CN102679114A - Hoisting chamber - Google Patents
Hoisting chamber Download PDFInfo
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- CN102679114A CN102679114A CN2011104157215A CN201110415721A CN102679114A CN 102679114 A CN102679114 A CN 102679114A CN 2011104157215 A CN2011104157215 A CN 2011104157215A CN 201110415721 A CN201110415721 A CN 201110415721A CN 102679114 A CN102679114 A CN 102679114A
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Abstract
The invention discloses a hoisting chamber. The hoisting chamber comprises a housing for installing an imaging sensor and further comprises a connecting plate which is connected with a downwards overhung support, wherein the housing is connected on the support; an azimuth motor for driving the support to rotate is arranged on the connecting plate; the housing is arranged between two connecting arms and respectively assembled to two connecting arms in a rotating way by surrounding a horizontal rotation axis; a pitching motor for driving the housing to rotate around the horizontal axis is fixed in the housing; a housing revolving shaft arranged coaxially with the rotation axis of the housing is arranged on the connecting arm; the revolving shaft of the housing is in transmission connection with the pitching motor through a planetary gear pair, which can drive the pitching motor to rotate relative to the housing in a pitching way. According to the hoisting chamber, the support with symmetric Y-shaped structure is adopted to improve the strength of the whole hoisting chamber; and the support and the housing can be individually rotated through two frame shaft systems.
Description
Technical field
The present invention relates to monitoring equipment.
Background technique
Of the prior art some be installed in being used on aerospace vehicle, vehicle, naval vessel and the fixed building and gather the image forming machine of video information; Need to use gondola to realize the adjusting in image forming machine alignment lens orientation; And existing gondola generally can only be realized the adjusting of luffing angle, can not satisfy the needs of requirements at the higher level.
Summary of the invention
The object of the present invention is to provide and a kind ofly not only can but also can realize gondola around the pitch regulation of horizontal axis around the pivotal axis rotation adjusting.
Technological scheme of the present invention is: a kind of gondola; Comprise the housing that is used to be mounted to image-position sensor; Also comprise the connecting plate that is connected with the support that overhangs downwards; Said housing is connected on the support; Said support is inverted Y-shaped structure, the support shaft of the neck shape that cooperates around vertical pivot axis with connecting plate that support comprises the upper end, be connected in the support shaft bottom the shoulder shape crossbeam and overhang downwards and bilateral symmetry link arm spaced apart from the crossbeam two ends, connecting plate is provided with and is used for the azimuth-drive motor that driving arm rotates; Said housing is arranged between two link arms and rotates assembling respectively around the rotation axis and two link arms of level; The housing internal fixation is useful on the pitching motor that drive shell is rotated around horizontal axis; Said link arm is provided with the housing rotating shaft that is provided with the coaxial of housing, and the output shaft of this housing rotating shaft through planetary pinion transmission and said pitching motor is in transmission connection and realizes the driving that pitching motor moves to the housing pitch rotation.
Annular spherical zone in the middle of said housing structure spherical in shape, housing comprise and the domed preceding spherical shell of butt and the domed back spherical shell that are fixedly connected on annular spherical zone rear and front end respectively, the butt of preceding spherical shell front end is partly reserved window and transparent cover is installed.
Said support is provided with from the groove of crossbeam to the link arm extension of both sides.
Between said support and the connecting plate and/or the part that is rotatably assorted of support and housing rotary electric connector is installed.
Said gondola also comprises two-freedom gondola control system; This system comprises vidicon camera, described azimuth-drive motor and pitching motor; Corresponding respectively being provided with of azimuth-drive motor and pitching motor is used for their the first servo-drive plate of drive controlling and the second servo-drive plate; Vidicon camera comprises visible light sensor, infrared senor and is used to switch visible light sensor and camera control panel that infrared senor carries out work; Be respectively equipped with first encoder and second encoder on the output shaft of azimuth-drive motor and pitching motor, the output of two encoders connects corresponding servo-drive plate; It is characterized in that control system also comprises master control borad, the main controller output control on the master control borad, input sample connect the said first servo-drive plate and the second servo-drive plate; Main controller is the said camera control panel of control connection also; Master control borad is provided with a video switch circuit that is controlled by main controller; This video switch circuit input connects the two-way image data output port of said visible light sensor and infrared senor; Output connects said main controller, and a road selected image data transmission is arrived main controller.
Said video switch circuit comprises HEF4052BT chip and peripheral circuit thereof.
Said main controller is character superpositing unit of control connection also, and the output of said character superpositing unit is connected to imaging display device, and the image information that information that is used for said encoder is gathered and said sensor are gathered shows in real time.
Said character superpositing unit comprises MAX7456 chip and peripheral circuit thereof.
Said azimuth-drive motor and pitching motor are DC servo motor.
Said main controller also is connected with the storage that is used for storing image data.
The present invention adopts two gimbal axis system to realize the independent rotation of supports, housing, and adopt symmetry Y shape structure support and improved the bulk strength of gondola.The present invention can be used for tasks such as round-the-clock execution information, reconnaissance and surveillance.Gondola is collected video information and data, and data can be stored in aircraft, also can send to the ground handling station in real time, makes that the staff is efficient must to accomplish scouting, scan task.Improved the stability of control system, cost is low, except that the equipment aircraft, also can be vehicle-mounted or carrier-borne, and rescuing, follow the trail of aspects such as scouting, forest-fire prevention, marine anti-smuggling, traffic monitoring, digital city construction at sea has great development prospect.
Description of drawings
Fig. 1 is a control system block diagram of the present invention;
Fig. 2 is main controller of the present invention and relevant communicating circuit figure;
Fig. 3 is OSD of the present invention and video switch circuit figure
Fig. 4 is a video output circuit of the present invention;
Fig. 5 is the mechanical structure schematic representation of gondola;
Fig. 6 is the left view of Fig. 5.
Embodiment
Like Fig. 1-shown in Figure 6; The embodiment of gondola of the present invention; Comprise connecting plate 1; Be rotatably equipped with the support 2 that overhangs on the connecting plate 1 downwards, support 2 is inverted Y-shaped structure, and support 2 comprises that the support shaft 21 that passes through the neck shape that bearing and connecting plate 1 cooperate around vertical pivot axis of upper end, the crossbeam 22 that is connected in the shoulder shape of support shaft bottom reach the also bilateral symmetry link arm 23 spaced apart that overhangs from the crossbeam two ends downwards; It is for weight reduction that crossbeam 22 is provided with groove, and link arm 23 is provided with the groove that is used for cabling.On connecting plate, be provided with the azimuth-drive motor 3 that is used for driving arm 1 rotation; The output shaft of azimuth-drive motor 3 is in transmission connection through the support shaft 21 of gear pair reducing gear and support 2; Certainly in other embodiments of the invention; Also can adopt the transmission of other forms of driving mechanism realization azimuth-drive motor power to the support shaft in the routine techniques, such as chain, band transmission.In addition; Between support shaft 21 and the connecting plate 1 rotary electric connector 6 is installed; Conduction through conducting slip ring in the rotary electric connector and brush is slidingly matched and realizes electric power by the transmission of connecting plate 1 to support 2, guarantee support 2 can 360 ° rotation and can not twist the electric wire in disconnection fishplate bar 1 and the support 2 continuously.
The link arm 23 of support 2 is equipped with around the pivot axis of level through corresponding bearing and is located at the housing 4 that being used between two link arms 23 is mounted to image-position sensor; Housing 4 structures spherical in shape; Annular spherical zone 41 in the middle of housing 4 comprises and employing screw are connected to the domed preceding spherical shell 42 of butt and domed back spherical shell 43 of annular spherical zone 41 rear and front ends; The butt of preceding spherical shell front end is partly reserved window and transparent cover 44 is installed, and satisfies photographing request.Housing 4 internal fixation are useful on the pitching motor 5 that drive shell 4 is rotated around horizontal axis; The link arm 23 of said support 2 is provided with the housing rotating shaft 231 that is provided with the coaxial of housing 4; The output shaft of this housing rotating shaft 231 through planetary pinion transmission and said pitching motor 5 is in transmission connection and realizes the driving of 5 pairs of housing 4 pitch rotation actions of pitching motor; In the present embodiment; The planetary pinion transmission comprises the gearwheel 71 that is fixed in rotating center and the small gear 72 that is in transmission connection with pitching motor 5 that rotates around gearwheel; Certainly in other embodiments of the invention, also can adopt the other forms of planetary pinion in the routine techniques secondary, as have sun gear, have the planet carrier of a plurality of planet wheels and the comparatively complicated planetary gear train that external toothing constitutes.In addition; Position-limit mechanism is set on pitching frame; Guarantee the angular range of pitching movement, appearance surpassed 360 ° rotation and twists the outage line when anti-locking system was switched on, certainly in other embodiments of the invention; Also can rotary electric connector be set at the place of being rotatably assorted of housing and support; Make in electric wire and the support in the housing electric wire be rotated electric coupler and be split up into and not only conduct electricity but also two-part of transmitting torque not, and if do not need the occasion of 360 degree rotations, also can the adopting position-limit mechanism of support and connecting plate and do not use rotary electric connector.
In addition; In order to realize collection and control to support 2, housing 4 rotation angle information, the output terminal of azimuth-drive motor, pitching motor with and the rotating shaft of the correspondence of the rotatable parts that are in transmission connection on the sensor of rotating coder as position feedback control all is installed.
The above embodiment of the present invention in use; The motion that gondola can be realized has two to rotatablely move: one is the rotation of housing 3 and interior image transducer thereof, and housing 3 can be with respect to support 2 rotations, and gearwheel is motionless in the rotation; Small gear rotates round gearwheel; Drive pitching motor, image transducer, housing rotate simultaneously, realize the rotation of housing 3 with respect to support 2 through pitching motor in the housing 3 and respective teeth wheel sets, accomplish photographing request.Another one is the rotation of support 2 with respect to connecting plate 1, realizes 360 ° of rotations through the azimuth-drive motor driving arm above the connecting plate 12.
The accurate control of regulating for the two-freedom of realizing gondola; Embodiments of the invention also adopt following two-freedom gondola control system; This system comprises vidicon camera, the orthogonal azimuth-drive motor of rotatingshaft and pitching motor; Azimuth-drive motor and pitching motor all adopt actuating motor; Actuating motor is provided with the servo-drive plate, adopts DC servo motor among the present invention, respectively first servo-drive plate (the servo-drive plate 1 among the figure) and the second servo-drive plate (the servo-drive plate 2 among the figure) in the corresponding diagram 1; Vidicon camera also comprises the visible light sensor and the infrared senor that are suitable for day and night work respectively except comprising camera lens, and the camera control panel of two kinds of working sensors is switched in control; Two kinds of sensors can be with captured image data transmission to main controller.Above-mentioned motor, servo-drive plate, vidicon camera, sensor etc. all have Related product can select to use, so repeat no more at this.
Like Fig. 1; Be respectively equipped with on the output shaft of azimuth-drive motor and pitching motor and be used for gathering gondola around first encoder (encoder 1 of figure) of vertical axis rotation angle and second encoder around the horizontal axis rotation angle (encoder 2 among the figure) of collection gondola, the corresponding servo-drive plate of two encoders output connection.Encoder adopts photoelectric encoder, with the angle that turns over change calculate for information transmission such as velocity location to the servo-drive plate, take for master control borad.Certainly in other embodiments of the invention; First encoder and second encoder also can be arranged in other rotating shafts that can gather the gondola angular signal, like gondola rotating shaft, support shaft or be arranged on the respective axes of rotation in the reducing gear that motor output end is in transmission connection.
Like Fig. 2; Main controller U201 and peripheral circuit thereof all are arranged on the said master control borad; Main controller U201 and the first servo-drive plate are with second the servo-drive plate is corresponding is connected; Main controller U201 sends control command to the servo-drive plate makes motor carry out corresponding action, and through encoder sampling corresponding signal.(main controller U201 is P21, P22, P42, P25, P26 and P43 to servo-drive plate output control signal, and the input sample signal comprises P20, P23 and P24, P27.) main controller U201 is the control core of native system, selects the ATmega128 chip of atmel corp or the STC12C5A32S2 among Fig. 2 for use.U200 and U203 are RS-422 communication IC, and U200 is responsible for carrying out communication with camera control panel, and U203 is responsible for carrying out communication with upper-position unit, and U202 is an eeprom memory, store the data that outage is possibly preserved.S201 is the control switch that downloads, and J201 is the online interface that downloads, and S200 reserves.D200 and D201 are status indicator lamp.
Like Fig. 3; Also be provided with a video switch circuit that is controlled by main controller on the master control borad, it is acp chip that video switch circuit switches IC with the video output of U300, and U201 controls selection by main controller; The U300 input connects the two-way image data output port VIDEO1 of visible light sensor and infrared senor; VIDEO2 outputs to main controller U201, and a road selected image data transmission is arrived main controller U201.U300 selects HEF4052BT for use, controls selection with P34, these two pins of P35 (VIDEOA or VIDEOB) of single-chip microcomputer, and Y0～Y3 is the video data input end.
The position information that main controller U201 gathers video information and the encoder of VIDEO1 or VIDEO2 etc. outputs to a character superpositing unit (OSD) through corresponding ports (P40 of U201, P41, P44, P45) and superposes; Realize osd function; I.e. information such as overlapping system action, state on video signal; With forms such as character, numeral, icons, show in real time at the correct position of video image.The OSD chip is U301 (selecting chip MAX7456 for use).Like Fig. 4, OSD chip U301 output (output terminal VOUT) is to a video output circuit, i.e. isolating amplifier circuit, and (VIDEOOUT1 is VIDEOOUT2) to imaging display device to be divided into two-way output.
Like Fig. 1, control system also comprises power supply unit, and the 14VDC with the outside input converts 12VDC and 5VDC into through voltage stabilizing, is respectively power supplies such as motor, servo-drive plate, master control borad, sensor.
The present invention also has following characteristics:
Realize that through the speed ring closed loop control motion is by the rate request motion (velocity amplitude can be set adjustment in real time by system command in 0～60 °/s scope) of regulation under the mode of operations such as manual scanning, automatic scan.
Realize motion angle position stability under the mode of operations such as direction locking, collection protection through the position ring closed loop control, and, automatically shut down servo circuit output (60s attonity, nothing order), with energy-saving mode work according to actual conditions.Speed closed loop and position closed loop are all by the feedback information of encoder.
Substantially horizontal (rotating) range of movement: 360 ° of rotations continuously around pivotal axis.
The pitch orientation range of movement :-100 °～+ 80 °, electronic limit is established at two ends.
Level, pitch orientation movement velocity: 0～60 °/s is adjustable, and the output of two motors all has speed reducer, about 273.5 demultiplications speed.
Set up position transducer (Hall type or photoelectric type), be contained on the link arm, be used to measure the angle that camera lens turns over, fit increments formula encoder index signal is accurately located orientation, pitch orientation angle zero-bit (precision 2mrad).
Can measure output orientation, pitching angle in real time, and show measuring precision of angle 1mrad through the stack of video image character.
Take measures such as photoelectricity isolation, electromagnetic shielding, filtering, avoid ABAP Adapter, signal and this control circuit that video image is formed and disturb.
Claims (10)
1. gondola; Comprise the housing that is used to be mounted to image-position sensor; It is characterized in that; Also comprise the connecting plate that is connected with the support that overhangs downwards, said housing is connected on the support, and said support is inverted Y-shaped structure; The support shaft of the neck shape that cooperates around vertical pivot axis with connecting plate that support comprises the upper end, be connected in the support shaft bottom the shoulder shape crossbeam and overhang downwards and bilateral symmetry link arm spaced apart from the crossbeam two ends, connecting plate is provided with and is used for the azimuth-drive motor that driving arm rotates; Said housing is arranged between two link arms and rotates assembling respectively around the rotation axis and two link arms of level; The housing internal fixation is useful on the pitching motor that drive shell is rotated around horizontal axis; Said link arm is provided with the housing rotating shaft that is provided with the coaxial of housing, and the output shaft of this housing rotating shaft through planetary pinion transmission and said pitching motor is in transmission connection and realizes the driving that pitching motor moves to the housing pitch rotation.
2. gondola according to claim 1; It is characterized in that; Said housing structure spherical in shape; Annular spherical zone in the middle of housing comprises and the domed preceding spherical shell of butt and the domed back spherical shell that are fixedly connected on annular spherical zone rear and front end respectively, the butt of preceding spherical shell front end is partly reserved window and transparent cover is installed.
3. gondola according to claim 1 is characterized in that, said support is provided with from the groove of crossbeam to the link arm extension of both sides.
4. gondola according to claim 1 is characterized in that, between said support and the connecting plate and/or the part that is rotatably assorted of support and housing rotary electric connector is installed.
5. gondola according to claim 2; It is characterized in that: said gondola also comprises two-freedom gondola control system; This system comprises vidicon camera, described azimuth-drive motor and pitching motor; Corresponding respectively being provided with of azimuth-drive motor and pitching motor is used for their the first servo-drive plate of drive controlling and the second servo-drive plate; Vidicon camera comprises visible light sensor, infrared senor and is used to switch visible light sensor and camera control panel that infrared senor carries out work, is respectively equipped with first encoder and second encoder on the output shaft of azimuth-drive motor and pitching motor, and the output of two encoders connects corresponding servo-drive plate; It is characterized in that control system also comprises master control borad, the main controller output control on the master control borad, input sample connect the said first servo-drive plate and the second servo-drive plate; Main controller is the said camera control panel of control connection also; Master control borad is provided with a video switch circuit that is controlled by main controller; This video switch circuit input connects the two-way image data output port of said visible light sensor and infrared senor; Output connects said main controller, and a road selected image data transmission is arrived main controller.
6. gondola according to claim 5 is characterized in that said video switch circuit comprises HEF4052BT chip and peripheral circuit thereof.
7. gondola according to claim 5; It is characterized in that; Said main controller is character superpositing unit of control connection also, and the output of said character superpositing unit is connected to imaging display device, and the image information that information that is used for said encoder is gathered and said sensor are gathered shows in real time.
8. gondola according to claim 7 is characterized in that, said character superpositing unit comprises MAX7456 chip and peripheral circuit thereof.
9. gondola according to claim 5 is characterized in that said azimuth-drive motor and pitching motor are DC servo motor.
10. gondola according to claim 5 is characterized in that said main controller also is connected with the storage that is used for storing image data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110415721.5A CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110415721.5A CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
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| Publication Number | Publication Date |
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| CN102679114A true CN102679114A (en) | 2012-09-19 |
| CN102679114B CN102679114B (en) | 2014-04-16 |
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| CN201110415721.5A Expired - Fee Related CN102679114B (en) | 2011-12-13 | 2011-12-13 | Hoisting chamber |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102984423A (en) * | 2012-11-26 | 2013-03-20 | 中国科学院长春光学精密机械与物理研究所 | Spot scanning imaging method for trigger exposure of encoder |
| CN103395497A (en) * | 2013-08-14 | 2013-11-20 | 武汉华中天经光电系统有限公司 | Small-sized shooting gondola for unmanned aerial vehicle |
| CN104229150A (en) * | 2014-08-27 | 2014-12-24 | 中国科学院长春光学精密机械与物理研究所 | Horizontal roller system of onboard photoelectric pod |
| CN104608935A (en) * | 2015-03-09 | 2015-05-13 | 杨文昊 | Model aircraft |
| CN104803004A (en) * | 2015-02-13 | 2015-07-29 | 徐鹏 | Shooting device for aerial photo holder |
| CN104976492A (en) * | 2015-06-23 | 2015-10-14 | 中山市安领星电子科技有限公司 | Omnidirectional pan-tilt |
| CN106347696A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Light and small photoelectric pod |
| CN106523862A (en) * | 2016-12-02 | 2017-03-22 | 维高时代（北京）科技有限公司 | Gyrostabilized photographing system |
| CN106742005A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter |
| CN107528999A (en) * | 2016-06-17 | 2017-12-29 | 韩华泰科株式会社 | Monitoring camera system |
| CN108105550A (en) * | 2017-12-19 | 2018-06-01 | 中国长光卫星技术有限公司 | A kind of sweep type photogrammetric apparatus for eliminating backlash |
| CN109099833A (en) * | 2018-09-03 | 2018-12-28 | 中国科学院长春光学精密机械与物理研究所 | A kind of shafting angle zero-bit for small-sized stabilized platform determines method and system |
| CN109348099A (en) * | 2018-10-15 | 2019-02-15 | 北京环境特性研究所 | A kind of video monitoring system |
| CN109677612A (en) * | 2019-01-17 | 2019-04-26 | 昔阳县农业广播电视学校 | A kind of agricultural planting plant protection drone |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102984423A (en) * | 2012-11-26 | 2013-03-20 | 中国科学院长春光学精密机械与物理研究所 | Spot scanning imaging method for trigger exposure of encoder |
| CN103395497A (en) * | 2013-08-14 | 2013-11-20 | 武汉华中天经光电系统有限公司 | Small-sized shooting gondola for unmanned aerial vehicle |
| CN103395497B (en) * | 2013-08-14 | 2016-06-08 | 武汉华中天经光电系统有限公司 | A kind of small-sized shoot with video-corder gondola without man-machine |
| CN104229150A (en) * | 2014-08-27 | 2014-12-24 | 中国科学院长春光学精密机械与物理研究所 | Horizontal roller system of onboard photoelectric pod |
| CN104803004A (en) * | 2015-02-13 | 2015-07-29 | 徐鹏 | Shooting device for aerial photo holder |
| CN104608935A (en) * | 2015-03-09 | 2015-05-13 | 杨文昊 | Model aircraft |
| CN104976492A (en) * | 2015-06-23 | 2015-10-14 | 中山市安领星电子科技有限公司 | Omnidirectional pan-tilt |
| CN107528999B (en) * | 2016-06-17 | 2021-06-15 | 韩华泰科株式会社 | Monitoring camera system |
| CN107528999A (en) * | 2016-06-17 | 2017-12-29 | 韩华泰科株式会社 | Monitoring camera system |
| CN106347696A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Light and small photoelectric pod |
| CN106742005A (en) * | 2016-11-21 | 2017-05-31 | 国网山东省电力公司电力科学研究院 | A kind of power-line patrolling photoelectric nacelle and depopulated helicopter |
| CN106523862A (en) * | 2016-12-02 | 2017-03-22 | 维高时代（北京）科技有限公司 | Gyrostabilized photographing system |
| CN106523862B (en) * | 2016-12-02 | 2019-01-25 | 维高时代（北京）科技有限公司 | A kind of gyrocontrol camera chain |
| CN108105550A (en) * | 2017-12-19 | 2018-06-01 | 中国长光卫星技术有限公司 | A kind of sweep type photogrammetric apparatus for eliminating backlash |
| CN109099833A (en) * | 2018-09-03 | 2018-12-28 | 中国科学院长春光学精密机械与物理研究所 | A kind of shafting angle zero-bit for small-sized stabilized platform determines method and system |
| CN109348099A (en) * | 2018-10-15 | 2019-02-15 | 北京环境特性研究所 | A kind of video monitoring system |
| CN109348099B (en) * | 2018-10-15 | 2024-03-26 | 北京环境特性研究所 | Video monitoring system |
| CN109677612A (en) * | 2019-01-17 | 2019-04-26 | 昔阳县农业广播电视学校 | A kind of agricultural planting plant protection drone |
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