 can be electrically connected to the circuit of the memory card 51 through the first cavity to the internal space, the transmission distance is short, the image transmission effect is better, and the electrical connection circuit of the visible light camera 33 and the memory card 51 is disposed in the first cavity and the internal space to avoid external interference and improve the stability of image transmission.

[0115] In addition, the pan / tilt is equipped with an infrared camera 32 and a visible light camera 33, and a memory card 51 is provided to be electrically connected to the visible light camera 33, which can meet different shooting requirements. Moreover, the visible light camera 33 is arranged on one side of the main housing 31, and the memory card 51 is arranged inside the main housing 31, and the distance between the two is relatively close, so the image transmission effect is better.

[0116] It can be seen that the gimbal of the present application is provided with a visible light camera 33 on one side of the main shell 31, and a memory card 51 is provided in the internal space to be electrically connected to the visible light camera 33. The transmission distance between the memory card 51 and the visible light camera 33 is relatively short, and the image transmission effect is relatively good. In addition, the gimbal is configured with an infrared camera 32 and a visible light camera 33 with a storage function at the same time, which can meet different shooting needs. However, the existing drone gimbal sets a memory card on the gimbal body to realize the method of storing images taken by the visible light camera. The memory card is far away from the visible light camera, and the image transmission effect is relatively poor. Therefore, the transmission distance between the memory card 51 and the visible light camera 33 of the gimbal of the present application is relatively short, and the image transmission effect is relatively good. This is one of the inventive points of the present invention.

[0117] In this embodiment, the main shell 31 also includes a heat insulation component 314, which is disposed between the middle frame 312 and the rear shell 313. The heat insulation component 314 divides the internal space into a second cavity and a third cavity. The second cavity is located on the side of the heat insulation component 314 facing the front cover 311, and the third cavity is located on the side of the heat insulation component 314 facing the rear shell 313. The infrared camera 32 also includes an infrared temperature sensor 324, which is disposed in the middle frame 312 and located in the second cavity. The memory card 51 is located in the third cavity.

[0118] Furthermore, in order to dissipate the heat generated by the memory card 51 when it is working to the outside of the main housing 31, the rear housing 313 is provided with a heat dissipation component (not shown). Specifically, the heat dissipation component can be a heat dissipation rib or a heat dissipation hole 11b.

[0119] It can be seen that the gimbal of the present application divides the internal space of the main shell 31 into a second cavity and a third cavity through the heat insulation component 314, the infrared temperature sensor 324 is arranged in the second cavity, and the memory card 51 is arranged in the third cavity. Since there is a heat insulation component 314 between the second cavity and the third cavity, the heat emitted by the memory card 51 in the third cavity cannot be transferred to the second cavity during operation, and the heat emitted by the memory card 51 during operation can be dissipated to the outside of the main shell 31 through the heat dissipation component, that is, the imaging quality of the infrared camera 32 will not be affected by the heat emitted by the memory card 51, and normal shooting can be performed. This is one of the inventive points of the present invention.

[0120] In addition, the gimbal of the present application divides the internal space of the main shell 31 into a second cavity and a third cavity through a heat insulation component 314, and respectively arranges an infrared camera 32 and a memory card 51 in the second cavity and the third cavity, so as to reasonably distribute and utilize the internal space of the main shell 31, and arranges the memory card 51 and the infrared camera 32 with different functions in different cavities to avoid mutual interference between the two and cause the two to fail to work normally.

[0121] In this embodiment, if Figure 3 As shown, the middle frame 312 includes a main frame body 312a and a sub-frame body 312b, the infrared temperature sensor 324 is arranged on the sub-frame body 312b, the main frame body 312a includes two opening ends, namely a first opening 21c end and a second opening 22b end, the front cover 311 is connected to the first opening 21c end to close the opening of the first opening 21c end, the sub-frame body 312b extends outward from the second opening 22b end of the main frame body 312a, and the sub-frame body 312b is provided with a lateral opening connected to the second opening 22b end, the heat insulation component 314 includes a first heat insulation part 314a and a second heat insulation part 314b extending upward from one side of the first heat insulation part 314a, the first heat insulation part 314a is arranged at the second opening 22b end to close the opening of the second opening 22b end, and the second heat insulation part 314b is arranged on the sub-frame body 312b to close the lateral opening. Specifically, the sub-frame 312 b is provided with a connection block 315 , the infrared temperature sensor 324 is provided on the connection block 315 , and the second heat insulating portion 314 b of the heat insulating component 314 is connected to the connection block 315 .

[0122] Further, the heat insulating component 314 may be an ABS heat insulating pad, an aerogel felt, etc. Preferably, the heat insulating component 314 may be an ABS heat insulating pad, and the heat insulating component 314 is provided with a third wiring hole 31d, the third wiring hole 31d connects the second cavity and the third cavity, and is used for the electrical connection wiring of the memory card 51 and the visible light camera 33. Specifically, when the memory card 51 generates heat during operation, since the third wiring hole 31d is used for wiring and its aperture is small, only a very small part of the heat passes through the third wiring hole 31d from the third cavity into the second cavity, which will not affect the normal operation of the infrared temperature sensor 324.

[0123] From the above, it can be seen that the circuit of the visible light camera 33 can pass through the first cavity, the second cavity and the wiring hole in sequence into the third cavity to be electrically connected to the circuit of the storage card 51. The transmission distance is short and the image transmission effect is better. The electrical connection circuits of the two are inside the main shell 31 to avoid external interference, thereby improving the stability of image transmission.

[0124] In this embodiment, the rear shell 313 is provided with a visible light processing module 52 located in the internal space, and the visible light processing module 52 is electrically connected to the visible light acquisition module 332, and the memory card 51 is electrically connected to the visible light processing module 52. The rear shell 313 is provided with a plug-in port 313a corresponding to the memory card 51, and the plug-in port 313a and the visible light camera 33 are located on the same side of the main shell 31. It can be understood that after the visible light processing module 52 receives the electrical signal of the visible light acquisition module 332, it can convert the electrical signal into an image file and send the image file to the memory card 51 for storage. As shown in the figure, the plug-in port 313a and the visible light camera 33 are located on the same side of the main shell 31, which can further shorten the distance between the visible light camera 33 and the memory card 51 and improve the image transmission quality.

[0125] In this embodiment, if Figure 5 and Figure 6 As shown, the gimbal body 1 also includes an infrared processing module 12 and a transmission module 13 electrically connected to the infrared processing module 12. The infrared processing module 12 and the transmission module 13 are arranged in the gimbal shell 11, and the projections on the bottom of the gimbal shell 11 are arranged at intervals. The projections of the gimbal control panel and the bracket 2 on the bottom of the gimbal shell 11 are located between the infrared processing module 12 and the transmission module 13.

[0126] It can be seen that the infrared processing module 12 and the transmission module 13 of the gimbal of the present application are arranged at intervals in the projection of the bottom of the gimbal housing 11, and the projection of the bracket 2 and the gimbal control panel at the bottom of the gimbal housing 11 is located between the infrared processing module 12 and the transmission module 13, so that the thickness of the gimbal housing 11 is relatively small, thereby reducing the overall height of the gimbal. When mounted on a drone, the drone can be placed directly on the ground, and there is no need to manually lift the machine tripod when taking off. However, the various control modules and processing modules of the existing drone gimbal are centrally arranged, resulting in a relatively high overall height of the drone gimbal. When mounted on a drone, the height of the drone gimbal will be greater than the length of the drone's machine tripod, resulting in the drone being unable to be placed directly on the ground through the machine tripod, so that the drone needs to manually lift the machine tripod when taking off. Therefore, the overall height of the gimbal of the present application is lower than the overall height of the existing drone gimbal, which is one of the inventive points of the present invention.

[0127] Specifically, combined again Figure 5 and Figure 6As shown, the gimbal housing 11 includes an upper housing 111 and a lower housing 112 connected to form a fourth cavity, the lower housing 112 is provided with a first window 11a, the bracket 2 is provided at the first window 11a, the gimbal control panel is provided at the lower housing 112 and is located above the first window 11a, the infrared processing module 12 and the transmission module 13 are provided at the lower housing 112 and are respectively located on both sides of the first window 11a. It can be known that the infrared processing module 12 and the output module are respectively located on both sides of the first window 11a, the bracket 2 is provided at the first window 11a, and the gimbal control panel is located above the first window 11a so that the weight of the infrared processing module 12 and the transmission module 13 can be distributed on both sides of the bracket 2, so that the overall center of gravity of the gimbal is close to the center of mass of the gimbal housing 11, so that the drone equipped with the gimbal can fly smoothly, avoiding shaking during flight and causing poor imaging quality of the camera module 3.

[0128] In this embodiment, if Figure 5 As shown, the lower shell 112 is a convex-shaped shell, including a first part 112a, a second part 112b and a third part 112c, the second part 112b and the third part 112c are respectively arranged on both sides of the first part 112a, the first window 11a is arranged on the first part 112a, and is located at a position where the first part 112a protrudes from the second part 112b and the third part 112c, the pan / tilt control panel is arranged on the first part 112a, the infrared processing module 12 is arranged on the second part 112b, and the transmission module 13 is arranged on the third part 112c. Specifically, the upper shell 111 is a convex-shaped shell corresponding to the lower shell 112, the first part 112a, the second part 112b and the third part 112c can be integrally formed, the production process is relatively simple, and the production cost is relatively low.

[0129] It can be understood that the infrared processing module 12 is arranged in the second part 112b, and the transmission module 13 is arranged in the third part 112c, and the first part 112a is arranged therebetween. The infrared processing module 12 and the transmission module 13 are far apart, and will not interfere with each other during operation, and the heat generated will not affect each other.

[0130] Furthermore, in order to allow the heat in the fourth cavity to be dissipated to the outside of the pan-tilt housing 11, the bottom surface of the lower housing 112 is provided with a plurality of heat dissipation holes 11b connected to the fourth cavity. Specifically, some heat dissipation holes 11b are provided corresponding to the transmission module 13 and the infrared processing module 12, and are respectively provided in the second part 112b and the third part 112c, and the remaining heat dissipation holes 11b are provided in the first part 112a, and are located between the second part 112b and the third part 112c. In other words, the heat generated by the pan-tilt control board, the transmission module 13 and the infrared processing module 12 can be dissipated to the outside of the pan-tilt housing 11 through the heat dissipation holes 11b of the third part 112c and the heat dissipation holes 11b of the second part 112b, respectively, and can also be dissipated to the outside of the pan-tilt housing 11 through the heat dissipation holes 11b of the first part 112a. The pan-tilt has a better heat dissipation performance and can avoid damage caused by overheating during operation.

[0131] In this embodiment, in order to realize data transmission and reception of the pan-tilt platform, the pan-tilt platform body 1 further includes two antennas 14, which are respectively arranged on both sides of the pan-tilt platform housing 11 and are arranged downward, and the two antennas 14 are electrically connected to the transmission module 13. Specifically, the two antennas 14 can establish a communication connection with the ground control device of the pan-tilt platform, so as to receive a control signal sent by the ground control device or transmit image data to the ground control device.

[0132] It can be seen that the two antennas 14 are arranged on both sides of the gimbal housing 11, which can evenly distribute the weight of the antennas 14 on both sides of the gimbal housing 11, so that the weight distribution of the gimbal housing 11 is more balanced, and there will be no large weight deviation on both sides of the gimbal housing 11, which will cause the drone to fly unsteadily. In addition, the two antennas 14 are arranged downward, which can shorten the transmission distance between the antennas 14 and the ground control device, and when the gimbal is mounted on a drone, it can prevent the antennas 14 from being interfered by the drone's signal and causing transmission failure.

[0133] In this embodiment, if Figure 5 As shown, in order to improve the image quality of the camera module 3, the gimbal further includes a shock absorbing component 6, which is arranged at the first window 11a of the lower shell 112 and located in the fourth cavity, and the bracket 2 is connected to the shock absorbing component 6. When the gimbal is mounted on a drone for aerial photography, since the drone will generate bumps or vibrations during flight, the shock absorbing component 6 can prevent the vibration of the drone from causing the bracket 2 to drive the camera module 3 to vibrate, resulting in blurred images captured by the infrared camera 32.

[0134] It can be known that the shock absorbing assembly 6 of the gimbal of the present application is located in the cavity of the gimbal shell 11, which can make full use of the internal space of the gimbal shell 11, avoid the shock absorbing assembly 6 from being exposed outside the gimbal shell 11, and enable the bracket 2 to be arranged closer to the gimbal shell 11, thereby reducing the overall height of the gimbal. This is one of the inventive points of the present invention.

[0135] Further, combined again Figure 5 and Figure 6 As shown, the lower shell 112 is provided with a plurality of first connection protrusions 15 near the first window 11a, and the plurality of first connection protrusions 15 are arranged in a ring along the center of the first window 11a. The shock absorbing assembly 6 includes an annular component 61 and a shock absorbing component 62. The annular component 61 is located above the first window 11a, and a heat dissipation gap B is formed between the annular component 61 and the first window 11a. The annular component 61 is provided with a plurality of second connection protrusions 61a corresponding to the plurality of first connection protrusions 15. The shock absorbing component 62 is connected to the first connection protrusions 15 and the second connection protrusions 61a, and the bracket 2 is connected to the annular component 61. Specifically, the number of the first connection protrusions 15 is , and the distance between two adjacent first connection protrusions 15 is the same. The number of the second connection protrusions 61a corresponding to the first connection protrusions 15 is also , and they are evenly distributed along the circumference of the annular component 61. The shock absorbing component 62 can be a shock absorbing ball, and is . It can be understood that, in other embodiments, the number of the shock-absorbing components 62 can be set according to actual conditions, and the number of the first connecting protrusions 15 and the second connecting protrusions 61a can also be set according to actual conditions.

[0136] It can be known that the gimbal of the present application has a dual heat dissipation design. The first heat dissipation design is that a plurality of heat dissipation holes 11b are provided on the bottom surface of the lower shell 112, and the second heat dissipation design is that a heat dissipation gap B is formed between the annular component 61 and the first window 11a. The heat generated by the infrared processing module 12 and the transmission module 13 located in the gimbal shell 11 during operation can be quickly dissipated to the outside of the gimbal shell 11 through the dual heat dissipation design, thereby preventing the operating temperature from being too high and causing damage to each module. This is one of the inventive points of the present application.

[0137] Furthermore, in order to achieve the connection between the bracket 2 and the shock absorbing assembly 6, the gimbal also includes a mounting seat 7, the size of which matches the inner ring size of the annular component 61, the mounting seat 7 is arranged on the inner ring surface of the annular component 61, and the bracket 2 is connected to the mounting seat 7.

[0138] In this embodiment, the upper shell 111 is provided with a second window 11c, and the second window 11c extends upward with an arc-shaped connecting portion 16. When the gimbal is mounted on a drone, the gimbal shell 11 can be closely connected to the fuselage of the drone through the arc-shaped connecting portion 16, thereby reducing the distance between the gimbal and the fuselage, and the gimbal is closely connected to the fuselage. When the tripod of the drone is placed on the ground, since the length of the tripod is much greater than the distance from the bottom of the gimbal to the fuselage, a certain distance is spaced between the bottom of the gimbal and the bottom surface, thereby preventing the gimbal from being damaged due to the collision of the bottom of the gimbal with the ground when the drone takes off.

[0139] Embodiment 1 of the present invention provides a pan / tilt platform, which has the following beneficial effects:

[0140] (1) The spatial position of the camera module is corrected by the motor, effectively reducing the impact of the bumps or vibrations caused by the flight of the drone on the camera module.

[0141] (2) The lines of the infrared camera and visible light camera are connected to the pan / tilt control panel through the wire duct on the bracket, which makes maintenance easier and more convenient, and the line installation process is simpler.

[0142] (3) The gimbal is equipped with an infrared camera and a visible light camera with storage function, which can meet the shooting needs of drones when used in different fields.

[0143] (4) The heat generated by the memory card during operation will not affect the imaging quality of the infrared camera, and the infrared camera can shoot normally.

[0144] (5) The thickness of the gimbal shell is small, thereby reducing the overall height of the gimbal. When mounted on a drone, the drone can be placed directly on the ground, and there is no need to manually hold up the tripod when taking off.

[0145] Embodiment 2

[0146] See also Figure 7 , which is a flow chart of a gimbal control method provided in Embodiment 2 of the present invention, wherein the gimbal includes a gimbal body, a bracket, a camera module and a motor, a gimbal control board is provided in the gimbal body, the bracket is provided below the gimbal shell, the camera module is provided on the bracket, a posture sensor is provided in the camera module, the posture sensor is electrically connected to the gimbal control board, the motor is provided on the bracket for driving the camera module to rotate relative to the gimbal shell, the motor is provided with a motor drive board, and the motor drive board is electrically connected to the gimbal control board.

[0147] The method comprises the following steps:

[0148] 201. When the attitude sensor detects that the spatial position of the camera module changes, the attitude sensor sends the position change amount to the gimbal control board; and after executing step 201, execute step 202.

[0149] 202. The pan / tilt control board calculates a compensation amount according to the position change amount and sends the compensation amount to the motor drive board; and after executing step 202, execute step 203.

[0150] 203. The motor driving board controls the motor to rotate according to the compensation amount.

[0151] In this embodiment, the motor is also provided with an angle sensor, and the angle sensor is electrically connected to the pan / tilt control board.

[0152] As an optional implementation, the method further includes the following steps:

[0153] 204 . The angle sensor monitors the rotation angle of the motor and sends the rotation angle to the pan / tilt control board; and after executing step 204 , execute step 205 .

[0154] 205 . The pan / tilt control panel compares the rotation angle and the compensation amount; and after executing step 205 , executing step 206 .

[0155] 206. If the rotation angle is not equal to the compensation amount, the PTZ control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board. After executing step 206, execute step 207.

[0156] 207. The motor driving board controls the motor to rotate according to the difference.

[0157] Furthermore, the attitude sensor is a six-axis attitude sensor, there are three motors, namely a first motor, a second motor and a third motor, and the axes of the motor shafts of the three motors are perpendicular to each other, and the motor drive boards provided on the first motor, the second motor and the third motor are respectively a first motor drive board, a second motor drive board and a third motor drive board.

[0158] Step 202 specifically includes:

[0159] The gimbal control board calculates a first compensation amount, a second compensation amount and a third compensation amount according to the position change amount; the gimbal control board sends the first compensation amount, the second compensation amount and the third compensation amount to the first motor drive board, the second motor drive board and the third motor drive board respectively.

[0160] Embodiment 2 of the present invention provides a gimbal control method. By implementing the gimbal control method, the spatial position change caused by the shaking of the camera module can be corrected, thereby effectively reducing the impact of the turbulence or vibration caused by the flight of the drone on the camera module.

[0161] Embodiment 3

[0162] Embodiment 3 of the present invention provides a drone having the gimbal of embodiment 1, wherein the drone comprises a fuselage and the gimbal, wherein the gimbal is connected to the fuselage.

[0163] Embodiment 3 of the present invention provides a drone, which monitors the spatial position of a camera module through an attitude sensor and sends the position change to a gimbal control board. The gimbal control board calculates a compensation amount based on the position change and sends it to a motor drive board. The motor drive board drives the motor to rotate based on the compensation amount, thereby correcting the spatial position of the camera module. When the camera module shakes due to the bumps or vibrations generated by the drone and changes its spatial position, the above correction process can prevent the camera module from being affected by the bumps or vibrations generated by the drone, and can stably capture images with better image quality.

[0164] Embodiment 4

[0165] Embodiment 4 of the present invention provides a control system for the UAV of Embodiment 3, the control system comprising a ground control device and the UAV, such as Figures 8 to 10 As shown, the ground control device includes a signal transmitter 81 and a UAV remote controller 80 detachably mounted on the signal transmitter 81, the signal transmitter 81 is used to establish a communication connection between the UAV remote controller 80 and the gimbal, and the UAV remote controller 80 is used to establish a communication connection with the fuselage.

[0166] In this embodiment, the drone remote controller 80 is provided with a mounting bracket 801 for placing a display device 82, and the mounting bracket 801 extends upward from the front of the drone remote controller 80. The display device 82 may be a device with a display screen such as a mobile phone or a tablet computer. In order to clamp the display device 82, the mounting bracket 801 may include a square bottom plate 80a and end plates 80b disposed at opposite ends of the square bottom plate 80a, and the two end plates 80b and the bottom plate 80a may enclose a space for clamping and placing the display device 82.

[0167] Specifically, the signal transmitter 81 includes a transmitter housing 811, a clamping component 812, and a transmission antenna 813. A mounting cavity is formed in the transmitter housing 811. A picture and digital transmission controller is disposed in the mounting cavity. The picture and digital transmission controller is used to be electrically connected to the display device 82. Both sides of the transmitter housing 811 are provided with protrusions 81a. A clamping space is formed between the two protrusions 81a and the transmitter housing 811. The clamping component 812 is rotatably disposed in the clamping space and is used to clamp the mounting bracket 801 when the mounting bracket 801 is located in the clamping space. The transmission antenna 813 is disposed at one end of the transmitter housing 811. The transmission antenna 813 is electrically connected to the picture and digital transmission controller, and the transmission antenna 813 is used to establish a wireless connection with the gimbal of the drone.

[0168] In this embodiment, in order to stably clamp the signal transmitter 81 on the mounting bracket 801 , there are preferably two clamping components 812 . Specifically, the two clamping components 812 are respectively disposed in the clamping spaces on both sides of the transmitter housing 811 .

[0169] In this embodiment, if Figures 8 to 10 As shown, each protrusion 81a is provided with a clearance groove connected to the clamping space. In order to realize that the clamping component 812 can be rotatably arranged in the clamping space, a rotation connection part 813 is provided on both sides of the clamping space, and the two rotation connection parts 813 are respectively located in the two clearance grooves. Specifically, each rotation connection part 813 is provided with a rotating shaft 81b, and the clamping component 812 is provided with an axis hole 81c at a position corresponding to the rotating shaft 81b, wherein the rotating shaft 81b is rotatably connected to the axis hole 81c, so that the clamping component 812 can be rotatably arranged in the clamping space.

[0170] Embodiment 4 of the present invention provides a drone control system, which establishes a communication connection between the drone remote control and the gimbal through a signal transmitter, and also establishes a communication connection between the drone remote control and the drone, so that the drone remote control can control the drone and the gimbal at the same time and establish a communication connection between the two.

[0171] In addition, by detachably installing a signal transmitter with an image and data transmission controller on the mounting bracket of the drone remote controller, the problem that the existing drone remote controller is relatively large due to the built-in image and data transmission controller is solved.

[0172] Embodiment 5

[0173] See also Fig.11 , is a flow chart of a control method of a control system provided in Embodiment 5 of the present invention. The control system is the control system provided in Embodiment 4 above, and the UAV remote controller is provided with a control module.

[0174] The method comprises the following steps:

[0175] 501. A control module sends a pan-tilt control signal to a signal transmitter, and the pan-tilt control signal is transmitted to a transmission module of the pan-tilt via the signal transmitter; and after executing step 501, executing step 502.

[0176] 502. The transmission module of the gimbal receives the gimbal control signal and sends it to the gimbal control board, and then sends it to the camera module via the gimbal control board; and after executing step 502, execute step 503.

[0177] 503. The camera module starts shooting according to the pan-tilt control signal and sends a shooting signal to the pan-tilt control board; and after executing step 503, execute step 504.

[0178] 504. The gimbal control board collects images and data information according to the shooting signal and sends them to the transmission module of the gimbal, which is then transmitted to the signal transmitter via the transmission module of the gimbal; and after executing step 504, execute step 505.

[0179] 505. The signal transmitter receives the image and data information and sends it to the control module.

[0180] For example, when the user presses the shooting button on the drone remote control or touches the shooting icon on the display screen, the control module sends a shooting command to the signal transmitter, and the shooting command is transmitted to the transmission module of the gimbal via the signal transmitter. The transmission module of the gimbal receives the shooting command and sends it to the gimbal control board, which is then sent to the camera module via the gimbal control board. The camera module receives the shooting command to start shooting and sends the shooting image signal and the data signal during shooting to the gimbal control board. The gimbal control board collects image and data information (such as time, altitude above the ground, longitude and latitude, and temperature, etc.) based on the image signal and data signal, and then sends it to the transmission module of the gimbal. The transmission module of the gimbal integrates the image signal and data signal to form an integrated image and data signal, which is transmitted to the signal transmitter. The signal transmitter receives the integrated image and data signal and parses it into image and data information and sends it to the control module. The display screen of the drone remote control displays the image and data information.

[0181] Embodiment 5 of the present invention provides a control method for a drone system. By implementing the control method, the drone controller can control the camera module to shoot and the control box to collect images and data, and transmit the collected images and data back to the drone controller.

[0182] The above is a detailed introduction to a gimbal, a gimbal control method, an unmanned aerial vehicle, a control system and a control method thereof disclosed in the embodiments of the present invention. This article uses individual examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the gimbal, a gimbal control method, an unmanned aerial vehicle, a control system and a control method thereof and their core ideas of the present invention; at the same time, for general technical personnel in this field, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A pan / tilt head, characterized in that: include The pan head body comprises a pan head housing and a pan head control panel arranged in the pan head housing; A bracket, arranged below the pan / tilt housing; A camera module, comprising a main housing, an infrared camera and a visible light camera, wherein the main housing is arranged on the bracket, the infrared camera is arranged on the main housing, and the visible light camera is arranged on the main housing and located on one side of the infrared camera; A motor, arranged on the bracket, for driving the main housing to rotate relative to the pan / tilt housing, the motor being provided with a motor drive board, and the motor drive board being electrically connected to the pan / tilt control board; as well as A posture sensor, disposed in the main housing and electrically connected to the pan / tilt control board; The attitude sensor is used to send the position change amount to the pan-tilt control board when detecting that the spatial position of the camera module changes. The pan-tilt control board is used to calculate the compensation amount according to the position change amount and send the compensation amount to the motor drive board. The motor drive board is used to drive the motor to rotate according to the compensation amount. The motor is also provided with an angle sensor electrically connected to the pan-tilt control board, for monitoring the rotation angle of the motor and sending the rotation angle to the pan-tilt control board, and the pan-tilt control board is also used to compare the rotation angle with the compensation amount; When the rotation angle is not equal to the compensation amount, the gimbal control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board, and the motor drive board is also used to drive the motor to rotate according to the difference.

2. The pan / tilt head according to claim 1, characterized in that: The attitude sensor is a six-axis attitude sensor, the number of the motors is three, namely, a first motor, a second motor and a third motor, the motor shaft axes of the three motors are perpendicular to each other, and the motor drive boards provided on the first motor, the second motor and the third motor are respectively a first motor drive board, a second motor drive board and a third motor drive board; The compensation amount sent to the first motor driving board is a first compensation amount, the compensation amount sent to the second motor driving board is a second compensation amount, and the compensation amount sent to the third motor driving board is a third compensation amount.

3. The pan / tilt head according to claim 1, characterized in that: There are three motors, namely a first motor, a second motor and a third motor. The bracket includes a first support rod and a second support rod. One end of the first support rod is rotatably connected to the pan / tilt housing, and the second support rod is rotatably connected to the other end of the first support rod. The main housing is rotatably connected to the second support rod. The first motor is arranged between the one end of the first support rod and the pan / tilt housing, the second motor is arranged between the other end of the first support rod and the second support rod, and the third motor is arranged between the second support rod and the main housing.

4. The pan / tilt head according to claim 3, characterized in that: The first support rod includes a first rotating portion and a first support arm portion, the first rotating portion is arranged parallel to the bottom of the pan / tilt housing, the first rotating portion is rotatably connected to the pan / tilt housing, the first support arm portion is connected to the first rotating portion and forms an angle with the first rotating portion, and a first housing is provided at one end of the first support arm portion away from the first rotating portion; The second support rod comprises a second rotating portion and a second support arm portion, the second rotating portion is rotatably connected to the first housing, the second support arm portion is connected to the second rotating portion and forms an angle with the second rotating portion, a second housing is disposed at one end of the second support arm portion away from the second rotating portion, and the main housing is rotatably connected to the second housing; The first motor is arranged between the first rotating part and the pan / tilt housing, the second motor is arranged between the first housing and the second rotating part, and the third motor is arranged between the second housing and the main housing.

5. The pan / tilt head according to claim 4, characterized in that: The main shell includes a first side and a second side that are opposite to each other. The first side is provided with the visible light camera, and the second side is provided with a third shell. The third shell is rotatably connected to the second shell, and the third motor is provided between the second shell and the third shell.

6. The pan / tilt head according to claim 5, characterized in that: The first support rod is provided with a first wire groove connected to the interior of the pan / tilt housing, and the second support rod is provided with a second wire groove, and the second wire groove connects the first wire groove and the interior of the main housing; The infrared camera is provided with a first circuit, and the visible light camera is provided with a second circuit. The first circuit and the second circuit extend from the second wire groove and the first wire groove into the pan / tilt housing and are connected to the pan / tilt control board.

7. The pan / tilt head according to claim 6, characterized in that: The first rotating part is provided with a first wiring hole communicating with the interior of the pan / tilt housing and the first wire groove, the first wire groove is provided on the first arm portion, and the first housing is provided with a first opening communicating with the first wire groove; The second rotating part is provided with a second wiring hole communicating with the first opening and the second wire groove, the second wire groove is provided on the second arm part, and the second housing is provided with a second opening communicating with the second wire groove; The third shell is provided with a third opening, and the third opening is connected with the second opening and the interior of the main shell.

8. The pan / tilt head according to claim 6, characterized in that: The first support rod is provided with a first wire trough cover to cover the first wire trough, and the second support rod is provided with a second wire trough cover to close the second wire trough.

9. The pan / tilt head according to claim 3, characterized in that: The bracket also includes a third support rod, and the third support rod includes a first end and a second end, the first end is connected to the second support rod, and the second end is rotatably connected to the visible light camera.

10. The pan / tilt head according to any one of claims 1 to 9, characterized in that: The main shell includes a front cover, a middle frame and a rear shell which are sequentially connected to form an internal space. The infrared camera is arranged on the front cover, and the visible light camera is arranged near the connection between the front cover and the middle frame.

11. The pan / tilt head according to claim 10, characterized in that: A sub-shell is protruding outwardly from one side of the front cover, and a cover plate is protruding from the middle frame corresponding to the sub-shell. The cover plate and the sub-shell are connected to form a first cavity, and the first cavity is connected to the internal space. The visible light camera is arranged in the sub-shell.

12. The pan / tilt head according to claim 11, characterized in that: The front cover is provided with a first mounting hole, the infrared camera comprises an infrared lens and an infrared acquisition module electrically connected to the infrared lens, the infrared acquisition module is provided on the front cover and located in the internal space, and the infrared lens is embedded in the first mounting hole; The sub-shell is provided with a second mounting hole, the visible light camera includes a visible light lens and a visible light collection module electrically connected to the visible light lens, the visible light collection module is provided in the sub-shell and located in the first cavity, and the visible light lens is embedded in the second mounting hole.

13. The pan / tilt head according to claim 12, characterized in that: The gimbal also includes a memory card electrically connected to the visible light camera, and the memory card is disposed on the rear shell and located in the internal space.

14. The pan / tilt head according to claim 13, characterized in that: The main housing further comprises a heat insulating component, which is disposed between the middle frame and the rear housing, and the heat insulating component divides the internal space into a second cavity and a third cavity, wherein the second cavity is located on a side of the heat insulating component facing the front cover, and the third cavity is located on a side of the heat insulating component facing the rear housing; The infrared camera further includes an infrared temperature sensor, which is disposed in the middle frame and located in the second cavity, and the memory card is located in the third cavity.

15. The pan / tilt platform according to claim 14, characterized in that: The middle frame includes a main frame and a sub-frame, the infrared temperature sensor is arranged on the sub-frame, the main frame includes two opening ends, namely a first opening end and a second opening end, the front cover is connected to the first opening end to close the opening of the first opening end, the sub-frame extends outward from the second opening end of the main frame, and the sub-frame is provided with a lateral opening connected to the opening of the second opening end, the heat insulation component includes a first heat insulation part and a second heat insulation part extending upward from the first heat insulation part, the first heat insulation part is arranged at the second opening end to close the opening of the second opening end, and the second heat insulation part is arranged at the sub-frame to close the lateral opening.

16. The pan / tilt platform according to claim 13, characterized in that: The rear shell is provided with a visible light processing module located in the internal space, and the visible light processing module is electrically connected to the visible light collection module, and the memory card is electrically connected to the visible light processing module.

17. The pan / tilt head according to claim 13, characterized in that: The rear shell is provided with an insertion port corresponding to the memory card, and the insertion port and the visible light camera are located on the same side of the main shell.

18. The pan / tilt head according to any one of claims 1 to 9, characterized in that: The gimbal body also includes an infrared processing module and a transmission module electrically connected to the infrared processing module. The infrared processing module and the transmission module are arranged in the gimbal shell, and the projection intervals on the bottom of the gimbal shell are arranged. The projections of the gimbal control board and the bracket on the bottom of the gimbal shell are located between the infrared processing module and the transmission module, and the infrared camera is electrically connected to the infrared processing module.

19. The pan / tilt head according to claim 18, characterized in that: The gimbal shell includes an upper shell and a lower shell connected to form a fourth cavity, the lower shell is provided with a first window, the bracket is provided at the first window, the gimbal control panel is provided at the lower shell and is located above the first window, the infrared processing module and the transmission module are provided at the lower shell and are located on both sides of the first window.

20. The pan / tilt platform according to claim 19, characterized in that: The lower shell is a convex-shaped shell, including a first part, a second part and a third part. The second part and the third part are respectively arranged on both sides of the first part. The first window is arranged in the first part and is located at a position where the first part protrudes from the second part and the third part. The pan-tilt control panel is arranged in the first part, the infrared processing module is arranged in the second part, and the transmission module is arranged in the third part.

21. The pan / tilt platform according to claim 20, characterized in that: The bottom surface of the lower shell is provided with a plurality of heat dissipation holes connected to the fourth cavity.

22. The pan / tilt head according to claim 18, characterized in that: The gimbal body also includes two antennas, which are arranged on both sides of the gimbal shell and facing downward, and are electrically connected to the transmission module.

23. The pan / tilt head according to claim 19, characterized in that: The gimbal further includes a shock absorbing assembly, which is disposed at the first window of the lower shell and is located in the fourth cavity, and the bracket is connected to the shock absorbing assembly.

24. The pan / tilt head according to claim 23, characterized in that: The lower shell is provided with a plurality of first connecting protrusions near the first window, and the plurality of first connecting protrusions are arranged in a ring array along the center of the first window. The shock absorbing assembly includes an annular component and a shock absorbing component. The annular component is located above the first window, and a heat dissipation gap is formed between the annular component and the first window. The annular component is provided with a plurality of second connecting protrusions, and the plurality of second connecting protrusions correspond to the plurality of first connecting protrusions. The shock absorbing component is connected to the first connecting protrusion and the second connecting protrusion, and the bracket is connected to the annular component.

25. The pan / tilt platform according to claim 24, characterized in that: The pan head also includes a mounting seat, the size of which matches the inner ring size of the annular component, the mounting seat is arranged on the inner ring surface of the annular component, and the bracket is connected to the mounting seat.

26. The pan / tilt head according to claim 19, characterized in that: The upper shell is provided with a second window, and an arc-shaped connecting portion extends upward from the second window.

27. A pan / tilt control method, characterized in that: The pan / tilt platform comprises: A pan head body, wherein a pan head control panel is arranged in the pan head body; A bracket, arranged below the pan / tilt housing; A camera module is arranged on the bracket, wherein a posture sensor is arranged in the camera module, and the posture sensor is electrically connected to the pan / tilt control board; A motor, disposed on the bracket, for driving the camera module to rotate relative to the pan / tilt housing, wherein the motor is provided with a motor drive board, and the motor drive board is electrically connected to the pan / tilt control board; The motor is also provided with an angle sensor, and the angle sensor is electrically connected to the pan / tilt control board; The method comprises: When the posture sensor monitors the change in the spatial position of the camera module, it sends the position change amount to the pan / tilt control board; The pan / tilt control board calculates the compensation amount according to the position change amount and sends it to the motor drive board; The motor driving board controls the rotation of the motor according to the compensation amount; The angle sensor monitors the rotation angle of the motor and sends the rotation angle to the pan / tilt control board; The pan / tilt control panel compares the rotation angle and the compensation amount; If the rotation angle is not equal to the compensation amount, the pan / tilt control board calculates the difference between the rotation angle and the compensation amount, and sends the difference to the motor drive board; The motor driving board controls the motor to rotate according to the difference.

28. The method according to claim 27, characterized in that The attitude sensor is a six-axis attitude sensor, the number of the motors is three, including a first motor, a second motor and a third motor, and the motor shaft axes of the three motors are perpendicular to each other, and the motor drive boards provided on the first motor, the second motor and the third motor are respectively a first motor drive board, a second motor drive board and a third motor drive board; The method of calculating the compensation amount according to the position change amount and sending the compensation amount to the motor drive board includes: A first compensation amount, a second compensation amount, and a third compensation amount are calculated according to the position change amount, and are sent to the first motor drive board, the second motor drive board, and the third motor drive board, respectively.

29. A drone, characterized in that: It comprises a fuselage and a gimbal as described in any one of claims 1 to 26, wherein the gimbal is connected to the fuselage.

30. A control system, characterized in that: It comprises a ground control device and the UAV as claimed in claim 29, wherein the ground control device comprises a signal transmitter and a UAV remote controller detachably mounted on the signal transmitter, wherein the signal transmitter is used to establish a communication connection between the UAV remote controller and the gimbal, and the UAV remote controller is used to establish a communication connection with the fuselage.

31. A control method for a control system, characterized in that: The control system is the control system as claimed in claim 30, and the drone remote controller is provided with a control module; The method comprises: The control module sends a pan / tilt control signal to the signal transmitter, and the pan / tilt control signal is transmitted to the transmission module of the pan / tilt via the signal transmitter; The transmission module of the pan / tilt receives the pan / tilt control signal and sends it to the pan / tilt control board, and then sends it to the camera module via the pan / tilt control board; The camera module starts shooting according to the pan / tilt control signal and sends a shooting signal to the pan / tilt control board; The pan / tilt control board collects images and data information according to the shooting signal and sends them to the transmission module of the pan / tilt, and then transmits them to the signal transmitter via the transmission module of the pan / tilt; The signal transmitter receives the image and data information and sends it to the control module.

Images