CN103395497A - Small-sized shooting gondola for unmanned aerial vehicle - Google Patents
Small-sized shooting gondola for unmanned aerial vehicle Download PDFInfo
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- CN103395497A CN103395497A CN2013103549247A CN201310354924A CN103395497A CN 103395497 A CN103395497 A CN 103395497A CN 2013103549247 A CN2013103549247 A CN 2013103549247A CN 201310354924 A CN201310354924 A CN 201310354924A CN 103395497 A CN103395497 A CN 103395497A
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Abstract
The invention discloses a small-sized shooting gondola for an unmanned aerial vehicle, which is formed by a direction component, a pitchingpiston component and a shooting component, wherein the direction component and the shooting component are respectively fixed and connected with the pitchingpiston component for communication via cables; a communication cable is connected between the direction component and the shooting component; water tightness of the direction component and the pitchingpiston component is realized via a labyrinth seal; a compact dual-shaft stabilizing platform adopting modularization design is used for carrying a photosensor and other effective loads to achieve dual-shaft stability. The small-sized shooting gondola has the functions of shooting and storing digital photos, outputting visible light videos in real time, quick searching and observing detected targets, stabilizing a gyroscope , stabilizing aiming line , and stepping shooting, namely, a camera horizontal view filed angle is taken as a direction stepping angle, a vertical view field angle is taken as a pitchingpiston stepping angle, the direction of the gondola and pitchinpiston movement are driven, in addition, the camera shutter is controlled to shoot, and full-covering automatic shooting of a specific zone is completed. The small-sized shooting gondola for the unmanned aerial vehicle has the characteristics of simple structure, effective load weight reduction, wide application range and the like.
Description
Technical field
The present invention relates to the small-sized gondola of shooting with video-corder of a kind of unmanned plane, belong to optoelectronic device technical field in aircraft, aeronautical technology.
Background technology
For guaranteeing the safe operation of electric power circuit, electric power line walking staff often crosses over mountain after mountain in daily work, and service conditions is very arduous, and line walking efficiency is low; Part line walking location personnel trek and are difficult to arrive, and need a large amount of manpower and materials supports; Especially serious disaster causes very large destruction to electric power circuit, and after disaster, power failure is difficult to timely reparation, has brought very large impact for commercial production, communications and transportation, the people's life.
Adopt unmanned plane to carry out Daily Round Check to the electric power circuit that the personnel such as mountain area, valley, forest, river are difficult to arrive location, have that flight is flexible, simple to operate, the advantage of high efficiency, effectively reduce the cost of electric power line walking; After various serious disasteies, can use unmanned plane to fly into incident area in the very first time and monitor, complete the tasks such as the processing of electric power burst accident, electric power first-aid, line of power, win the repairing time, reduce casualty loss.
The defects such as the photoelectric nacelle ubiquity Heavy Weight of present domestic development and production, power consumption is high, configuration is fixing, be difficult to meet domestic power industry user's demand.
Summary of the invention
The object of the present invention is to provide a kind of lightweight, compact conformation, modular low profile photovoltaic to shoot with video-corder gondola.
the technical solution adopted for the present invention to solve the technical problems is: the small-sized gondola of shooting with video-corder of a kind of unmanned plane, by the orientation assembly, tilting component and shoot with video-corder assembly and form, orientation assembly and shoot with video-corder that assembly is fixed with tilting component respectively and by the cable connecting communication, orientation assembly and shoot with video-corder between assembly and be connected with communication cable, orientation assembly and tilting component are realized watertight by labyrinth packing, described orientation assembly comprises the orientation housing and is located at azimuth axis and the orientation lid on the orientation housing, on azimuth axis, be fixed with calibrated disc and first belt wheel, on the orientation housing, also be fixed with image plate and control desk, orientation covers and is provided with the digital transmission module that is connected with control desk and the antenna that is connected with digital transmission module, the orientation housing is provided with motor cabinet, the azimuth motor group is installed in motor cabinet, the azimuth motor group is connected with first belt wheel by the first Timing Belt, motor cabinet is provided with the photoswitch that is connected with calibrated disc.
The small-sized gondola of shooting with video-corder of described a kind of unmanned plane, its tilting component comprises Elevation shell and passes through two left axle and right axles that the 3rd bearing is connected with Elevation shell, on left axle and right axle, be fixed with respectively bonnet and protecgulum, on described left axle, by the band wheel seat, be fixed with second largest belt wheel, Elevation shell is provided with the pitching motor group, and the pitching motor group is connected with second largest belt wheel by the second Timing Belt.
The small-sized gondola of shooting with video-corder of described a kind of unmanned plane, all be equipped with servo drive motor and high precision angle-measuring system on its azimuth motor group and pitching motor group.
The small-sized gondola of shooting with video-corder of described a kind of unmanned plane, it shoots with video-corder the camera that assembly comprises sensor board and is fixed on the sensor board top, the sensor board below is gyro block, power panel and camera base fixedly, and gyro block is provided with gyro, and camera base is provided with pick up camera.
the invention has the beneficial effects as follows: the orientation assembly, tilting component and shoot with video-corder between assembly and be connected and realize the information transmission by cable, adopt the compact biaxial stabilization platform of modular design, with the carrying capacity weight such as opto-electronic pickup and realize biaxial stabilization, have and take and store digital photograph, export in real time visible light video, the detected target of fast search and observation, have gyro and increase steady function, realize line-of-sight stabilization, has the stepping camera function, namely take camera horizontal field of view angle as the orientation stepping angle, the vertical field of view angle is the pitching stepping angle, drive gondola orientation and luffing, controlling simultaneously camera shutter takes pictures, complete all standing automatic photography to specific region, have simple in structure, effectively reduce the weight of load, the characteristics such as applied widely.
The accompanying drawing explanation
Fig. 1 is the structural representation of master's apparent direction of the present invention;
Fig. 2 is the structural representation that the present invention overlooks direction;
Fig. 3 is the structural representation of orientation of the present invention assembly master apparent direction;
Fig. 4 is that orientation of the present invention assembly is overlooked the structural representation of direction;
Fig. 5 is the structural representation of tilting component master apparent direction of the present invention;
Fig. 6 is the structural representation that tilting component of the present invention is overlooked direction;
Fig. 7 is the structural representation that the present invention shoots with video-corder assembly.
wherein each token name is called: 1-orientation assembly, 101-digital transmission module, 102-orientation lid, 103-large trim ring, 104-image plate, 105-control desk, 106-calibrated disc, 107-orientation housing, 108-clutch shaft bearing, 109-azimuth axis, the 110-the second bearing, 111-bearing trim ring, 112-antenna, 113-socket, 114-first belt wheel, the 115-the first Timing Belt, 116-tension assembly, 117-photoswitch, 118-azimuth motor group, 119-motor cabinet, 2-tilting component, 201-left axle, 202-band wheel seat, 203-second largest belt wheel, the 204-the second Timing Belt, 205-side cover, 206-pitching motor group, 207-connecting panel, 208-Elevation shell, 209-USB seat, 210-tension wheel, 211-right axle, 212-backstand, 213-limit switch, the 214-the three bearing, 215-little trim ring, 216-bonnet, the 217-the first cover glass, the 218-the second cover glass, 219-protecgulum, 3-shoot with video-corder assembly, 301-sensor board, 302-gyro, 303-gyro block, 304-power panel, 305-camera, 306-pick up camera, 307-camera base, 308-camera lens clip.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
With reference to Fig. 1, shown in Figure 2, the invention discloses the small-sized gondola of shooting with video-corder of a kind of unmanned plane, by orientation assembly 1, tilting component 2 with shoot with video-corder assembly 3 and form, orientation assembly 1 and to shoot with video-corder assembly 3 fixing and by the cable connecting communication with tilting component 2 respectively, orientation assembly 1 and shoot with video-corder between assembly 3 and be connected with communication cable, orientation assembly 1 is realized watertight with tilting component 2 by labyrinth packing.
wherein, as Fig. 3, shown in Figure 4, described orientation assembly 1 comprises orientation housing 107 and is located at azimuth axis 109 and the orientation lid 102 on orientation housing 107, on azimuth axis 109, be fixed with calibrated disc 106 and first belt wheel 114, calibrated disc 106 and photoswitch 117 are realized the counting of orientation continuous rotation, on orientation housing 107, also be fixed with image plate 104 and control desk 105, orientation lid 102 is provided with the digital transmission module 101 that is connected with control desk 105 and the antenna 112 that is connected with digital transmission module 101, digital transmission module 101 is realized the transmission over radio of image, orientation housing 107 is provided with motor cabinet 119, azimuth motor group 118 is installed in motor cabinet 119, azimuth motor group 118 is connected with first belt wheel 114 by the first Timing Belt 115, the small pulley that the first Timing Belt 115 connects on first belt wheel 114 and group of motors 118, orientation and pitch rotation realize by driven by servomotor the first Timing Belt 115, motor cabinet 119 is provided with the photoswitch 117 that is connected with calibrated disc 106, calibrated disc 106 is fixing with azimuth axis 109, described azimuth axis 109 and orientation housing 107 are by clutch shaft bearing 108, the second bearing 110 compresses and is connected with bearing trim ring 111, described orientation lid 102 is provided with socket 113, on motor cabinet 119, also be fixed with tension assembly 116, first belt wheel 114 is pressed abd fixed on azimuth axis 109 by large trim ring 103.
wherein, as Fig. 5, shown in Figure 6, described tilting component 2 comprises Elevation shell 208 and passes through two left axle 201 and right axles 211 that the 3rd bearing 214 is connected with Elevation shell 208, the 3rd bearing 214 is provided with little trim ring 215, on left axle 201 and right axle 211, be fixed with respectively bonnet 216 and protecgulum 219, on described left axle 201, by band wheel seat 202, be fixed with second largest belt wheel 203, Elevation shell 208 is provided with pitching motor group 206, pitching motor group 206 is connected with second largest belt wheel 203 by the second Timing Belt 204, on described protecgulum 219, be pasted with the first cover glass 217 and the second cover glass 218, described Elevation shell 208 is provided with connecting panel 207, connecting panel 207 two ends are provided with side cover 205, described Elevation shell 208 is provided with USB seat 209, limit switch 213 and backstand 212, backstand 212 is provided with tension wheel 210.
Wherein, on described azimuth motor group 118 and pitching motor group 206, servo drive motor and high precision angle-measuring system are installed all.
Wherein, as shown in Figure 7, describedly shoot with video-corder the camera 305 that assembly 3 comprises sensor board 301 and is fixed on sensor board 301 tops, camera 305 is provided with camera lens clip 308, sensor board 301 belows are gyro block 303, power panel 304 and camera base 307 fixedly, gyro block 303 is provided with gyro 302, and camera base 307 is provided with pick up camera 306.
Working process of the present invention is as follows:
unmanned plane provides airborne direct current 12V power supply to the small-sized gondola of shooting with video-corder, through shooting with video-corder the power on power conversion module converts one-tenth+5V of source plate 304 of assembly 3, ± 15V, + 7.2V power supply, then output to respectively the control desk 105 of orientation assembly 1, image plate 104 and gyro 302 and drive motor, the control information of ground station sends control desk 105 to by digital transmission module 101 and the antenna 112 of Telemetry System of UAV comprehensive radio bi-directional data chain warp orientation assembly 1, the realtime graphic that gondola is shot with video-corder is transferred to the aobvious control equipment in ground through image chain, and by built-in encoder and servo drive motor, the azel angle of the residing system of axes of survey sensor image, realize that sensor module is in level, the Double-axle composite moving of pitch orientation, the operating order that the control desk 105 of orientation assembly 1 provides by ground station's operator according to target image state, control the normal operation of gondola, and the mode of operation of demonstration gondola.
Stabilization process: the gyro 302 that is arranged in gondola is sensed waving of unmanned plane, semaphore is outputed to control desk 105, control desk 105 drives the pitching motor group 206 on azimuth motor group 118 and tilting component 2 by the output of the semaphore after stability Calculation, and the boresight that makes to shoot with video-corder assembly 3 keeps stable inertia.
Tracing process: control desk 105 receives image plates 104 and measures the target barycenter with respect to orientation, the pitch deviation at the 3 boresight centers of shooting with video-corder assembly, by gyro 302 stabilized driving azimuth motor group 118 and pitching motor groups 206, the boresight that makes to shoot with video-corder assembly 3 keep to target from motion tracking.
The stepping process of taking pictures: take camera horizontal field of view angle as the orientation stepping angle, the vertical field of view angle is the pitching stepping angle, drive gondola orientation and luffing, controlling simultaneously camera shutter takes pictures, complete all standing automatic photography to specific region, stepping angle, the quantity of taking pictures, overlap coefficient etc. can be arranged by the user.
orientation of the present invention assembly 1, tilting component 2 and shoot with video-corder between assembly 3 and be connected and realize the information transmission by cable, adopt the compact biaxial stabilization platform of modular design, with the carrying capacity weight such as opto-electronic pickup and realize biaxial stabilization, have and take and store digital photograph, export in real time visible light video, the detected target of fast search and observation, have gyro and increase steady function, realize line-of-sight stabilization, has the stepping camera function, namely take camera horizontal field of view angle as the orientation stepping angle, the vertical field of view angle is the pitching stepping angle, drive gondola orientation and luffing, controlling simultaneously camera shutter takes pictures, complete all standing automatic photography to specific region, have simple in structure, effectively reduce the weight of load, the characteristics such as applied widely.
Advantage of the present invention is, adopt modular design, have and take and store digital photograph, export in real time visible light video, the detected target of fast search and observation, have gyro and increase steady function, realize line-of-sight stabilization, have the stepping camera function, namely take camera horizontal field of view angle as the orientation stepping angle, the vertical field of view angle is the pitching stepping angle, drives gondola orientation and luffing, controls simultaneously camera shutter and takes pictures, complete all standing automatic photography to specific region, have simple in structurely, effectively reduce the weight of load, the characteristics such as applied widely.The slr camera of the built-in 1.2kg of gondola, and realized the gyrocontrol function, compact conformation and volume are little, weight is only 6kg, and the suitable dress property of load is strong, owing to being equipped with wireless data transmission module, the external electrical interface is very simple, simple and convenient operation and maintenance, due to for tele camera, strengthened detection and the discernibility of operator to the electrical equipment situation in the process of taking photo by plane.
Above-described embodiment is illustrative principle of the present invention and effect thereof only; and the embodiment of part utilization, for the person of ordinary skill of the art, without departing from the concept of the premise of the invention; can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (9)
1. small-sized gondola of shooting with video-corder of unmanned plane, by orientation assembly (1), tilting component (2) and shoot with video-corder assembly (3) and form, orientation assembly (1) and to shoot with video-corder assembly (3) fixing and by the cable connecting communication with tilting component (2) respectively, orientation assembly (1) and shoot with video-corder between assembly (3) and be connected with communication cable, orientation assembly (1) is realized watertight with tilting component (2) by labyrinth packing, it is characterized in that: described orientation assembly (1) comprises orientation housing (107) and is located at azimuth axis (109) and the orientation lid (102) on orientation housing (107), on azimuth axis (109), be fixed with calibrated disc (106) and first belt wheel (114), on orientation housing (107), also be fixed with image plate (104) and control desk (105), orientation lid (102) is provided with the digital transmission module (101) that is connected with control desk (105) and the antenna (112) that is connected with digital transmission module (101), orientation housing (107) is provided with motor cabinet (119), azimuth motor group (118) is installed in motor cabinet (119), azimuth motor group (118) is connected with first belt wheel (114) by the first Timing Belt (115), motor cabinet (119) is provided with the photoswitch (117) that is connected with calibrated disc (106).
2. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 1, it is characterized in that, described tilting component (2) comprises Elevation shell (208) and passes through two left axle (201) and right axles (211) that the 3rd bearing (214) is connected with Elevation shell (208), on left axle (201) and right axle (211), be fixed with respectively bonnet (216) and protecgulum (219), described left axle (201) is upper is fixed with second largest belt wheel (203) by band wheel seat (202), Elevation shell (208) is provided with pitching motor group (206), pitching motor group (206) is connected with second largest belt wheel (203) by the second Timing Belt (204).
3. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 2, is characterized in that, on described azimuth motor group (118) and pitching motor group (206), servo drive motor and high precision angle-measuring system is installed all.
4. the small-sized gondola of shooting with video-corder of according to claim 1 and 2 or 3 described a kind of unmanned plane, it is characterized in that, describedly shoot with video-corder the camera (305) that assembly (3) comprises sensor board (301) and is fixed on sensor board (301) top, sensor board (301) below is gyro block (303), power panel (304) and camera base (307) fixedly, gyro block (303) is provided with gyro (302), and camera base (307) is provided with pick up camera (306).
5. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 4, is characterized in that, described azimuth axis (109) compresses and is connected by clutch shaft bearing (108), the second bearing (110) and bearing trim ring (111) with orientation housing (107).
6. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 5, it is characterized in that, described orientation lid (102) is provided with socket (113), on motor cabinet (119), also be fixed with tension assembly (116), first belt wheel (114) is pressed abd fixed on azimuth axis (109) by large trim ring (103).
7. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 6, is characterized in that, on described protecgulum (219), is pasted with the first cover glass (217) and the second cover glass (218).
8. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 7, is characterized in that, described Elevation shell (208) is provided with connecting panel (207), and connecting panel (207) two ends are provided with side cover (205).
9. the small-sized gondola of shooting with video-corder of a kind of unmanned plane according to claim 8, it is characterized in that, described Elevation shell (208) is provided with USB seat (209), limit switch (213) and backstand (212), and backstand (212) is provided with tension wheel (210).
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| CN201310354924.7A CN103395497B (en) | 2013-08-14 | 2013-08-14 | A kind of small-sized shoot with video-corder gondola without man-machine |
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| CN201310354924.7A CN103395497B (en) | 2013-08-14 | 2013-08-14 | A kind of small-sized shoot with video-corder gondola without man-machine |
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| CN104058099A (en) * | 2014-06-30 | 2014-09-24 | 武汉华中天经光电系统有限公司 | Unmanned plane electro-optical pod |
| CN104500934A (en) * | 2015-01-04 | 2015-04-08 | 凯迈（洛阳）测控有限公司 | Pod with pitching function and pitching bracket assembly thereof |
| CN104828256A (en) * | 2015-04-21 | 2015-08-12 | 杨珊珊 | Intelligent multi-mode flying shooting equipment and flying control method thereof |
| CN105573343A (en) * | 2016-02-22 | 2016-05-11 | 铱格斯曼航空科技集团有限公司 | Capture system based on unmanned aerial vehicle |
| CN106122700A (en) * | 2016-08-19 | 2016-11-16 | 维高时代（北京）科技有限公司 | The stabilized platform shafting structure of a kind of gyrocontrol high definition camera chain and assembly method thereof |
| CN108248880A (en) * | 2016-12-28 | 2018-07-06 | 北京卓翼智能科技有限公司 | For being tethered at two axis photoelectric nacelles of unmanned plane |
| CN108327921A (en) * | 2017-12-29 | 2018-07-27 | 北京华信宇航科技有限公司 | A kind of gondola in replaceable ball cabin |
| CN111366155A (en) * | 2020-03-27 | 2020-07-03 | 西安应用光学研究所 | Local scanning method based on airborne photoelectric system |
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN116557715A (en) * | 2023-07-12 | 2023-08-08 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
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| CN104058099A (en) * | 2014-06-30 | 2014-09-24 | 武汉华中天经光电系统有限公司 | Unmanned plane electro-optical pod |
| CN104500934B (en) * | 2015-01-04 | 2017-11-10 | 凯迈（洛阳）测控有限公司 | Gondola and its tilt mount assembly with pitching function |
| CN104500934A (en) * | 2015-01-04 | 2015-04-08 | 凯迈（洛阳）测控有限公司 | Pod with pitching function and pitching bracket assembly thereof |
| CN104828256A (en) * | 2015-04-21 | 2015-08-12 | 杨珊珊 | Intelligent multi-mode flying shooting equipment and flying control method thereof |
| CN104828256B (en) * | 2015-04-21 | 2016-09-28 | 杨珊珊 | A kind of intelligent multi-control flight capture apparatus and flight control method thereof |
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| CN106122700B (en) * | 2016-08-19 | 2018-06-15 | 维高时代（北京）科技有限公司 | The stabilized platform shafting structure and its assembly method of a kind of gyrocontrol high definition camera chain |
| CN106122700A (en) * | 2016-08-19 | 2016-11-16 | 维高时代（北京）科技有限公司 | The stabilized platform shafting structure of a kind of gyrocontrol high definition camera chain and assembly method thereof |
| CN108248880A (en) * | 2016-12-28 | 2018-07-06 | 北京卓翼智能科技有限公司 | For being tethered at two axis photoelectric nacelles of unmanned plane |
| CN108327921A (en) * | 2017-12-29 | 2018-07-27 | 北京华信宇航科技有限公司 | A kind of gondola in replaceable ball cabin |
| CN108327921B (en) * | 2017-12-29 | 2023-12-26 | 北京华信宇航科技有限公司 | Nacelle with replaceable spherical cabin |
| CN111366155A (en) * | 2020-03-27 | 2020-07-03 | 西安应用光学研究所 | Local scanning method based on airborne photoelectric system |
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN111846240B (en) * | 2020-08-03 | 2022-02-22 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN116557715A (en) * | 2023-07-12 | 2023-08-08 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
| CN116557715B (en) * | 2023-07-12 | 2023-10-03 | 长春通视光电技术股份有限公司 | Suspension type airtight photoelectric turntable |
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