CN101554925A - Orthophoto pan-tilt-zoom of unmanned plane - Google Patents
Orthophoto pan-tilt-zoom of unmanned plane Download PDFInfo
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- CN101554925A CN101554925A CNA2009100838855A CN200910083885A CN101554925A CN 101554925 A CN101554925 A CN 101554925A CN A2009100838855 A CNA2009100838855 A CN A2009100838855A CN 200910083885 A CN200910083885 A CN 200910083885A CN 101554925 A CN101554925 A CN 101554925A
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Abstract
The invention relates to an orthophoto pan-tilt-zoom of an unmanned plane. A camera is controlled by a control device of the pan-tilt-zoom and is led to keep the optical axis thereof to be vertical with the ground in the flying process, thus improving mapping precision and greatly reducing flying operation time. The orthophoto pan-tilt-zoom of the unmanned plane is assembled at the bottom part of the unmanned plane; the camera is arranged on a base of the pan-tilt-zoom; the base is connected with an X-axis control group and a Y-axis control group of the pan-tilt-zoom; the X-axis control group and the Y-axis control group are respectively comprise a gyro, an electronic speed regulator and a server which are connected in sequence; and the gyro is connected with a remote-control receiver and a power supply in sequence; when the unmanned plane flies, the incidence angle of optical axis of the camera to the ground generates deviation, at the time, the gyro detects deviation rate of the camera and outputs corresponding signals to the electronic speed regulator; the electronic speed regulator controls the server to make corresponding rotation to output opposite moment so as to damp the generation and continuity of deviation of the camera and lead the camera to restore the state vertical to the ground naturally by the center of gravity of the camera.
Description
Technical field
The invention belongs to the tripod head controlling device field, relate in particular to the control setup of unmanned aerial vehicle onboard orthophoto pan-tilt-zoom.
Background technology
Unmanned plane is used for the aerial survey process, because the unmanned plane load carrying ability is little, propelling power spaces is little, the photographic camera mounting means has two kinds usually: a kind of is directly vertically to be installed on the body, in the flight operation process, aircraft is subjected to the influence of air-flow, can produce pitching, the random variation of attitudes such as lift-over, the camera optical axis also can change vertical incidence angle over the ground with the variation of aspect, causes the irregular distortion of photographed data, and Duplication is difficult to guarantee, strengthen the difficulty of flight operation, had a strong impact on the precision and the efficient of aerial survey post-processed.
Second kind is to adopt the cradle head control technology, is mainly two class modes at present: 1, adopt obliquity sensor, the acceleration/accel of aircraft and vibrations influence greatly obliquity sensor in the flight course, and error is obvious, is difficult to use; 2, adopt gyro and accelerometer, use the moment attitude variable quantity that filtering algorithm calculates The Cloud Terrace, it is constant that the guiding actuating unit is kept initial attitude, this mode complex structure, cost is high, and is bulky, be unfavorable for using SUAV (small unmanned aerial vehicle), and owing to adopted filtering algorithm, the attitude value of reckoning must have error, thereby influences control accuracy.
In addition, the light shaft offset amount that the mounting means of existing camera produces and because installation error in the installation process and flying angle change, makes the camera attitude parameter to assess generally about positive and negative 5 degree, is that the automatic processing of late time data produces greatly influence.
Summary of the invention
The invention reside in provides a kind of unmanned aerial vehicle onboard orthophoto pan-tilt-zoom, control setup by The Cloud Terrace is controlled camera, make it in flight course, to keep the camera optical axis all the time perpendicular to big ground level, thereby raising mapping precision, a large amount of flight production times that reduce, and simple light and handy, volume is little, cost is low, be convenient to be applied on miniature self-service drives an airplane.
Technical solution of the present invention is: a kind of orthophoto pan-tilt-zoom of unmanned plane, be assemblied in the bottom of robot airplane by support, camera green phase machine support is installed on the The Cloud Terrace base, and base connects the X-axis control group and the Y-axis control group of The Cloud Terrace, can rotate along X-axis and Y direction individually or simultaneously.Just penetrating the power supply that remote control receiver is housed on the The Cloud Terrace and is attached thereto at unmanned plane.
X-axis control group comprises X-axis gyroscope, X-axis electronic governor and the X-axis servomechanism that links to each other successively.Wherein, the X-axis gyroscope is installed on the The Cloud Terrace base, keeps relative static with camera, and detection camera is at the deviation angle of X-axis at any time.The gyrostatic input end of X-axis connects remote control receiver, and its mouth connects the X-axis electronic governor.The X-axis electronic governor receives the gyrostatic signal of X-axis and controls the rotation direction and the velocity of rotation of X-axis servomechanism.The X-axis servomechanism is installed in an end of X-axis, and the control X-axis is done corresponding the rotation.
Y-axis control group comprises Y-axis gyroscope, Y-axis electronic governor and the Y-axis servomechanism that links to each other successively.Wherein, the Y-axis gyroscope is installed on the The Cloud Terrace base and keeps relative static with camera, and detection camera is at the deviation angle of Y-axis at any time.The gyrostatic input end of Y-axis connects remote control receiver, and its mouth connects the Y-axis electronic governor.The Y-axis electronic governor receives the gyrostatic signal of Y-axis and controls the rotation direction and the velocity of rotation of Y-axis servomechanism.The Y-axis servomechanism is installed in an end of Y-axis, and the control Y-axis is done corresponding the rotation.
The gyroscope of selecting for use is the piezoelectric type gyroscope.Servomechanism is selected the drag cup motor for use, the obvious magnetic resistance phenomenon that can effectively avoid the other types motor to produce under the no power situation, the center of gravity of interference camera.
Principle of work of the present invention is: by measuring the turn rate of camera optical axis, the adjustable resistance that makes servomechanism produce non-return stroke suppresses the continuation of deflection, and rely on camera gravity to return back to center-of-gravity position voluntarily, this process is different from traditional cradle head control mode fully, promptly controls servomechanism by measurement deflection stroke and produces reverse corresponding stroke to keep original attitude.
Specifically, because rate gyro is behind integration, mid point can produce drift phenomenon, so if adopt directly by the numerical value direct control The Cloud Terrace behind the gyro integration, can make the camera optical axis depart from positive firing angle gradually.Only utilize the gyro detection rates to change among the present invention, servomechanism also is non-being rigidly connected, only produce damping, need not calculate the The Cloud Terrace yaw displacement, the gyro wander phenomenon is revised voluntarily by camera gravity, makeover process is: when the camera optical axis deviation is just being penetrated the position, servomechanism produces its continuation that the departs from generation of magnetic resistance moment damping with the inversely proportional relation of deflection rate, make turn rate level off to zero, this moment, magnetic resistance moment also leveled off to zero gradually, and camera leans on greater than the component of the self gravitation of magnetic resistance moment approaching to the optical axis upright position gradually.The center of gravity of camera nature is perpendicular to ground under the effect of gravity, when unmanned plane during flying, owing to reasons such as inertia, acceleration/accels, camera optical axis angle of incidence over the ground can produce skew, this moment, relative static gyroscope with the camera maintenance can detect the deflection rate of camera, and export corresponding signal to electronic governor, electronic governor is done corresponding the rotation according to the signal control servomechanism that receives and is exported opposite moment, take place and continuity with this damping camera out-of-position, and rely on the camera center of gravity to return to state perpendicular to the ground naturally.
The present invention is directed to the aerophotogrammetric advantage of unmanned plane is:
1. simple in structure, volume is little, cost is low, weight only is about one kilogram, to be easy to be applied in Unmanned Aircraft Systems (UAS).
2. simple to operate.After calibration, be installed on camera on the The Cloud Terrace always perpendicular to big ground level, reduced the resetting check before taking off.
3. little to the aircraft flight attitude influence.Revise the mode of camera attitude if adopt the instrumentation airplane attitude, have not only that weight is big, cost is high, the relative body stagger angle of camera is difficult to problems such as mensuration, also can occur increasing and problem such as the random variation of flight attitude because of housing construction weight that huge torque reaction that actuating unit produces causes.
The basic demand of aerial survey be camera vertically over the ground, in surveying the district, course line and air strips photo will have certain Duplication, are respectively 60% and 30%.Because aircraft is subjected to influence of various factors aloft, the pitch angle of aircraft and roll angle can produce irregular variation, make that the lamination rate is difficult to guarantee, can only remedy by increasing number of pictures and course line density.Nonetheless, because adjacent photo misplaces relatively, when post-processed, the controlling point is difficult to gather, and brings difficulty for the automatic batch processing of boat sheet splicing, can only carry out manual intervention, has not only significantly reduced the efficient of post-processed, has also had a strong impact on the precision of one-tenth figure.May command camera vertical incidence of the present invention angle remains on national aerial survey standard, in promptly positive and negative 3 degree, irregular angle of incidence is changed in tolerance band, reduces artificially participating in, and precision significantly improves, and can quantize.Simultaneously, the course line density of flight operation also can significantly reduce, and has improved operating efficiency, reduces the flight risk.
5. the present invention also can be applicable to airphoto, carries pick up camera and corresponding control mechanism thereof as airborne reference platform, can significantly improve the picture stability of unmanned plane shooting, obtains good photographic effect.
Description of drawings
Fig. 1 is orthophoto pan-tilt-zoom of unmanned plane annexation figure of the present invention;
Fig. 2 is an orthophoto pan-tilt-zoom of unmanned plane upward view of the present invention;
Fig. 3 is an orthophoto pan-tilt-zoom of unmanned plane front elevation of the present invention.
Illustrate: 1-power supply, 2-remote control receiver, 3-X axle control group, 4-Y axle control group, 5-X axial compression electric top instrument, 6-X axle electronic governor, 7-X shaft hollow cup motor, 8-Y axial compression electric top instrument, 9-Y axle electronic governor, 10-Y shaft hollow cup motor, 11-The Cloud Terrace support, 12-X axle, 13-Y axle, the 14-camera, the 15-camera support.
The specific embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
As shown in Figure 1 to Figure 3, orthophoto pan-tilt-zoom of unmanned plane is assemblied in the bottom of unmanned plane by The Cloud Terrace support 11, camera 14 green phase machine supports 15 are installed on the The Cloud Terrace base, and base can be rotated along X-axis 12 and Y-axis 13 directions individually or simultaneously by the X-axis control group 3 and 4 controls of Y-axis control group of The Cloud Terrace.
X-axis control group 3 comprises X-axis piezoelectric gyroscope 5, X-axis electronic governor 6 and the X-axis drag cup motor 7 that links to each other successively.X-axis piezoelectric gyroscope 5 is installed on the The Cloud Terrace base, keeps relative static with camera 14.The input end of X-axis piezoelectric gyroscope 5 connects remote control receiver 2, and its mouth connects X-axis electronic governor 6.X-axis electronic governor 6 receives the signal of X-axis piezoelectric gyroscope 5 and controls the rotation direction and the velocity of rotation of X-axis drag cup motor 7.X-axis drag cup motor 7 is installed in an end of X-axis 12, and control X-axis 12 is done corresponding the rotation.
Y-axis control group 4 comprises Y-axis piezoelectric gyroscope 8, Y-axis electronic governor 9 and the Y-axis drag cup motor 10 that links to each other successively.Y-axis piezoelectric gyroscope 8 is installed on the The Cloud Terrace base, keeps relative static with camera 14.The input end of Y-axis piezoelectric gyroscope 8 connects remote control receiver 2, and its mouth connects Y-axis electronic governor 9.Y-axis electronic governor 9 receives the signal of Y-axis piezoelectric gyroscope 8 and controls the rotation direction and the velocity of rotation of Y-axis drag cup motor 10.Y-axis drag cup motor 10 is installed in an end of Y-axis 13, and control Y-axis 13 is done corresponding the rotation.
Power supply 1, remote control receiver 2, X-axis electronic governor 6 and Y-axis electronic governor 9 are installed on the unmanned plane body.Power supply 1 is connected with remote control receiver 2 and provides electric power to other equipment.
Before unmanned plane took off, the X-axis on the plane that device measurings such as use obliquity sensor are vertical with the camera optical axis, the inclination angle of Y-axis made the inclination angle level off to 0 ° by the increase and decrease counterweight, make camera 14 optical axises natural in ground by gravity.In the unmanned plane during flying process, when camera 14 optical axises over the ground angle of incidence when X-axis 12 directions produce skew, relative static X-axis piezoelectric gyroscope 5 with the camera maintenance can detect the deflection rate of camera 14, and to the corresponding signal of X-axis electronic governor 9 outputs, X-axis electronic governor 9 is done corresponding the rotation according to the signal control X-axis drag cup motor 7 that receives and is exported opposite moment, take place and continuity with damping camera 14 out-of-positions, and rely on the center of gravity of camera 14 to return to state perpendicular to the ground naturally.Angle of incidence is when Y-axis 13 directions produce skew over the ground when camera 14 optical axises, and its response control process is identical with X-axis 12.
The invention is not restricted to the foregoing description; to those skilled in the art, any conspicuous improvement that the above embodiment of the present invention is made or change can not exceed the embodiments of the invention that only illustrate by way of example and the protection domain of claims.
Claims (3)
1. orthophoto pan-tilt-zoom of unmanned plane, be assemblied in the bottom of unmanned plane by The Cloud Terrace support (11), camera (14) is installed on the The Cloud Terrace base, base is by the X-axis control group (3) and Y-axis control group (4) control of The Cloud Terrace, and it is characterized in that: described unmanned plane is just being penetrated The Cloud Terrace remote control receiver (2) and the power supply (1) that links to each other with described remote control receiver (2) are housed;
Described X-axis control group (3) comprises X-axis gyroscope (5), X-axis electronic governor (6) and the X-axis servomechanism (7) that links to each other successively; Described X-axis gyroscope (5) is installed on the The Cloud Terrace base and with described remote control receiver (2) and is connected.
Described Y-axis control group (4) comprises Y-axis gyroscope (8), Y-axis electronic governor (9) and the Y-axis servomechanism (10) that links to each other successively; Described Y-axis gyroscope (8) is installed on the The Cloud Terrace base and with described remote control receiver (2) and is connected.
2. orthophoto pan-tilt-zoom of unmanned plane as claimed in claim 1 is characterized in that: described X-axis gyroscope (5) and Y-axis gyroscope (8) are the piezoelectric type gyroscope.
3. orthophoto pan-tilt-zoom of unmanned plane as claimed in claim 1 is characterized in that: described X-axis servomechanism (7) and Y-axis servomechanism (10) are the drag cup motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNA2009100838855A CN101554925A (en) | 2009-05-11 | 2009-05-11 | Orthophoto pan-tilt-zoom of unmanned plane |
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| CNA2009100838855A CN101554925A (en) | 2009-05-11 | 2009-05-11 | Orthophoto pan-tilt-zoom of unmanned plane |
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