CN105501454A - Mini-sized pod - Google Patents
Mini-sized pod Download PDFInfo
- Publication number
- CN105501454A CN105501454A CN201610038909.5A CN201610038909A CN105501454A CN 105501454 A CN105501454 A CN 105501454A CN 201610038909 A CN201610038909 A CN 201610038909A CN 105501454 A CN105501454 A CN 105501454A
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- China
- Prior art keywords
- miniature
- visible light
- pitching
- turning cylinder
- gondola
- 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.)
- Granted
Links
- 239000013078 crystal Substances 0.000 claims description 7
- 230000035945 sensitivity Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000002045 lasting effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 229910000989 Alclad Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000005304 optical glass Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Abstract
The invention discloses a mini-sized pod which comprises a directional assembly, a pitching assembly, a visible light camera, a horizontal rotating shaft and a vertical rotating shaft. The directional assembly is connected with the vertical rotating shaft. The pitching assembly is connected with the horizontal rotating shaft. The directional assembly adjusts rotation of the visible light camera in the vertical direction. The pitching assembly adjusts the visible light camera in the horizontal direction. The mini-sized pod has the advantages of being compact in structure, low in weight, small in size, large in zooming multiple, high in image stable precision and high in dynamic performance.
Description
Technical field
The invention belongs to mechanical field, be specifically related to a kind of miniature gondola.
Background technology
Gondola is the carrier of Airborne Camera, for isolating the disturbance such as change, body vibrations, moment of wind resistance of UAV Attitude, ensures the optic central extract of unmanned aerial vehicle onboard camera.
At present, domestic gondola product is greater than 1kg, 30 times of zooms mostly, as domestic the sector bellwether Changchun ray machine product nearly weigh 1.2kg, zoom 30 times, large weight is all heavier, and zoom magnification is not high.
Summary of the invention
In order to solve the problems referred to above that prior art exists, the invention provides a kind of miniature gondola.
An embodiment provides a kind of miniature gondola, comprise orientation assembly, tilting component, Visible Light Camera, horizontal direction turning cylinder and vertical direction turning cylinder, described orientation assembly is connected with described vertical direction turning cylinder, described tilting component is connected with described horizontal direction turning cylinder, described orientation assembly regulates the rotation of described Visible Light Camera vertical direction, and described tilting component regulates the rotation of described Visible Light Camera horizontal direction.
Further, described orientation assembly comprises orientation torque motor, orientation capacitive coder, master board and azimuth sensitivity gyro, described orientation torque motor is connected with described vertical direction turning cylinder with azimuth encoder, described master board is fixed on miniature gondola, and described azimuth sensitivity gyro installation is on described master board.
Further, described tilting component comprises pitching moment motor, pitching capacitive coder, camera control plate, the responsive gyro of pitching and pitching frame, described pitching frame is connected with described Visible Light Camera, described pitching moment motor is connected with described horizontal direction turning cylinder with pitching capacitive coder, described camera control plate is connected with Visible Light Camera, and the responsive gyro installation of described pitching is on camera control plate.
Further, described Visible Light Camera is fixedly mounted on described pitching frame by yielding rubber.
Further, described miniature gondola also comprises fairing, and described fairing is installed on the outside of miniature gondola, and the midway location of described fairing is provided with visible ray window.
Further, described horizontal direction turning cylinder and vertical direction turning cylinder are separately installed with inertial sensor.
Further, described Visible Light Camera has optical zoom, photorefractive crystals, high definition video recording and wireless export function.
Beneficial effect:
Miniature gondola of the present invention, is regulated the rotation of gondola horizontal direction and vertical direction, can reduce turn error, avoid driving error by orientation assembly and tilting component, simple and compact for structure; Gyro is installed and strengthens optical axis stable precision; Fairing is installed not only there is rectification function but also can work under comparatively harsh environment; Adopt the Visible Light Camera with optical zoom, photorefractive crystals, high definition video recording and wireless export function, improve zoom magnification and lasting accuracy.
Accompanying drawing explanation
Fig. 1 is the front view of miniature gondola in one embodiment of the invention.
Fig. 2 is the structural representation of miniature gondola in one embodiment of the invention.
Fig. 3 is the structural representation of fairing 301 in one embodiment of the invention.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
As illustrated in fig. 1 and 2, present embodiments provide a kind of miniature gondola, comprise orientation assembly, tilting component, horizontal direction turning cylinder, vertical direction turning cylinder and Visible Light Camera 108, orientation assembly is connected with vertical direction turning cylinder, tilting component is connected with horizontal direction turning cylinder, orientation assembly is for regulating the rotation of Visible Light Camera 108 vertical direction, and tilting component is for regulating the rotation of Visible Light Camera 108 horizontal direction.
Select as one, orientation assembly comprises orientation torque motor 101, orientation capacitive coder 102, master board 103 and azimuth sensitivity gyro (not shown).Orientation torque motor 101 is connected with vertical direction turning cylinder with orientation capacitive coder 102, and it is inner that master board 103 is arranged on miniature gondola, and azimuth sensitivity gyro installation is on master board 103.Orientation torque motor 101 is for driving Visible Light Camera 108 rotation in the vertical direction, and orientation capacitive coder produces coding according to the control signal of operating side and sends to master board 103, and azimuth sensitivity gyro is used for cireular frequency feedback.The pallet of miniature gondola is connected with the stator of orientation torque motor 101, and orientation torque motor 101 is connected with the base of miniature gondola, the axle head of miniature gondola is connected with orientation capacitive coder 102, this connection mode makes all cables can both introduce control circuit above pallet, is convenient to the embedding of miniature gondola control circuit and integrated.Orientation torque motor 101 is directly installed on vertical direction turning cylinder, does like this without driving error, can improve lasting accuracy, compact conformation, can realize lightweight.Vertical direction turning cylinder adopts symmetrical expression hairspring pattern cabling, and its resistance is low, disturbance is low, deflection moment of torsion is low, lightweight.In the vertical direction turning cylinder is provided with high precision MEMS gyro instrument to feed back as cireular frequency, realizes stable inertia.
Select as one, tilting component comprises pitching moment motor 105, pitching capacitive coder 106, camera control plate 107, the responsive gyro (not shown) of pitching and pitching frame 104.Pitching frame 104 is connected with Visible Light Camera 108, for fixing Visible Light Camera 108; Pitching moment motor 105 is connected with horizontal direction turning cylinder with pitching capacitive coder 106, for driving Visible Light Camera 108 rotation in the horizontal direction, camera control plate 107 is connected with Visible Light Camera 108, camera control plate 107 is sent to for producing coding according to the control signal of operating side, the responsive gyro installation of pitching, on camera control plate 107, feeds back for cireular frequency.Pitching moment motor 105 is directly installed on horizontal direction turning cylinder, does like this without driving error, improves lasting accuracy; Compact conformation, realizes lightweight.In the horizontal direction turning cylinder is provided with high precision MEMS gyro instrument to feed back as cireular frequency, realizes stable inertia.
Select as one, Visible Light Camera 108 is fixedly mounted on pitching frame 104 by yielding rubber.Visible Light Camera 108 is connected with pitching frame 104 by yielding rubber, and pitching frame 104 and the one-body molded processing of horizontal direction turning cylinder, can ensure coaxial precision, direction rotating accuracy of improving the standard.
Select as one, as shown in Figure 3, miniature gondola also comprises fairing 301, and fairing 301 is installed on the outside of miniature gondola, and the midway location of fairing 301 is provided with visible ray window.Fairing 301 is connected with pallet, and realizes static seal at connecting bridge control tolerance on fit, and therefore this micro-optical gondola has good water proof and dust proof ability.Fairing 301 is full carbon fibre material, and midway location is provided with the arc optical glass of metal-coated membrane as visible ray window.
Select as one, horizontal direction turning cylinder and vertical direction turning cylinder are separately installed with inertial sensor.At each turning cylinder respectively according to inertial sensor, avoid the inertia victory caused when being directly installed on extreme end and even resolve coupling error, realize stable inertia.
Select as one, Visible Light Camera 108 has 40 Zoom Lens, photorefractive crystals, 1080 high definition video recording and wireless export functions.Visible Light Camera 108 has optical zoom and digital zoom functions, can investigate distant object, and camera lens has photorefractive crystals function, can make image stabilization, and isolated part shakes.
Miniature stable gondola in the present embodiment, mainly comprises the miniature Visible Light Camera with high zoom multiple and the rotation axis system realizing Visible Light Camera horizontal and vertical two rotational freedoms; And part adopts aviation Alclad hollow out, the abundant loss of weight of structure design, and can effectively split, and is beneficial to the adjustment of precision; All control circuits are integrated in gondola inside, very compact; There is the degree of protection of IP43, can use under light rain weather; There is multiple mounting interface, frontly can fill, also can lift; And there is photorefractive crystals in camera lens, the steady picture of gondola two framework inertia, image processing algorithm electronic steady image; Adopt absolute type capacitive coder and DC brushless motor to coordinate, absolute location when powering on, can be used to judge motor phase thus carry out servocontrol.
Miniature gondola in the present embodiment has following characteristics:
1, miniaturization, lightweight
Structure design aspect, horizontal and vertical direction all adopts the form of disc type direct drive of torque motor, reduces axial dimension, saves drive disk assembly, make compact conformation, lightweight.Each framing member, all through optimal design, is designed to skeleton structure, adopts high strength aviation Alclad, reduces structural weight further.Control circuit takes into full account diaxon rotation space and the scantling of structure of camera, and embedded equipment is inner, realizes compact design.
2, image stabilization precision
Supported by high-precision bearing, and the Method of Adjustment of axle system, ensure axle system rotating accuracy; By high frequency arm treater and high precision capacitive coder, ensure control accuracy and positional precision.Under there is at gondola the prerequisite of high rotation precision, adopt multiple hybrid mentioned image stabilization techniques: in camera lens, photorefractive crystals+camera fixes the steady picture+image processing algorithm electronic steady image of the steady picture+two axis gyroscope inertia of damping by rubber suspension.
3, reliability
Adopt non-photoelectric coder, be applicable to aviation field, there is high reliability, and seek zero without the need to powering on.By the design of static and dynamic sealing, protection internal circuit and camera, make this gondola have certain water proof and dust proof ability.Camera adopts suspension type mounting means in inside, makes the method have certain impact resistance.
The present invention is not limited to above-mentioned preferred forms; any those skilled in the art can draw other various forms of products under enlightenment of the present invention; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (7)
1. a miniature gondola, is characterized in that, comprises orientation assembly, tilting component, Visible Light Camera, horizontal direction turning cylinder and vertical direction turning cylinder,
Described orientation assembly is connected with described vertical direction turning cylinder, and described tilting component is connected with described horizontal direction turning cylinder,
Described orientation assembly regulates the rotation of described Visible Light Camera vertical direction, and described tilting component regulates the rotation of described Visible Light Camera horizontal direction.
2. miniature gondola according to claim 1, it is characterized in that, described orientation assembly comprises orientation torque motor, orientation capacitive coder, master board and azimuth sensitivity gyro, described orientation torque motor is connected with described vertical direction turning cylinder with orientation capacitive coder, it is inner that described master board is installed on miniature gondola, and described azimuth sensitivity gyro installation is on described master board.
3. miniature gondola according to claim 1, it is characterized in that, described tilting component comprises pitching moment motor, pitching capacitive coder, camera control plate, the responsive gyro of pitching and pitching frame, described pitching frame is connected with described Visible Light Camera, described pitching moment motor is connected with described horizontal direction turning cylinder with pitching capacitive coder, described camera control plate is connected with Visible Light Camera, and the responsive gyro installation of described pitching is on camera control plate.
4. miniature gondola according to claim 2, is characterized in that, described Visible Light Camera is fixedly mounted on described pitching frame by yielding rubber.
5. miniature gondola according to claim 1, is characterized in that, also comprise fairing, and described fairing is installed on the outside of miniature gondola, and the midway location of described fairing is provided with visible ray window.
6. miniature gondola according to claim 1, is characterized in that, described horizontal direction turning cylinder and vertical direction turning cylinder are separately installed with inertial sensor.
7. miniature gondola according to claim 1, is characterized in that, described Visible Light Camera has optical zoom, photorefractive crystals, high definition video recording and wireless export function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038909.5A CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038909.5A CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105501454A true CN105501454A (en) | 2016-04-20 |
| CN105501454B CN105501454B (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610038909.5A Expired - Fee Related CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347693A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Replaceable unmanned aerial vehicle miniature pod |
| CN109018393A (en) * | 2018-06-28 | 2018-12-18 | 山东建筑大学 | A kind of photogrammetric mounting platform of adjustable unmanned plane |
| CN110174653A (en) * | 2019-05-17 | 2019-08-27 | 南京理工大学 | A kind of millimeter wave test table that portable revolving speed is remote-controlled |
| CN111157970A (en) * | 2018-10-22 | 2020-05-15 | 哈尔滨工业大学 | Area array Gm-APD laser radar device with miniaturized single photon detection sensitivity |
| CN111520599A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军国防科技大学 | Light photoelectric pod and equipment |
| CN111846240A (en) * | 2020-08-03 | 2020-10-30 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN112644723A (en) * | 2020-08-06 | 2021-04-13 | 成都道克科技有限公司 | Open type miniature photoelectric pod |
| CN112782123A (en) * | 2020-12-24 | 2021-05-11 | 中国科学院合肥物质科学研究院 | System and method for comprehensively detecting atmospheric optical key parameters based on unmanned aerial vehicle technology |
| CN113086194A (en) * | 2021-04-17 | 2021-07-09 | 合肥市方升信息科技有限公司 | Smart city data set system and method based on echo airborne laser scanning data |
| JP7432238B2 (en) | 2020-06-30 | 2024-02-16 | 株式会社クエストコーポレーション | Object suspension stabilization device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347693B (en) * | 2016-09-29 | 2019-05-31 | 武汉华中天经通视科技有限公司 | A kind of miniature gondola of changeable type unmanned plane |
| CN106347693A (en) * | 2016-09-29 | 2017-01-25 | 武汉华中天经通视科技有限公司 | Replaceable unmanned aerial vehicle miniature pod |
| CN109018393A (en) * | 2018-06-28 | 2018-12-18 | 山东建筑大学 | A kind of photogrammetric mounting platform of adjustable unmanned plane |
| CN111157970A (en) * | 2018-10-22 | 2020-05-15 | 哈尔滨工业大学 | Area array Gm-APD laser radar device with miniaturized single photon detection sensitivity |
| CN110174653A (en) * | 2019-05-17 | 2019-08-27 | 南京理工大学 | A kind of millimeter wave test table that portable revolving speed is remote-controlled |
| CN111520599A (en) * | 2020-04-29 | 2020-08-11 | 中国人民解放军国防科技大学 | Light photoelectric pod and equipment |
| JP7432238B2 (en) | 2020-06-30 | 2024-02-16 | 株式会社クエストコーポレーション | Object suspension stabilization device |
| 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 |
| CN112644723A (en) * | 2020-08-06 | 2021-04-13 | 成都道克科技有限公司 | Open type miniature photoelectric pod |
| CN112782123A (en) * | 2020-12-24 | 2021-05-11 | 中国科学院合肥物质科学研究院 | System and method for comprehensively detecting atmospheric optical key parameters based on unmanned aerial vehicle technology |
| CN113086194A (en) * | 2021-04-17 | 2021-07-09 | 合肥市方升信息科技有限公司 | Smart city data set system and method based on echo airborne laser scanning data |
| CN113086194B (en) * | 2021-04-17 | 2024-02-20 | 合肥市方升信息科技有限公司 | Echo-based airborne laser scanning data smart city data collection system and method |
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