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

Abstract

The invention relates to a reversible bracket system used by a panoramic camera of an unmanned aerial vehicle, including a landing gear, a stepping motor, a central processing unit, a power supply, an ultrasonic ranging sensor, a rotary shaft, a camera tray, a rolling bearing, and a connecting piece; A rotary shaft is arranged in the center of the landing gear, and the camera tray is fixed on the central shaft of the rotary shaft. The central processing unit, power supply, ultrasonic distance measuring sensor and stepping motor are fixed on the landing gear, and the rotation output of the stepping motor engages the rotary shaft. It can prevent the UAV landing gear from affecting the field of view of the panoramic camera. Based on the reversible support system designed in the present invention, the panoramic camera can be flipped and retracted according to the take-off and landing distance of the UAV, which can prevent the panoramic camera from being useless when collecting panoramic images. The man-machine landing gear falls into the image, which improves the integrity and quality of image acquisition, and also prevents the lens from contacting the ground, which plays a role in protecting the lens.

Description

A reversible support system for a drone panoramic camera

technical field

The invention relates to a reversible support system used by a panoramic camera of an unmanned aerial vehicle, which can prevent the landing gear of the unmanned aerial vehicle from affecting the field of view of the panoramic camera.

Background technique

Panoramic imaging uses a special imaging device to obtain multi-directional images of 360° in the horizontal direction and a field of view above the hemisphere in the vertical direction from one viewpoint. Due to the characteristics of large imaging range and fast imaging, it can be used for military investigation, robot navigation, virtual Reality, computer vision and other fields provide stereo perception and reproduction functions of large field of view scenes, which have developed rapidly in recent years and become research hotspots in optoelectronics, computer vision and computer graphics.

So far, there are mainly three methods for realizing panoramic imaging: image mosaic method, fisheye lens method and catadioptric panoramic imaging method. Catadioptric panoramic imaging technology can play a more important role as a substitute for existing aerial panoramic cameras due to its one-time large-scale imaging characteristics, excellent real-time performance, simple structure, no scanning components, and no splicing. However, due to the existence of the landing gear of the UAV, when the catadioptric panoramic camera acquires all-round images, there is always the occlusion of the landing gear, resulting in incomplete image acquisition elements and low imaging quality.

Contents of the invention

In view of the above technical problems, the technical problem to be solved by the present invention is to provide a reversible support system with simple structure, complete imaging elements, and safe and convenient use. A reversible bracket system that can prevent the UAV landing gear from affecting the field of view of the panoramic camera is proposed.

The present invention adopts the following technical solutions in order to solve the above-mentioned technical problems: the reversible support system and working method used by the panoramic camera of the unmanned aerial vehicle, the landing gear 1, the stepper motor 2, the central processing unit 3, the power supply 4, the ultrasonic distance measuring sensor 5, Rotary shaft 6, camera tray 7, panoramic camera 8, rolling bearing 9, connector 10; a pair of landing gear 1 center is provided with rotary shaft 6, camera tray 7 is fixed on the center of rotary shaft 6, central processing unit 3, power supply 4, ultrasonic The ranging sensor 5 and the stepper motor 2 are fixed on the landing gear, and the rotation output of the stepper motor 2 engages the rotary shaft.

Further, the other end of the rotary shaft is fixed on the rolling bearing 9, the signal output of the ultrasonic distance measuring sensor 5 is connected to the signal input terminal of the central processing unit 3, and the control output terminal of the central processing unit 3 is connected to control the rotation control terminal of the stepper motor 2.

Further, the rolling bearing 9 is installed on a landing gear through a connecting piece 10 .

Further, the rotary shaft 6 drives the camera tray 7 so that the panoramic camera 8 is in two positions of up and down.

The present invention includes an ultrasonic ranging sensor module, a stepping motor module, a central processing unit module, a panoramic camera, a bracket module, and a power supply module. The ultrasonic ranging sensor module is used to measure the vertical distance between the bottom of the drone body and the ground. The stepper motor module is used to drive the vertical 180-degree flip of the panoramic camera and the bracket module. The central processing unit module controls the forward and reverse rotation of the stepper motor module according to the distance information measured by the ultrasonic ranging sensor module. The power module is used to supply power to the system. The panoramic camera and the bracket module are also provided with a landing gear connector and a camera support tray, which are used to connect the landing gear of the drone and support the panoramic camera.

The present invention designs a reversible bracket system that prevents the unmanned aerial vehicle landing gear from affecting the field of view of the panoramic camera, including an ultrasonic ranging sensor module, a stepping motor module, a central processing unit module, a panoramic camera bracket module and a power supply module. The ultrasonic ranging sensor module is used to measure the vertical distance between the bottom of the UAV body and the ground, the stepping motor module is used to drive the vertical 180-degree flip of the panoramic camera and the bracket module, and the central processing unit module is based on the distance measured by the ultrasonic ranging sensor module. The distance information controls the positive and negative rotation of the stepper motor module, and the power module is used to supply power to the system. The panoramic camera bracket module is also attached with a landing gear connector and a camera support tray, which are used to connect the landing gear of the drone and support the panoramic camera.

As a preferred technical solution of the present invention: the panoramic camera carried by the panoramic camera bracket is a catadioptric omnidirectional imaging device.

Compared with the prior art, a reversible support system for preventing the landing gear of the drone from affecting the field of view of the panoramic camera according to the present invention has the following beneficial effects:

(1) The reversible bracket system designed by the present invention has a simple structure, which can prevent the unmanned aerial vehicle landing gear from falling into the image when the panoramic camera carries out panoramic image acquisition, and improves the integrity and image quality of the image acquisition elements;

(2) The reversible support system designed by the present invention can flip and retract the panoramic camera according to the take-off and landing distance of the drone, avoiding the contact between the lens and the ground, and effectively protecting the lens.

Description of drawings

Fig. 1 is the functional block diagram of the reversible support system designed by the present invention;

Fig. 2 is the initial position of the camera of the reversible bracket system designed by the present invention and the state diagram of the camera before returning to the ground;

Fig. 3 is a state view of the camera after flying off the ground of the reversible bracket system designed by the present invention.

detailed description

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings. As shown in the figure: landing gear 1, stepper motor 2, central processing unit 3, power supply 4, ultrasonic distance measuring sensor 5, rotary shaft 6, camera tray 7, panoramic camera 8, rolling bearing 9, connector 10.

As shown in Figure 1, the present invention has designed a kind of reversible bracket system that prevents UAV landing gear from affecting the field of view of the panoramic camera, including an ultrasonic ranging sensor module, a stepping motor module, a central processing unit module, a panoramic camera and a bracket Module and power supply module, described ultrasonic ranging sensor module is used for measuring the vertical distance of UAV body bottom from the ground, and stepper motor module is used for driving the vertical 180 degree flip of panoramic camera and bracket module, and CPU module according to The distance information measured by the ultrasonic ranging sensor module controls the forward and reverse rotation of the stepper motor module, and the power module is used to supply power to the system. The panoramic camera and the bracket module are also provided with a landing gear connector and a camera support tray, which are used to connect the landing gear of the drone and support the panoramic camera.

As a preferred technical solution of the present invention: the central processing unit module is a single-chip microcomputer control processor.

As a preferred technical solution of the present invention: the power supply module is powered by a battery.

As a preferred technical solution of the present invention: the stepping motor module adopts a DC motor.

The reversible support system designed in the present invention can flip and retract the panoramic camera according to the take-off and landing distance of the drone, which can prevent the drone landing gear from falling into the image when the panoramic camera collects panoramic images, and improves the integrity of image collection. It can also avoid the contact between the lens and the ground, which plays a role in protecting the lens.

As a preferred technical solution of the present invention: the panoramic camera is a catadioptric omnidirectional imaging device.

In the reversible support system designed by the present invention, the panoramic camera is a catadioptric omnidirectional imaging device that does not need to be rotated, spliced and scanned, which can ensure high real-time requirements for image acquisition.

As a preferred technical solution of the present invention: the central processing unit module is a single-chip microcomputer control processor.

In the reversible bracket system designed by the present invention, the central processor module adopts the STC89C52 single-chip processor.

As a preferred technical solution of the present invention: the power supply module is powered by a battery.

As a preferred technical solution of the present invention: the stepping motor module adopts a DC motor.

Correspondingly, the working process of the reversible support system includes the following steps:

Correspondingly, in view of the above-mentioned technical problems, the technical problem to be solved by the present invention is to provide a reversible support system based on the design of the present invention, which can flexibly adjust the position of the panoramic camera lens according to the distance from the ground and the flying state of the drone. Get panoramic images in all directions without interference from the landing gear.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions: the present invention designs a reversible support system, and its working process includes the following steps:

Step 001. As shown in Figure 2, when the drone stops flying, the panoramic camera lens maintains the vertical upward initial position by default;

Step 002. As shown in Figure 3, after the drone flies off the ground, when the vertical distance between the ground and the ground is greater than 4 meters, the central processing unit module sends a signal to control the stepping motor module, and the stepping motor (revolving shaft 6 and There are also rolling bearings installed and supported at the meshing place of the stepping motor) to start forward rotation, and drive the panoramic camera and the bracket module to turn 180 degrees toward the ground.

Step 003. As shown in Figure 2, before the UAV returns to the ground, when the vertical distance from the ground is less than 4 meters, the central processing unit module sends a signal to control the stepping motor module, and the stepping motor starts to work in reverse, driving The panoramic camera and the bracket module start to rotate 180 degrees towards the direction of the drone, and the camera returns to the initial position.

To sum up, by establishing and implementing the reversible support system designed by the present invention to prevent the UAV landing gear from affecting the field of view of the panoramic camera, it can effectively avoid the interference of the landing gear on the omni-directional imaging, and effectively protect the lens from damage. The method is flexible, the structure is simple, and it has broad market application prospects and economic value.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and can also be made without departing from the gist of the present invention within the scope of knowledge possessed by those of ordinary skill in the art. 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.