CN106347693B - A kind of miniature gondola of changeable type unmanned plane - Google Patents

A kind of miniature gondola of changeable type unmanned plane Download PDF

Info

Publication number
CN106347693B
CN106347693B CN201610863408.0A CN201610863408A CN106347693B CN 106347693 B CN106347693 B CN 106347693B CN 201610863408 A CN201610863408 A CN 201610863408A CN 106347693 B CN106347693 B CN 106347693B
Authority
CN
China
Prior art keywords
cover
sensor
skeleton
uav
replaceable
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.)
Active
Application number
CN201610863408.0A
Other languages
Chinese (zh)
Other versions
CN106347693A (en
Inventor
李平
黄经伟
姜滨
章侃
王康
徐如瑜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WUHAN HUAZHONG TIANJING ELECTRO-OPTICAL SYSTEMS Co Ltd
Original Assignee
WUHAN HUAZHONG TIANJING ELECTRO-OPTICAL SYSTEMS Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by WUHAN HUAZHONG TIANJING ELECTRO-OPTICAL SYSTEMS Co Ltd filed Critical WUHAN HUAZHONG TIANJING ELECTRO-OPTICAL SYSTEMS Co Ltd
Priority to CN201610863408.0A priority Critical patent/CN106347693B/en
Publication of CN106347693A publication Critical patent/CN106347693A/en
Application granted granted Critical
Publication of CN106347693B publication Critical patent/CN106347693B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C17/00—Aircraft stabilisation not otherwise provided for
    • B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
    • B64C17/06—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus by gyroscopic apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Gyroscopes (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

The invention discloses a kind of miniature gondolas of changeable type unmanned plane, two axis gyroscope stabilized platform and sensor group including ball cover and in ball cover, the two axis gyroscope stabilized platform includes skeleton and the orientation driving motor module and pitching driving motor module that are fixed on skeleton, azimuth axle is connected in the orientation driving motor module, pitching shafting is connected in the pitching driving motor module, control and image processing unit are also equipped on the skeleton, SD card and connection circuit, top cover is provided at the top of skeleton, connecting flange and SD card lid are respectively arranged on top cover, middle shell and rear cover are connected on the skeleton, the ball cover is equipped with front cover group, the sensor group includes the sensor stand being arranged in front cover group and the first sensor being mounted on sensor stand and second sensor；The present invention is to stablize photoelectric nacelle using the two axis gyroscope of modularized design, and multiple sensors combination can be carried according to demand.

Description

A kind of miniature gondola of changeable type unmanned plane
Technical field
The invention belongs to optoelectronic device technical fields in unmanned vehicle, aeronautical technology, and in particular to a kind of changeable type Unmanned plane Miniature photoelectric hanging cabin.
Background technique
It monitors, scout on a large scale to meet different field, the various aspects mission requirements such as line walking, UAV flight is miniature at present Gondola is the preferred high-efficient disposition for realizing such demand.Using unmanned plane to mountain area, valley, forest, river, set device et al. Member is difficult to reach the monitoring in location, checks have the advantage flexible, easy to operate, work efficiency is high of flying, effectively reduce into This；After various serious natural calamities, unmanned plane can be used to be monitored flying into incident area at the first time, completes electric power The tasks such as sudden instability, Disaster Assessment, gain time, and reduce casualty loss.
The generally existing weight weight of the photoelectric nacelle of domestic development production at present, power consumption is high, configures the defects of single, it is difficult to full The demand of sufficient small drone.
Summary of the invention
It is an object of the invention to deficiencies according to prior art, provide a kind of light-weight, compact-sized, low in energy consumption, mould The photoelectric nacelle of block, to meet the requirement of unmanned plane.
The technical solution adopted by the present invention to solve the technical problems is: a kind of miniature gondola of changeable type unmanned plane, packet Ball cover and two axis gyroscope stabilized platform and sensor group in ball cover are included, the two axis gyroscope stabilized platform includes skeleton And it is fixed on orientation driving motor module and pitching driving motor module on skeleton, connect in the orientation driving motor module It is connected to azimuth axle, pitching shafting is connected in the pitching driving motor module, control is also equipped on the skeleton With image processing unit, SD card and couple circuit, be provided with top cover at the top of skeleton, be respectively arranged with connecting flange and SD on top cover Ka Gai is connected with middle shell and rear cover on the skeleton, and the ball cover is equipped with front cover group, and the sensor group includes The sensor stand being arranged in front cover group and the first sensor and second sensor that are mounted on sensor stand.
A kind of miniature gondola of changeable type unmanned plane, passes through between two axis gyroscope stabilized platform and sensor group The direct grafting of socket is to realize the transmitting and power supply of information, then is fixed and formed by four screws.
A kind of miniature gondola of changeable type unmanned plane, front cover group is by front cover and the protection being bonded on front cover Glass composition, the protection glass are located in front of sensor.
A kind of miniature gondola of changeable type unmanned plane, protection glass are planar wave glass or infrared glass.
A kind of miniature gondola of changeable type unmanned plane, orientation driving motor module, pitching driving motor module, SD card and control are all made of plug-in mode with image processing unit and are fixed on skeleton.
A kind of miniature gondola of changeable type unmanned plane, control and image processing unit are by image plate, control panel It is formed with driving plate.
A kind of miniature gondola of changeable type unmanned plane, azimuth axle realize water-stop by sealing ring.
A kind of miniature gondola of changeable type unmanned plane, pitching shafting realize water-stop by labyrinth seal.
A kind of miniature gondola of changeable type unmanned plane, sensor group pass through the sealing cord between front cover group and rear cover Realize sealing.
A kind of miniature gondola of changeable type unmanned plane, ball cover realize that the cooperation with top cover seals by seam allowance.
The beneficial effects of the present invention are: can replace multiple sensors combination according to demand using modularized design, realize not Congenerous；Sensor group and rear cover composition seal can realize pitching movement, and rest part is sealed with ball cover, water proof and dust proof performance It is good；Visible light video, infrared screen can be exported in real time or object ranging is positioned, and there is gyro to increase steady function；Using interior bone Frame structure and Integral ball cover structure have structure simple, effectively reduce the weight and volume of load, applied widely to wait spies Point.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is the main view inside the present invention；
Fig. 4 is the perspective view inside the present invention.
Each appended drawing reference are as follows: 101-SD card lids, 102-ball covers, 103-sealing rings, 104-azimuth axles, 105-SD Card, 106-orientation driving motor modules, 107-skeletons, 108-pitching driving motor modules, 109-pitching shaftings, 110- Connecting flange, 111-top covers, 112-controls and image processing unit, 113-rear covers, 114-middle shells, 201-front cover groups, 202-first sensors, 203-sensor stands, 204-second sensors.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Referring to figs. 1 to 4, the invention discloses a kind of miniature gondolas of changeable type unmanned plane, including 102 He of ball cover Two axis gyroscope stabilized platform and sensor group in ball cover 102, the two axis gyroscope stabilized platform and sensor group it Between by the direct grafting of socket to realize the transmitting and power supply of information, then formed by four screws fixations, can be according to user demand It is docked in various combination, when needing replacing sensor group, need to only remove 4 fixing screws, extracting sensor group can be quick More emat sensor group.
Wherein two axis gyroscope stabilized platform includes skeleton 107 and the orientation driving motor module 106 being fixed on skeleton 107 With pitching driving motor module 108, azimuth axle 104, the pitching are connected in the orientation driving motor module 106 Pitching shafting 109 is connected in driving motor module 108, to realize the driving of two axis, orientation and pitch rotation by servo electricity Machine drives helical gear to realize, control and image processing unit 112, SD card 105 are also equipped on the skeleton 107 and couples electricity Road, realize control to two axis gyroscope stabilized platform, the control and image processing unit 112 by image plate, control panel with Driving plate composition, is fixed on skeleton 107；It is provided with top cover 111 at the top of the skeleton 107, is respectively arranged on top cover 111 Connecting flange 110 and SD card lid 101, SD card 105 are located at 101 lower section of SD card lid, and the orientation driving motor module 106 is bowed It faces upward driving motor module 108, SD card 105 and control and image processing unit 112 is independent assembly, fixed using plug-in mode On skeleton 107, facilitate adjustment and replacement, wherein azimuth axle 104 realizes water-stop, pitching shafting 109 by sealing ring 103 Water-stop is realized by labyrinth seal；Middle shell 114 and rear cover 113, the ball cover are connected on the skeleton 107 102 are equipped with front cover group 201, and front cover group 201 and rear cover 113 are separately fixed at the front and back side of middle shell 114.
Wherein the sensor group includes being fixed on the sensor stand 203 at 201 rear of front cover group and being mounted on biography First sensor 202 and second sensor 204 on sensor bracket 203, include two orthogonal uniaxial gyros, sensor group with Rear cover 113, which forms seal, can realize pitching movement, and rest part is sealed with ball cover 102, have bayonet and top cover at the top of ball cover 102 111 sealings, water proof and dust proof performance is good, and sensor group realizes sealing by the sealing cord between front cover group 201 and rear cover 113；It is described Front cover group 201 be made of front cover and the protection glass being bonded on front cover, plain protective glass is according to selected sensor wave Duan Erding, the protection glass are located in front of sensor, are aligned with respective sensor, protection glass be planar wave glass or Infrared glass is applicable in different-waveband, and light passing is good, undistorted, and hardness is high, is not easy to scratch；And the ball cover of traditional ball machine mostly uses Arc non-glass ball cover, hardness and image quality are difficult to guarantee, and infrared ball cover cost is just higher thoroughly.
The present invention is a kind of two axis gyroscope stabilized platform using modularized design, and gondola can carry miniature visible image capturing The sensors such as machine, infrared thermoviewer, miniature laser rangefinder can configure different sensor combinations according to mission requirements, such as red Outside+visible light sensor, infrared+laser range finder, visible light+laser range finder or single-sensor etc.；Sensor is according to user Demand, available combination are TV sensor, infrared thermal imager, TV sensor+infrared thermal imager, TV sensor+swash Five kinds of ligh-ranging machine, infrared thermal imager+laser range finder combinations.
Gondola of the present invention is connect by connecting flange 110 with unmanned plane, can be designed according to different unmanned aerial vehicle platforms corresponding Shock bracket；Unmanned plane provides airborne direct current+12V power supply and control signal to gondola, passes through control and image processing unit 112, the closed loop servo system of orientation driving motor module 106, pitching driving motor module 108 and gyro composition is, it can be achieved that hang The stability contorting in cabin carries out panorama scanning and pitching scanning, realizes to suspicious object tracking, ranging, positioning etc..
The present invention can be combined in visible light camera, infrared thermoviewer and laser range finder optional two, be realized not Same demand；And gyrocontrol function is realized, compact-sized, small in size, weight is not more than 600 grams, can fit loaded on most of small Type unmanned plane.
Captured video and data are storable in large capacity SD card 105 during the operation of this gondola, can also be led in real time It crosses unmanned plane transmission channel and passes control terminal back, carry out implementation data processing, can directly dismantle SD card lid 101 then after completion task SD card 105 is taken out, subsequent processing can be carried out by obtaining work data.
When the maintenance of this gondola, removal sensor group and rear cover 113 exit ball cover 102, all skeletons from gondola Can be adjusted and test with module, and exposed screws are few, it is beautiful reliable, can export in real time visible light video or infrared screen or Object ranging is positioned, there is gyro to increase steady function；Using inner skeleton structure and Integral ball cover structure, have structure simple, Effectively reduce the weight and volume of load, it is applied widely the features such as, sensor is replaceable.
The above-described embodiments merely illustrate the principles and effects of the present invention, and the embodiment that part uses, for For those skilled in the art, without departing from the concept of the premise of the invention, can also make it is several deformation and It improves, these are all within the scope of protection of the present invention.

Claims (10)

1.一种可更换式无人机微型吊舱，其特征在于：包括球罩（102）和设于球罩（102）内的两轴陀螺稳定平台和传感器组，所述的两轴陀螺稳定平台包括骨架（107）及固定在骨架（107）上的方位驱动电机模块（106）和俯仰驱动电机模块（108），所述的方位驱动电机模块（106）上连接有方位轴系（104），所述的俯仰驱动电机模块（108）上连接有俯仰轴系（109），所述的骨架（107）上还安装有控制与图像处理单元（112）、SD卡（105）及联接电路，骨架（107）顶部设置有顶盖（111），顶盖（111）上分别设置有连接法兰（110）和SD卡盖（101），所述的骨架（107）上连接有中壳体（114）和后盖（113），所述的球罩（102）上设有前盖组（201），所述的传感器组包括设置在前盖组（201）上的传感器支架（203）以及安装在传感器支架（203）上的第一传感器（202）和第二传感器（204）。1. A replaceable UAV micro-pod, characterized in that it comprises a dome cover (102), a two-axis gyro-stabilized platform and a sensor group arranged in the dome cover (102), and the two-axis gyro-stabilized The platform includes a skeleton (107), an azimuth drive motor module (106) and a pitch drive motor module (108) fixed on the skeleton (107), and an azimuth shaft system (104) is connected to the azimuth drive motor module (106) , the pitch drive motor module (108) is connected with a pitch shaft system (109), and the frame (107) is also installed with a control and image processing unit (112), an SD card (105) and a connection circuit, A top cover (111) is provided on the top of the skeleton (107), a connecting flange (110) and an SD card cover (101) are respectively provided on the top cover (111), and a middle casing (101) is connected to the skeleton (107). 114) and a rear cover (113), the dome cover (102) is provided with a front cover group (201), and the sensor group includes a sensor bracket (203) arranged on the front cover group (201) and a mounting First sensor (202) and second sensor (204) on sensor holder (203). 2.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的两轴陀螺稳定平台和传感器组之间通过插座直接插接以实现信息的传递与供电，再由四个螺钉固定而成。2. A kind of replaceable UAV micro-pod according to claim 1, it is characterized in that, between the described two-axis gyro-stabilized platform and the sensor group is directly plugged through the socket to realize the transmission of information and power supply , and then fixed by four screws. 3.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的前盖组（201）由前盖以及粘接在前盖上的保护玻璃组成，所述的保护玻璃位于传感器前方。3. A replaceable UAV micro-pod according to claim 1, characterized in that, the front cover group (201) is composed of a front cover and a protective glass bonded to the front cover. The described protective glass is located in front of the sensor. 4.根据权利要求3所述的一种可更换式无人机微型吊舱，其特征在于，所述的保护玻璃为平面光学玻璃或红外玻璃。4 . The replaceable UAV micro-pod according to claim 3 , wherein the protective glass is flat optical glass or infrared glass. 5 . 5.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的方位驱动电机模块（106）、俯仰驱动电机模块（108）、SD卡（105）和控制与图像处理单元（112）均采用外挂方式固定在骨架（107）上。5. A replaceable UAV micro-pod according to claim 1, characterized in that the azimuth drive motor module (106), pitch drive motor module (108), SD card (105) and The control and image processing unit (112) is fixed on the skeleton (107) by means of external hanging. 6.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的控制与图像处理单元（112）由图像板、控制板与驱动板组成。6 . The replaceable UAV micro-pod according to claim 1 , wherein the control and image processing unit ( 112 ) is composed of an image board, a control board and a drive board. 7 . 7.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的方位轴系（104）通过密封圈（103）实现水密封。7 . The replaceable UAV micro-pod according to claim 1 , wherein the azimuth shafting ( 104 ) is water-sealed by a sealing ring ( 103 ). 8 . 8.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的俯仰轴系（109）通过迷宫密封件实现水密封。8 . The replaceable UAV micro-pod according to claim 1 , wherein the pitch shaft system ( 109 ) is water-tight through a labyrinth seal. 9 . 9.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的传感器组通过前盖组（201）和后盖（113）间的密封绳实现密封。9. A replaceable UAV micro-pod according to claim 1, characterized in that the sensor group is sealed by a sealing cord between the front cover group (201) and the rear cover (113). 10.根据权利要求1所述的一种可更换式无人机微型吊舱，其特征在于，所述的球罩（102）通过止口实现与顶盖（111）的配合密封。10. The replaceable UAV micro-pod according to claim 1, characterized in that, the spherical cover (102) realizes the cooperative sealing with the top cover (111) through a stop.
CN201610863408.0A 2016-09-29 2016-09-29 A kind of miniature gondola of changeable type unmanned plane Active CN106347693B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610863408.0A CN106347693B (en) 2016-09-29 2016-09-29 A kind of miniature gondola of changeable type unmanned plane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610863408.0A CN106347693B (en) 2016-09-29 2016-09-29 A kind of miniature gondola of changeable type unmanned plane

Publications (2)

Publication Number Publication Date
CN106347693A CN106347693A (en) 2017-01-25
CN106347693B true CN106347693B (en) 2019-05-31

Family

ID=57865701

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610863408.0A Active CN106347693B (en) 2016-09-29 2016-09-29 A kind of miniature gondola of changeable type unmanned plane

Country Status (1)

Country Link
CN (1) CN106347693B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207809801U (en) * 2017-11-08 2018-09-04 深圳市大疆创新科技有限公司 Roll shaft assembly, camera head and the unmanned vehicle of holder
CN107831578B (en) * 2017-11-08 2023-12-05 中船重工中南装备有限责任公司 Multi-layer omnidirectional observation window structure
CN108438244A (en) * 2018-04-27 2018-08-24 南京拓威航空科技有限公司 A kind of airborne aerial device and the unmanned plane containing it
CN109139828B (en) * 2018-10-16 2021-08-06 天津津航技术物理研究所 Wire rope transmission mechanism of photoelectric pod
CN109828488A (en) * 2018-12-27 2019-05-31 北京航天福道高技术股份有限公司 The double optical detection tracking systems of acquisition transmission integration
DE202019102256U1 (en) * 2019-04-18 2020-07-21 Dürkopp Adler AG Carrying and docking device for electronics housing modules
CN115561842A (en) * 2022-09-28 2023-01-03 湖北华中长江光电科技有限公司 Television viewing tool, photoelectric pod comprising same and optical axis correction method thereof

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006264567A (en) * 2005-03-25 2006-10-05 Yamaha Motor Co Ltd Helicopter
CN101811578A (en) * 2010-04-23 2010-08-25 福建省电力有限公司福州电业局 Special photoelectric nacelle of power patrol unmanned helicopter
CN102424113A (en) * 2012-01-13 2012-04-25 武汉华中天经光电系统有限公司 Miniature photoelectric hanging cabin
CN103395496A (en) * 2013-08-14 2013-11-20 武汉华中天经光电系统有限公司 Triaxial orthographic nacelle of unmanned aerial vehicle
CN105501454A (en) * 2016-01-20 2016-04-20 北京锁定精密科技有限公司 Mini-sized pod

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006264567A (en) * 2005-03-25 2006-10-05 Yamaha Motor Co Ltd Helicopter
CN101811578A (en) * 2010-04-23 2010-08-25 福建省电力有限公司福州电业局 Special photoelectric nacelle of power patrol unmanned helicopter
CN102424113A (en) * 2012-01-13 2012-04-25 武汉华中天经光电系统有限公司 Miniature photoelectric hanging cabin
CN103395496A (en) * 2013-08-14 2013-11-20 武汉华中天经光电系统有限公司 Triaxial orthographic nacelle of unmanned aerial vehicle
CN105501454A (en) * 2016-01-20 2016-04-20 北京锁定精密科技有限公司 Mini-sized pod

Also Published As

Publication number Publication date
CN106347693A (en) 2017-01-25

Similar Documents

Publication Publication Date Title
CN106347693B (en) A kind of miniature gondola of changeable type unmanned plane
JP7048011B2 (en) Imaging device
CN204776013U (en) Six unmanned aerial vehicle
CN103395497A (en) Small-sized shooting gondola for unmanned aerial vehicle
CN104058099A (en) Unmanned plane electro-optical pod
CN108521540B (en) Multi-eye camera
CN210391577U (en) Small-size two optical nacelle of triaxial
CN104670514B (en) A kind of modularity holder for aerial photographing
CN204937526U (en) 360 ° of panoramas are taken photo by plane photography and vedio recording unmanned plane
CN104176265A (en) Overturnable bracket system for panoramic camera of unmanned aerial vehicle
CN110015414B (en) Unmanned aerial vehicle multi-angle oblique photography equipment
CN103754381B (en) A kind of many lens aerial photography stable platforms
CN110871898A (en) A temperature measuring type photoelectric pod
CN105292475A (en) Infrared aerial photographic system for large power station and infrared aerial photographic method
CN104469283B (en) The micro-unmanned airborne real-time omnidirectional imaging system of one kind and equipment
CN109189101A (en) A kind of length is taken photo by plane unmanned aerial vehicle control system
CN213139140U (en) But autogiration's remote sensing survey and drawing unmanned aerial vehicle
CN208086031U (en) A kind of unmanned plane with gondola
CN108248815B (en) Method and device for acquiring high-precision remote sensing data
CN211685663U (en) Three-axis nacelle
CN206021492U (en) UAV-based wildfire monitoring device for transmission lines
CN107585320A (en) A kind of cradle head device and unmanned plane
CN205819524U (en) A kind of remote control camera waterborne
CN107124534B (en) Three-axis holder, shooting equipment, shooting system and unmanned shooting system
CN208190789U (en) A kind of more mesh cameras

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant