CN104176265B - The reversible supporting frame system that a kind of unmanned plane panorama camera uses - Google Patents

The reversible supporting frame system that a kind of unmanned plane panorama camera uses Download PDF

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Publication number
CN104176265B
CN104176265B CN201410326873.1A CN201410326873A CN104176265B CN 104176265 B CN104176265 B CN 104176265B CN 201410326873 A CN201410326873 A CN 201410326873A CN 104176265 B CN104176265 B CN 104176265B
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unmanned plane
camera
gyroaxis
panorama camera
undercarriage
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CN104176265A (en
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王敏
周树道
李济生
文滋木
贾赟
王彦杰
马忠良
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PLA University of Science and Technology
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PLA University of Science and Technology
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Abstract

The present invention relates to the reversible supporting frame system that a kind of unmanned plane panorama camera uses, comprise undercarriage, stepper motor, central processing unit, power supply, ultrasonic range finder sensor, gyroaxis, camera pallet, rolling bearing, connector; A pair of undercarriage central authorities are provided with gyroaxis, camera pallet is fixed on gyroaxis central authorities, and central processing unit, power supply, ultrasonic range finder sensor and stepper motor are fixed on undercarriage, the rotation output engagement gyroaxis of stepper motor. Can prevent that unmanned plane undercarriage from affecting panorama camera visual field; based on the reversible supporting frame system of the present invention's design; can be according to the distance of rising and falling of unmanned plane; to the panorama camera folding and unfolding of overturning; can prevent panorama camera carry out panoramic picture while gathering unmanned plane undercarriage fall in image; improve integrality and the quality of IMAQ, can also avoid camera lens to contact with ground, played the effect of len.

Description

The reversible supporting frame system that a kind of unmanned plane panorama camera uses
Technical field
The present invention relates to the reversible supporting frame system that a kind of unmanned plane panorama camera uses, can prevent the impact of unmanned plane undercarriageThe reversible supporting frame system of panorama camera visual field.
Background technology
Panoramic imagery utilizes that special imaging device can obtain 360 ° of horizontal directions one week from a viewpoint, vertical direction is largeTo the multidirectional image of the above visual field of hemisphere, due to features such as areas imaging are large, imaging is fast, can be military investigation, robotThe fields such as navigation, virtual reality, computer vision provide three-dimensional perception and the reproduction capability of large visual field scene, development in recent yearsFast, become the study hotspot of photoelectronics, computer vision and computer graphics.
So far, mainly contain following three kinds of methods that realize panoramic imagery: Image Mosaics method, fish eye lens method and catadioptricPenetrate panoramic imagery method. Refraction-reflection panoramic imaging techniques is owing to having disposable imaging characteristics on a large scale, and real-time performance is excellent, andAnd simple in structure, no-raster parts, without splicing, thereby can be used as substitute existing aviation panorama camera bring into play prior workWith. But due to the existence of unmanned plane undercarriage, make refraction-reflection panorama camera in the time obtaining omnidirectional images, always existBlocking of undercarriage, causes the problems such as image acquisition key element is imperfect, image quality is not high.
Summary of the invention
For above-mentioned technical problem, technical problem to be solved by this invention be to provide a kind of simple in structure, imaging key element is neatReversible supporting frame system safe and convenient to use entirely. Propose a kind ofly to prevent that unmanned plane undercarriage from affecting panorama camera visual fieldReversible supporting frame system.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: unmanned plane panorama camera use turningFrame system and method for work, undercarriage 1, stepper motor 2, central processing unit 3, power supply 4, ultrasonic range finder sensor 5,Gyroaxis 6, camera pallet 7, panorama camera 8, rolling bearing 9, connector 10; A pair of undercarriage 1 central authorities are provided with backRotating shaft 6, camera pallet 7 are fixed on gyroaxis 6 central authorities, central processing unit 3, power supply 4, ultrasonic range finder sensor 5 andStepper motor 2 is fixed on undercarriage, the rotation output engagement gyroaxis of stepper motor 2.
Further, the other end of gyroaxis is fixed on rolling bearing 9, during ultrasonic range finder sensor 5 signal outputs are connected inThe signal input part of central processor 3, the control output end of central processing unit 3 connects control step motor 2 and rotates control end.
Further, rolling bearing 9 is arranged on a undercarriage by connector 10.
Further, gyroaxis 6 drives camera pallet 7 to make panorama camera 8 in two positions up and down.
The present invention includes ultrasonic distance-measuring sensor module, stepper motor module, CPU module, panorama camera andRack module and power module, described ultrasonic distance-measuring sensor module is used for measuring unmanned plane organism bottom apart from groundVertical range, stepper motor module is used for driving the vertical 180 degree upsets of panorama camera and rack module, central processing unit mouldThe rotating of the range information control step motor module that piece is measured according to ultrasonic distance-measuring sensor module, power module is used forFor system power supply. Described panorama camera and rack module, also with undercarriage connector and camera support tray, are used for connectingUnmanned plane undercarriage and support panorama camera.
The present invention has designed and has a kind ofly prevented that unmanned plane undercarriage from affecting the reversible supporting frame system of panorama camera visual field, comprises superSound ranging sensor assembly, stepper motor module, CPU module, panorama camera rack module and power module,Described ultrasonic distance-measuring sensor module is used for measuring the vertical range of unmanned plane organism bottom apart from ground, stepper motor mouldPiece is used for driving the vertical 180 degree upsets of panorama camera and rack module, and CPU module is according to ultrasonic ranging sensingThe rotating of the range information control step motor module that device module is measured, power module is used for as system power supply. Described is completeScape camera support module, also with undercarriage connector and camera support tray, is used for connecting unmanned plane undercarriage and supports panoramaCamera.
As a preferred technical solution of the present invention: the panorama camera of described panorama camera rack bearing is that refraction-reflection is completeOrientation imaging device.
Of the present invention a kind of prevent unmanned plane undercarriage affect panorama camera visual field reversible supporting frame system adopt more thanTechnical scheme compared with prior art, has following beneficial effect:
(1) the reversible supporting frame system of the present invention's design, simple in structure, can prevent that panorama camera from carrying out panoramic picture and adoptingWhen collection, unmanned plane undercarriage falls in image, improved IMAQ key element integrality and picture quality;
(2) the reversible supporting frame system of the present invention's design, can, according to the distance of rising and falling of unmanned plane, carry out panorama cameraUpset folding and unfolding, avoids camera lens to contact with ground, has effectively protected camera lens.
Brief description of the drawings
Fig. 1 is the functional block diagram of the reversible supporting frame system that designs of the present invention;
Fig. 2 is the camera initial position of the reversible supporting frame system that designs of the present invention and returns to camera state diagram in face of ground;
Fig. 3 is the camera state diagram behind ground of flying away from of the reversible supporting frame system that designs of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, the specific embodiment of the present invention is described in further detail. As shown in the figure: riseFall frame 1, stepper motor 2, central processing unit 3, power supply 4, ultrasonic range finder sensor 5, gyroaxis 6, camera pallet 7,Panorama camera 8, rolling bearing 9, connector 10.
As shown in Figure 1, the present invention has designed and has a kind ofly prevented that unmanned plane undercarriage from affecting the reversible supporting frame of panorama camera visual fieldSystem, comprises ultrasonic distance-measuring sensor module, stepper motor module, CPU module, panorama camera and a shut diePiece and power module, described ultrasonic distance-measuring sensor module is used for measuring the vertical distance of unmanned plane organism bottom apart from groundFrom, stepper motor module is used for driving the vertical 180 degree upsets of panorama camera and rack module, CPU module basisThe rotating of the range information control step motor module that ultrasonic distance-measuring sensor module is measured, power module is used for as systemPower supply. Described panorama camera and rack module also, with undercarriage connector and camera support tray, are used for connecting unmanned planeUndercarriage and support panorama camera.
As a preferred technical solution of the present invention: described CPU module is Single-chip Controlling processor.
As a preferred technical solution of the present invention: described power module is powered battery.
As a preferred technical solution of the present invention: described stepper motor module adopts direct current generator.
The reversible supporting frame system of the present invention design can be according to the distance of rising and falling of unmanned plane, to the panorama camera receipts of overturningPut, can prevent panorama camera carry out panoramic picture while gathering unmanned plane undercarriage fall in image, improved IMAQIntegrality and quality, can also avoid camera lens to contact with ground, played the effect of len.
As a preferred technical solution of the present invention: described panorama camera is refraction-reflection omnibearing imaging equipment.
In the reversible supporting frame system of the present invention's design, panorama camera is the catadioptric that does not need to be rotated splicing and scanningFormula omnibearing imaging equipment, can ensure the high real-time requirement of IMAQ.
As a preferred technical solution of the present invention: described CPU module is Single-chip Controlling processor.
In the reversible supporting frame system of the present invention's design, CPU module adopts STC89C52 type processor of single chip computer.
As a preferred technical solution of the present invention: described power module is powered battery.
As a preferred technical solution of the present invention: described stepper motor module adopts direct current generator.
Corresponding therewith, the course of work of reversible supporting frame system comprises the steps:
Corresponding therewith, for above-mentioned technical problem, technical problem to be solved by this invention is to provide a kind of based on the present inventionThe reversible supporting frame system of design, can be neatly according to ground clearance and unmanned plane during flying status adjustment lens of panoramic cameraPosition, obtains the comprehensive panoramic picture disturbing without undercarriage.
The present invention is in order to solve the problems of the technologies described above by the following technical solutions: the present invention has designed a kind of reversible supporting frame and has beenSystem, its course of work comprises the steps:
As shown in Figure 2, described unmanned plane stops under state of flight step 001., and lens of panoramic camera acquiescence keeps verticalUpwards initial position;
As shown in Figure 3, described unmanned plane flies away from behind ground step 002., and vertical range between ground is while being greater than 4 meters,CPU module sends signal controling stepping motor module, and (gyroaxis 6 also has with stepper motor engagement place stepper motorRolling bearing mounting support) start forward work, drive panorama camera and rack module to start direction upset earthward and rotate180 degree.
As shown in Figure 2, described unmanned plane returns in face of ground step 003., and vertical range between ground is while being less than 4 meters,CPU module sends signal controling stepping motor module, and stepper motor starts reversion work, drives panorama camera and props upFrame module starts to rotate 180 degree to unmanned plane direction, and camera is got back to initial position.
To sum up, affect the turning of panorama camera visual field by the unmanned plane undercarriage that prevents of setting up and implement the present invention designMounting system, can effectively avoid the interference of undercarriage for omnibearing imaging, and has effectively protected camera lens injury-free,Flexible working mode, simple in structure, has wide market application foreground and economic worth.
By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned enforcement sideFormula in the ken possessing, can also be done those of ordinary skill in the art under the prerequisite that does not depart from aim of the present inventionGo out various variations.

Claims (5)

1.The reversible supporting frame system that unmanned plane panorama camera uses, is characterized in that comprisingUndercarriage, stepper motor, central processing unit, power supply, ultrasonic range finder sensor, gyroaxis, camera pallet, rolling bearing, connector; A pair of undercarriage central authorities are provided with gyroaxis, and camera pallet is fixed on gyroaxis central authorities, and central processing unit, power supply, ultrasonic range finder sensor and stepper motor are fixed on undercarriage, the rotary output axis engagement gyroaxis of stepper motor;
The other end of gyroaxis is fixed on rolling bearing, and ultrasonic range finder sensor signal output part is connected in the signal input part of central processing unit, and the control output end of central processing unit connects control step electric machine rotation control end;
Rolling bearing is arranged on a undercarriage by connector;
Gyroaxis drives the upset of camera pallet, can make panorama camera in two positions up and down.
2. according to claim 1The reversible supporting frame system that unmanned plane panorama camera uses, it is characterized in that: described panorama camera is refraction-reflection omnibearing imaging equipment.
3. according to claim 1The reversible supporting frame system that unmanned plane panorama camera uses, it is characterized in that: described central processing unit is Single-chip Controlling processor.
4. according to claim 1The reversible supporting frame system that unmanned plane panorama camera uses, it is characterized in that: described power supply is battery.
5. according to one of claim 1-4 Suo ShuThe method of work of the reversible supporting frame system that unmanned plane panorama camera uses, it is characterized in that:
Step 1, unmanned plane stop under state of flight, and lens of panoramic camera acquiescence keeps initial position vertically upward;
Step 2, described unmanned plane fly away from behind ground, and vertical range between ground is while being greater than 4 meters, and central processing unit sends signal controling stepping motor, and stepper motor starts forward work, drives panorama camera and gyroaxis to start direction upset earthward and rotates 180 degree;
Step 3, unmanned plane return in face of ground, and when the vertical range between ground is less than 4 meters, central processing unit sends signal controling stepping motor, stepper motor starts reversion work, drive panorama camera and gyroaxis to start to rotate 180 degree to unmanned plane direction, camera is got back to initial position.
CN201410326873.1A 2014-07-09 2014-07-09 The reversible supporting frame system that a kind of unmanned plane panorama camera uses Active CN104176265B (en)

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CN105468029B (en) * 2015-09-23 2018-03-02 杨珊珊 A kind of unmanned plane device and method
CN205534947U (en) * 2016-01-29 2016-08-31 深圳市大疆创新科技有限公司 Fixed bolster, Yun tai, Unmanned vehicles and image device
WO2017132990A1 (en) * 2016-02-05 2017-08-10 Autel Robotics Co.,Ltd Multirotor aircraft
CN106275472B (en) * 2016-08-25 2019-03-19 四川马可视觉网络科技有限公司 Panoramic shooting unmanned plane
CN106114882B (en) * 2016-08-25 2018-09-28 扬州市旅游日用品制造总厂 No-manned plane three-dimensional rotating camera mounting device
CN106275471B (en) * 2016-08-25 2019-03-19 四川马可视觉网络科技有限公司 The adjustable photography unmanned plane of vertical camera angle
CN107499525A (en) * 2017-04-25 2017-12-22 广州市红鹏直升机遥感科技有限公司 A kind of opposed double camera rotating disc type oblique photograph device for airborne vehicle
WO2019071444A1 (en) * 2017-10-10 2019-04-18 深圳市大疆灵眸科技有限公司 Turning control method for photographic device, control apparatus and aircraft
CN108279705A (en) * 2018-01-25 2018-07-13 数字鹰电子(湖北)有限公司 Photovoltaic unmanned plane

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