CN102353365B - Gyroscope holder of unmanned aerial vehicle - Google Patents
Gyroscope holder of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN102353365B CN102353365B CN 201110276941 CN201110276941A CN102353365B CN 102353365 B CN102353365 B CN 102353365B CN 201110276941 CN201110276941 CN 201110276941 CN 201110276941 A CN201110276941 A CN 201110276941A CN 102353365 B CN102353365 B CN 102353365B
- Authority
- CN
- China
- Prior art keywords
- camera
- gyroscope
- holder
- pick
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 238000010276 construction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Landscapes
- Accessories Of Cameras (AREA)
- Studio Devices (AREA)
Abstract
The invention relates to a gyroscope holder of an unmanned aerial vehicle. The gyroscope holder comprises a gyroscope part and a camera part, wherein a gyroscope bracket is composed of an inner frame and an outer frame with the same diameter, a mechanical gyroscope is fixed on the inner frame, a driving wheel is fixed at the end part of an output end of a rotating shaft; a central shaft at an axial side of the holder bracket extends out of the holder bracket, a camera frame with a front opening is fixedly mounted at the end part of the central shaft to be coaxial with the central shaft, a driven wheel is fixedly mounted at the end part of a hinged shaft of a camera support; the driving wheel of the outer frame of the gyroscope part and the driven wheel of the camera support of the camera part are in the same direction, and two synchronous transmission rods are articulately mounted on the surface of an axial disk of the driving wheel, to be in symmetry along the axial direction. The gyroscope holder provided by the invention has a simple and reliable structure and good stability, is easy to regulate and control, has a wide range of applications, and can effectively eliminate shakes in the shooting process, maintain the picture stable, lock the shooting object, obtain clear pictures with high quality and effectively improve the shooting quality.
Description
Technical field
The invention belongs to the unmanned plane field, relate to the The Cloud Terrace that unmanned plane uses, especially a kind of gyroscope holder of unmanned plane.
Background technology
The Cloud Terrace is the fastening of installation, fixed cameras, and it is divided into fixes and two kinds of electric platforms.Fixedly The Cloud Terrace is applicable to the little situation of monitoring range, install pick up camera on fixing The Cloud Terrace after the level of capable of regulating pick up camera and the angle of pitching, reach after best operating attitude as long as the locking adjusting mechanism is just passable.Electric platform is applicable to carrying out scanning monitoring on a large scale, and it can enlarge the monitoring range of pick up camera.At present, the high speed attitude of electric platform is to be realized by two operating motors, electrical motor accepts the signal of self-controller accurately to move the location, under the effect of control signal, but the pick up camera on The Cloud Terrace is the automatic scan monitor area both, also can trace and monitor object under monitoring and control centre attendant's manipulation.
Unmanned plane is widely used in the aspects such as electric power line walking, frontier policeman's patrol, forest fire protection, environment monitoring, due to the restriction that is subject to environmental conditions, be arranged on the problem that The Cloud Terrace existence and stability energy is relatively poor, inconvenience is regulated on unmanned plane, cause transmitting image picture weave, vibrations, affect the data acquisition effect, and accurate positioning acquisition graphicinformation has reduced field of application and the quality of unmanned plane thus.
Through retrieval, find following two pieces of Patents documents: 1, a kind of two-degree-of-freedom cradle head (CN1805058), comprise support and the motor and speed reducer structure that is installed on support, its special character is that this The Cloud Terrace is provided with two swinging gear, each swinging gear is realized swinging back and forth in a plane, and two swings can independently realize separately.Swinging gear mainly is comprised of a wobble gear, a transition gear, a partial gear and a quadrant gear.This The Cloud Terrace can be realized the hunting motion of The Cloud Terrace when the drive motor single direction rotates, and accurate positioning, and the hunting motion scope of The Cloud Terrace can recently be adjusted by the transmission that changes swinging gear; The speed that The Cloud Terrace swings can be realized by the speed of regulating drive motor as requested.2, a kind of Horizontal stage positioning apparatus (CN201270570), consisted of by the electrical motor that is installed on support, electric motor driven The Cloud Terrace axle and control circuit, be coaxially installed with at the uniform code-disc that is shaped with the shape tooth of its periphery at the free end of motor reel, in the support upper surface of the shape tooth exterior rim position of this code-disc, one photoelectric coupling position transduser be installed; Be fixed with a plectrum on the The Cloud Terrace axle, be fixed with the photoelectric coupling reseting sensor of this plectrum of induction on the The Cloud Terrace base.
Through the technology contrast, above two pieces of patent documentations and present patent application have more different.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, a kind of design science, dependable performance, good stability are provided, are used for the gyroscope holder of the unmanned plane of high-definition shooting.
The present invention solves its technical matters and takes following technical scheme to realize:
A kind of gyroscope holder of unmanned plane, comprise gyroscope part and camera part, it is characterized in that: described gyroscope partly comprises mechanical gyroscope, tripod head frame, gyro frame, and described camera part comprises pick up camera, camera pedestal, pick up camera holder, and concrete structure is:
(1) gyroscope part: described gyro frame is made of with the footpath inside casing and housing, be fixedly mounted with mechanical gyroscope on inside casing, all be connected by rotating shaft diametrically between inside casing and housing, housing both sides axially on all by center shaft, tripod head frame is installed, be extended with the mouth of outer shaft on the housing of corresponding inside casing one side rotating shaft, be fixed with a driving wheel in the mouth end of this rotating shaft;
(2) camera part: tripod head frame wherein the center shaft of an axial side stretch out tripod head frame, the coaxial camera pedestal that is fixedly mounted with to open front in the end of this center shaft, radially by hinge, the pick up camera holder is installed in the frame of this camera pedestal, in this pick up camera holder with spigot shaft coaxle to being fixedly mounted with pick up camera, on corresponding pick up camera holder one side camera pedestal, the end of the hinge of pick up camera holder is fixedly mounted with a flower wheel;
(3) flower wheel of the pick up camera holder of the driving wheel of the housing of gyroscope part and camera part in the same way, radial symmetry is hinged with two synchrodrive bars on the radially card of driving wheel, and the other end hinge of these two synchrodrive bars is contained on the radially card of flower wheel.
And described two tripod head frame are closed-in construction, and the centre is provided with reinforced rib.
And described driving wheel and flower wheel are set to same footpath, and the position of two synchrodrive bars of the dress that cuts with scissors is identical.
Advantage of the present invention and good effect are:
1, by the gyro frame, one mechanical gyroscope is installed on the The Cloud Terrace support of this gyroscope holder, and control camera angle by driving wheel, can effectively reduce or eliminate rocking, shaking of producing in shooting process, make picture more stable quieter, and, but this gyroscope holder filtering high-frequency vibration and low-frequency vibration, and the target lock-on function is arranged, after changing angle because of flight, unmanned plane by the gyroscope correction, can not break away from photographic subjects because of flight.
2, this gyroscope holder is equipped with driving wheel between gyroscope and actuating spindle, the impact on boat photography/videography machine shooting effect that causes of modifying factor irregular movement in real time, order shooting, shooting picture are no longer rocked, without the deferred reaction time, thereby it is relatively stable that boat photography/videography organizational security is held, and improves shooting quality.
3, this gyro The Cloud Terrace can be applicable to have broad application prospects on the motion carriers such as manned helicopter, manned dynamic-delta-wing, vehicle, boats and ships.
4, simple and reliable for structure, the good stability of the present invention, easily regulate control, of many uses, can effectively eliminate rocking in shooting process, keep picture stable, and can lock photographic subjects, obtain high-quality clear picture, effectively promote shooting quality.
Description of drawings
Fig. 1 is structural front view of the present invention;
Fig. 2 is the right elevation of Fig. 1;
Fig. 3 is the birds-eye view of Fig. 1;
Fig. 4 is the local amplification plan view of the gyroscope of Fig. 3
Fig. 5 is perspective view of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and by specific embodiment, and following examples are descriptive, are not determinate, can not limit protection scope of the present invention with this.
A kind of gyroscope holder of unmanned plane comprises gyroscope part and camera part, and gyroscope partly comprises mechanical gyroscope 9, tripod head frame 5, gyro frame 8, and camera part comprises pick up camera 1, camera pedestal 4, pick up camera holder 12.The below is described respectively:
The gyroscope part:
Mechanical gyroscope is arranged on the gyro frame, referring to Fig. 1,2,3,4, concrete structure is: described gyro frame is made of with the footpath inside casing 15 and housing 14, all is connected by rotating shaft 16 diametrically between inside casing and housing, realize installing mechanical gyrostatic inside casing at the housing internal diameter to rotation; Housing both sides axially on all by center shaft 10 installation tripod head frame, these two tripod head frame are closed-in construction, the centre is provided with reinforced rib, tripod head frame can be fixedly mounted with unmanned plane.By said structure, can realize that gyroscope swings around two dimensions of center shaft and rotating shaft; Be extended with the mouth of outer shaft on the housing of corresponding inside casing one side rotating shaft, be fixed with a driving wheel 7 in the mouth end of this rotating shaft.
Camera part:
Referring to Fig. 1,3,5, tripod head frame wherein the center shaft of an axial side stretch out tripod head frame, the end of this center shaft is coaxial to be fixedly mounted with to the camera pedestal of the U-shaped of open front, radially by hinge 3, the pick up camera holder is installed in the frame of this camera pedestal, in this pick up camera holder with spigot shaft coaxle to adopting tightening screws 11 to be fixedly mounted with pick up camera by supporting plate 13, realize thus when center shaft rotates, this center shaft drives the camera pedestal coaxial rotation; On corresponding pick up camera holder one side camera pedestal, the end of the hinge of pick up camera holder is fixedly mounted with a flower wheel 2.The related pick up camera of the present embodiment comprises the loading devices such as visible detection instrument and infrared thermography, transmission line of electricity is checked and video recording is taken pictures realizing.
The flower wheel of the driving wheel of the housing of gyroscope part and the pick up camera holder of camera part in the same way, radial symmetry is hinged with two synchrodrive bars 6 on the radially card of driving wheel, the other end hinge of these two synchrodrive bars is contained on the radially card of flower wheel, driving wheel and flower wheel are set to same footpath, the position of two synchrodrive bars of the dress that cuts with scissors is also identical, realize thus the rotation of synchronizeing of driving wheel and flower wheel, regulate thus the radial angle of pick up camera.
In the present embodiment, mechanical gyroscope is prior art, and its concrete structure does not repeat them here.
Working process of the present invention is:
Before use, tripod head frame is arranged on unmanned plane, and adjust camera position, in unmanned plane during flying work, gyroscope is controlled the camera lens angle by driving wheel, the impact on boat photography/videography machine shooting effect that real-time modifying factor irregular movement causes, order shooting, shooting picture are no longer rocked, without the deferred reaction time, thereby make boat photography/videography organizational security hold relatively stable, improve shooting quality, realize being rectified a deviation by gyroscope after unmanned plane changes angle because of flight, can not break away from photographic subjects because of flight.
Claims (3)
1. the gyroscope holder of a unmanned plane, comprise gyroscope part and camera part, it is characterized in that: described gyroscope partly comprises mechanical gyroscope, tripod head frame, gyro frame, and described camera part comprises pick up camera, camera pedestal, pick up camera holder, and concrete structure is:
(1) gyroscope part: described gyro frame is made of with the footpath inside casing and housing, be fixedly mounted with mechanical gyroscope on inside casing, all be connected by rotating shaft diametrically between inside casing and housing, housing both sides axially on all by center shaft, tripod head frame is installed, be extended with the mouth of outer shaft on the housing of corresponding inside casing one side rotating shaft, be fixed with a driving wheel in the mouth end of this rotating shaft;
(2) camera part: tripod head frame wherein the center shaft of an axial side stretch out tripod head frame, the coaxial camera pedestal that is fixedly mounted with to open front in the end of this center shaft, radially by hinge, the pick up camera holder is installed in the frame of this camera pedestal, in this pick up camera holder with spigot shaft coaxle to being fixedly mounted with pick up camera, on corresponding pick up camera holder one side camera pedestal, the end of the hinge of pick up camera holder is fixedly mounted with a flower wheel;
(3) flower wheel of the pick up camera holder of the driving wheel of the housing of gyroscope part and camera part in the same way, radial symmetry is hinged with two synchrodrive bars on the radially card of driving wheel, and the other end hinge of these two synchrodrive bars is contained on the radially card of flower wheel.
2. the gyroscope holder of unmanned plane according to claim 1, it is characterized in that: described two tripod head frame are closed-in construction, and the centre is provided with reinforced rib.
3. the gyroscope holder of unmanned plane according to claim 1, it is characterized in that: described driving wheel and flower wheel are set to same footpath, and the position of two synchrodrive bars of the dress that cuts with scissors is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110276941 CN102353365B (en) | 2011-09-19 | 2011-09-19 | Gyroscope holder of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110276941 CN102353365B (en) | 2011-09-19 | 2011-09-19 | Gyroscope holder of unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102353365A CN102353365A (en) | 2012-02-15 |
| CN102353365B true CN102353365B (en) | 2013-06-05 |
Family
ID=45576985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110276941 Expired - Fee Related CN102353365B (en) | 2011-09-19 | 2011-09-19 | Gyroscope holder of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102353365B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103853184A (en) * | 2012-12-03 | 2014-06-11 | 天津市威风科技发展有限公司 | Gyroscope stable-shooting control device |
| CN103419942B (en) * | 2013-09-10 | 2015-08-05 | 北京臻迪科技有限公司 | A kind of unmanned vehicle |
| CN104508346B (en) * | 2013-12-10 | 2016-09-28 | 深圳市大疆创新科技有限公司 | Non-orthogonal axes carrier |
| CN203785682U (en) * | 2014-03-24 | 2014-08-20 | 零度智控（北京）智能科技有限公司 | Installation structure of gyroscope in cradle head |
| CN112429256A (en) | 2014-04-28 | 2021-03-02 | 深圳市大疆创新科技有限公司 | Hand-held support |
| CN104085537B (en) * | 2014-06-27 | 2016-09-07 | 嘉兴安行信息科技有限公司 | Remote sensing unmanned plane frame |
| CN104571126B (en) * | 2014-12-23 | 2015-10-07 | 河南四维远见信息技术有限公司 | A kind of unmanned vehicle sensoring and unmanned vehicle remote sensing technique |
| JP6310569B2 (en) * | 2015-09-11 | 2018-04-11 | エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． | Support mechanism |
| CN106352211B (en) * | 2016-09-22 | 2018-11-30 | 顺丰科技有限公司 | Three axis rotary positioning mechanisms |
| CN107181201A (en) * | 2017-06-09 | 2017-09-19 | 深圳市艾威航空技术有限公司 | A kind of aerial barrier clearing device and system based on laser |
| CN109991990B (en) * | 2018-12-27 | 2022-04-26 | 深圳市行者机器人技术有限公司 | Balancing device and control method for multi-parallel control moment gyroscope with rotating holder |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3858228A (en) * | 1973-10-04 | 1974-12-31 | K Mito | Gyroscopic holder for camera |
| CN2305819Y (en) * | 1997-08-06 | 1999-01-27 | 施磊 | Ramote control type aerial photographic device |
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN101554925A (en) * | 2009-05-11 | 2009-10-14 | 董韬 | Orthophoto pan-tilt-zoom of unmanned plane |
| CN201907655U (en) * | 2010-12-28 | 2011-07-27 | 中国科学院沈阳自动化研究所 | Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle |
| CN202204517U (en) * | 2011-09-19 | 2012-04-25 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3084560A (en) * | 1961-08-03 | 1963-04-09 | Gen Electric | Gyro integrator with precession rate output signal |
| CN101158583B (en) * | 2007-10-11 | 2010-11-03 | 浙江大学 | Optical fiber axial direction bus cable structure of optical fiber gyroscope wire winder |
-
2011
- 2011-09-19 CN CN 201110276941 patent/CN102353365B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3858228A (en) * | 1973-10-04 | 1974-12-31 | K Mito | Gyroscopic holder for camera |
| CN2305819Y (en) * | 1997-08-06 | 1999-01-27 | 施磊 | Ramote control type aerial photographic device |
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN101554925A (en) * | 2009-05-11 | 2009-10-14 | 董韬 | Orthophoto pan-tilt-zoom of unmanned plane |
| CN201907655U (en) * | 2010-12-28 | 2011-07-27 | 中国科学院沈阳自动化研究所 | Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle |
| CN202204517U (en) * | 2011-09-19 | 2012-04-25 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
Non-Patent Citations (2)
| Title |
|---|
| 一种小型旋翼无人机平台的设计及飞行验证;郭庆等,1;《科学技术与工程》;20070601(第11期);2584-2589 * |
| 郭庆等,1.一种小型旋翼无人机平台的设计及飞行验证.《科学技术与工程》.2007,(第11期), |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102353365A (en) | 2012-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102353365B (en) | Gyroscope holder of unmanned aerial vehicle | |
| US11140322B2 (en) | Stabilizing platform | |
| EP3549872B1 (en) | Dual-axis platform for use in a small unmanned aerial vehicle and tri-axis platform for use in a small unmanned aerial vehicle | |
| CN104903790B (en) | Device and method for increasing steady and vibration damping | |
| CN203757311U (en) | Holder with self-balancing gyroscope | |
| JP6473244B1 (en) | Rotorcraft | |
| CN203784603U (en) | Mounting structure for motor in holder | |
| CN206704563U (en) | A kind of single-lens rotary oblique photograph head of unmanned plane | |
| CN202204517U (en) | Gyroscope holder of unmanned aerial vehicle | |
| CN205203411U (en) | Carry on three -axis pan -tilt of camera | |
| JP2010006089A (en) | Aerial photographing device of disaster-stricken, damaged and deteriorated state of facility such as for lifeline | |
| CN108482694A (en) | A kind of rotary oblique photograph holder of two mirrors | |
| CN208206122U (en) | A kind of rotary canted shot device | |
| WO2018112907A1 (en) | Gimbal structure and unmanned aerial vehicle | |
| US11254444B2 (en) | Gimbal, photographing apparatus having same, and unmanned aerial vehicle | |
| CN106686306B (en) | A kind of target tracker and tracking | |
| JP2006264567A (en) | Helicopter | |
| CN203753417U (en) | Unmanned aerial vehicle cradle head structure | |
| CN208102365U (en) | A kind of unmanned plane canted shot camera arrangement | |
| CN211167458U (en) | Remote control unmanned aerial vehicle high altitude anti-wind anti-shake device | |
| CN103630119A (en) | Image motion compensation device and method for aerial survey of unmanned aerial vehicle | |
| US20170152061A1 (en) | Shooting Device and Unmanned Aerial Vehicle | |
| JP2023088896A (en) | Device, system and method of inspecting mobile object | |
| CN108860578A (en) | A kind of unmanned plane surveying and mapping data acquisition device | |
| CN205525020U (en) | Aircraft frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Gyroscope holder of unmanned aerial vehicle Effective date of registration: 20141102 Granted publication date: 20130605 Pledgee: Tianjin guangshengyuan investment Company limited by guarantee Pledgor: CHINA-TIMES AEROSPACE TECHNOLOGY Co.,Ltd. Registration number: 2014120000056 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20151119 Granted publication date: 20130605 Pledgee: Tianjin guangshengyuan investment Company limited by guarantee Pledgor: CHINA-TIMES AEROSPACE TECHNOLOGY Co.,Ltd. Registration number: 2014120000056 |
|
| PLDC | Enforcement, change and cancellation of contracts on pledge of patent right or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 |