CN106428595A - Built-in image stabilization cradle head for miniature unmanned aerial vehicle - Google Patents
Built-in image stabilization cradle head for miniature unmanned aerial vehicle Download PDFInfo
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- CN106428595A CN106428595A CN201610913898.0A CN201610913898A CN106428595A CN 106428595 A CN106428595 A CN 106428595A CN 201610913898 A CN201610913898 A CN 201610913898A CN 106428595 A CN106428595 A CN 106428595A
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- 230000006641 stabilisation Effects 0.000 title abstract description 6
- 238000011105 stabilization Methods 0.000 title abstract description 6
- 238000005096 rolling process Methods 0.000 claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims description 4
- 239000005304 optical glass Substances 0.000 claims description 4
- 241000239290 Araneae Species 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000001914 filtration Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002834 transmittance Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- 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
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a built-in image stabilization cradle head for a miniature unmanned aerial vehicle. The cradle head comprises mounting beams, a mounting rack, a shell, a posture measurement sensor, a hood, a camera, an azimuth-drive motor, a rack, a pitching motor, a reversing frame and a rolling motor, wherein the hood is arranged on the top of the shell; four mounting beams are distributed at the bottom of the shell; the mounting rack is arranged at the bottom in the shell; the rolling motor is arranged on the mounting rack; the reversing frame is arranged on the output shaft of the rolling motor; the output shaft of the pitching motor is arrange din the mounting hole of the reversing frame; the rack is arranged on the pitching motor; the azimuth-drive motor is arranged on the rack; the camera is arranged on the output shaft of the azimuth-drive motor; the posture measurement sensor is arranged on the camera. According to the cradle head, varifocal stable-image photographing can be carried out by the miniature unmanned aerial vehicle in a flight, the control module is used for filtering shaking of the aerial vehicle in rolling, pitching and azimuth directions by adopting a following type fuzzy PID control algorithm according to the posture information detected by the measurement sensor, and stable photographing can be realized.
Description
Technical field
The invention belongs to a kind of steady as head technical field and in particular to a kind of built-in steady picture head of SUAV.
Background technology
Unmanned plane, in flight course, because aircraft turns to, can lead to the inclination of body attitude；Due to climbing or declining,
Body can be led to come back or bow.This attitudes vibration in aircraft, is random, mostly along with the shake of body, its width
Degree and frequency are also unpredictable in advance.
With unmanned air vehicle technique aerial survey, take photo by plane, line walking monitoring etc. field extensive application, shooting image quality is wanted
Seek more and more higher, do not require nothing more than image clearly, high resolution, also require output image stable it is impossible to shake.Unmanned plane is pacified
Fill a kind of can for camera provide increase steady technology steady as head be conventional way.In existing UAV system steady picture head
In, mostly adopt external hanging type steady as head, will be surely as head carry is below ventral.This image stabilization case is extensively applied
In flying platforms such as many rotor wing unmanned aerial vehicles, depopulated helicopters, partly medium-and-large-sized fixed-wing unmanned plane is also adopted by this image stabilization case.
This image stabilization formula has preferable application effect under most of unmanned plane application background.But for small-sized fixation
Wing unmanned plane, external hanging type is surely as head is difficult with.One is the occupation mode constraining unmanned plane, is restricted by using area, little
The landing modes that type fixed-wing is often slided using ventral, this mode requires ventral directly to bottom out, therefore cannot plug-in head；Two
It is that the aerodynamic configuration impact on aircraft is larger, plug-in head will necessarily increase the resistance of aircraft, impact flying speed and voyage.Cause
This, is for small-sized fixed-wing unmanned plane, a kind of built-in steady picture head of design, can rise and external hanging type head identical steady picture effect
Really, and not change the existing occupation mode of unmanned plane, do not reduce the original technical performance index of aircraft, very necessary.
Content of the invention
The technical problem to be solved is to provide in a kind of SUAV for above-mentioned the deficiencies in the prior art
Put formula steady picture head, it is suitably mounted on small-sized fixed-wing unmanned plane, can not change aircraft utilization mode and flight
On the premise of energy, shoot and export image that is stable and not shaking with aspect.
For realizing above-mentioned technical purpose, the technical scheme that the present invention takes is：
A kind of built-in steady picture head of SUAV, wherein：Including mounting rail, installing rack, housing, attitude measurement sensing
Device, head-shield, camera, azimuth-drive motor, frame, pitching motor, reversing frame and rolling motor, described housing is the circular cone bottom of with
Tubular construction, described head-shield is formed using the very high spherical optical glass producing of light transmittance, and described head-shield fixedly mounts
On the top surface of housing, described housing bottom surface is distributed uniformly and circumferentially four mounting rails, described installing rack is
Spider structure and installing rack is fixedly mounted on the bottom surface in housing, described rolling motor is fixedly mounted on peace by screw
Shelve, described reversing frame is fixedly mounted on the output shaft of rolling motor, described pitching motor output shaft fixedly mounts
In the installing hole of reversing frame, described frame is fixedly mounted on pitching motor, and described azimuth-drive motor is fixedly mounted on machine
On frame, described camera is arranged on the output shaft of azimuth-drive motor and camera is located in housing, and described attitude measurement passes
Sensor is arranged on camera, and the center of described installing rack is provided with through hole.
For optimizing technique scheme, the concrete measure taken also includes：
Above-mentioned steady also include controlling cable, body mounting groove and control module as head, left end circumferentially side on fuselage
To being evenly distributed with four body mounting grooves, described mounting rail is arranged in body mounting groove, described control cable left end
Pass from the centre bore of installing rack, described control module is arranged in fuselage, described control cable right-hand member with control mould
Block connects.
Above-mentioned attitude-measuring sensor selects GY-85 nine axle free degree IMU sensor assembly.
Above-mentioned azimuth-drive motor, pitching motor and rolling motor can realize 360 ° of rotations.
TMS320C5000 series DSP chip, power management chip and power amplification are provided with above-mentioned control module
Device.
Above-mentioned camera adopts optical zoom pick-up head.
Above-mentioned head-shield is spherical cap shape, and head-shield radius is consistent with the radius that reversing frame moves in the pitch direction.
Motor, camera, attitude-measuring sensor are linked together by described frame, and by installing rack with housing even
It is connected together, the nose shape of described housing profile and unmanned plane is consistent, and head is provided with glass head-shield.Described peace
Housing is linked together by dress beam with fuselage.Shell body rear cover is provided with through hole, the control of motor, attitude-measuring sensor and camera
Line is derived from this through hole, is connected to the control module being arranged on fuselage interior.
Whole stabilized platform by 3 servomotors, 3 framework supports is linked together so that energy between each gimbal axis
Freely rotatable, framework configuration is followed successively by orientation framework, pitching frame and rolling framework from inside to outside.
3 servomotors are used for driving each self-corresponding frame member, and the corresponding rotation change of each gimbal axis is stabilized platform phase
To carrier on orientation, pitching and 3 directions of rolling the attitudes vibration parameter with respect to airframe coordinate system, this parameter energy and
When feed back to control module.
Attitude-measuring sensor selects GY-85 nine axle free degree IMU sensor assembly, is arranged on above video camera, this mould
Block comprises three-axis gyroscope, 3-axis acceleration sensor and triaxial magnetic field sensor, and its Main Function is for measuring camera
Rotary motion matrix or the rotation parameter such as quaternary number with respect to airframe coordinate system.
Control module is made up of one piece of TMS320C5000 series DSP chip, power management chip, power amplifier etc..If
Count a kind of trailing type Fuzzy PID, this algorithm designs according to fixed-wing unmanned plane during flying feature, can filter off unmanned plane
Rolling movement in flight course；Filter off the high dither of orientation and pitch orientation, retain orientation and pitch orientation follows fortune
Dynamic, and output control signal motor makes corresponding action.
Glass head-shield is designed to spherical cap shape, and its radius is consistent with the radius that pitching frame moves in the pitch direction, choosing
Formed with the optical glass producing of high transmission rate, the distance of spherical crown surface to pitching center is according to video camera when 7 times of focal lengths work
State carry out calculate configuration it can be ensured that video camera can export clearly image in 1～20 optical zoom.
Specific embodiments of the present invention are as follows：
(1) parts such as installing rack, mounting rail, housing, glass head-shield are processed according to drawing, purchased motor, sensor,
The parts such as camera, chip, wire.
(2) motor, camera, sensor, installing rack, mounting rail are installed, under fixed-wing unmanned plane body is cut
Come, firmly place, in fuselage interior, the structural member that can connect with mounting rail, whole head is arranged on by unmanned plane by mounting rail
Head.
(3) make control module circuit board, control algolithm is canned, control module is arranged on fuselage interior；
(4) electric parts such as the control line of control module and head head are connected；
(5) upper electricity, debugging is so that control module and cradle head structure energy co-ordination；And set the initial position of motor,
Assembling finishes.
It is an advantage of the current invention that following some：
(1) not additionally increase unmanned plane store Combinations, can on the premise of not changing original unmanned plane profile and aerodynamic arrangement,
Realize image stabilization functions；
(2) built-in closed head, so that frame movement is not subject to extraneous windage, reduces due to wind-force effect and leads to
The shake of head；
(3) structure is simple, and versatility is good, is easily installed in multiple unmanned aerial vehicle platforms；
(4) pass through the compact optical Zoom camera configuring, it is possible to achieve zoom focal length shoots；
(5) light weight, with low cost, cost effectiveness is high, is easy to use in a large number.
Brief description
Fig. 1 is head internal structure schematic diagram of the present invention；
Fig. 2 is head of the present invention mounting structure schematic diagram on unmanned plane.
Reference therein is：Mounting rail 1, installing rack 2, housing 3, attitude-measuring sensor 4, head-shield 5, camera 6,
Azimuth-drive motor 7, frame 8, pitching motor 9, reversing frame 10, rolling motor 11, control cable 12, body mounting groove 13, control mould
Block 14, fuselage 15, wing 16.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is further illustrated：
A kind of built-in steady picture head of SUAV, wherein：Including mounting rail 1, installing rack 2, housing 3, attitude measurement
Sensor 4, head-shield 5, camera 6, azimuth-drive motor 7, frame 8, pitching motor 9, reversing frame 10 and rolling motor 11, described shell
Body 3 is the taper barrel structure bottom of with, and described head-shield 5 is formed using the very high spherical optical glass producing of light transmittance, institute
The head-shield 5 stated is fixedly mounted on the top surface of housing 3, and described housing 3 bottom surface has been distributed uniformly and circumferentially four peaces
Dress beam 1, described installing rack 2 is spider structure and installing rack 2 is fixedly mounted on the bottom surface in housing 3, described rolling
Motor 11 is fixedly mounted on installing rack 2 by screw, and described reversing frame 10 is fixedly mounted on the output shaft of rolling motor 11
On, described pitching motor 9 output shaft is fixedly mounted in the installing hole of reversing frame 10, and described frame 8 is fixedly mounted on bows
Face upward on motor 9, described azimuth-drive motor 7 is fixedly mounted in frame 8, described camera 6 is arranged on the output of azimuth-drive motor 7
On axle and camera 6 is located in housing 3, described attitude-measuring sensor 4 is arranged on camera 6, described installing rack 2
Center is provided with through hole.
In embodiment, also include controlling cable 12, body mounting groove 13 and control module 14, on fuselage 15, left end is circumferentially
Direction is evenly distributed with four body mounting grooves 13, and described mounting rail 1 is arranged in body mounting groove 13, and described control is electric
Cable 12 left end passes from the centre bore of installing rack 2, and described control module 14 is arranged in fuselage 15, described control cable
12 right-hand members are connected with control module 14.
In embodiment, attitude-measuring sensor 4 selects GY-85 nine axle free degree IMU sensor assembly.
In embodiment, azimuth-drive motor 7, pitching motor 9 and rolling motor 11 can realize 360 ° of rotations.
Attitude-measuring sensor 4 in the present invention, camera head 6, azimuth-drive motor 7, pitching motor 9 and rolling motor 11 are equal
There is signal control line, signal control line is aggregated into control cable 12, control cable 12 to pass from installing rack 2 centre bore, be connected to
It is arranged in the control module 14 within fuselage 15.
In embodiment, azimuth-drive motor 7 can carry out 360 ° of rotations in azimuth direction, when aircraft is in actions such as steerings, orientation
Direction is inevitably shaken, and attitude-measuring sensor 4 will perceive rotation and dither signal on azimuth direction, and send to peace
It is contained in the control module 14 of fuselage interior, after control module 14 is filtered processing, export to stable turn signal to orientation
Motor 7 is so that camera 6 smoothly turns to.
In embodiment, pitching motor 9 can carry out 360 ° of rotations in pitch orientation, in the same manner, can be in the control of control module 14
Lower action, can fall jitter filtering in the pitch direction in aircraft flight so that camera 6 is steady in the pitch direction
Action.
In embodiment, rolling motor 11 carries out 360 ° of rotations in rolling direction.Aircraft turning to, climb etc. during, machine
The inevitable run-off the straight of body, but camera 6 need not be followed aircraft and be carried out rolling movement, and therefore control module 14 can rolling motor
11 rotate to the opposite direction of craft inclination, offset the rolling movement of aircraft, play steady picture effect.
In embodiment, video camera 6 is subjected to ground remote signal, implements 1～30 Zoom Lens.
The present invention may be installed the head of fixed wing aircraft, to substitute the external hanging under fuselage steady picture gondola.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical schemes belonging under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, should be regarded as the protection of the present invention
Scope.
Claims (7)
1. a kind of built-in steady picture head of SUAV it is characterised in that：Including mounting rail (1), installing rack (2), housing
(3), attitude-measuring sensor (4), head-shield (5), camera (6), azimuth-drive motor (7), frame (8), pitching motor (9), revolution
Frame (10) and rolling motor (11), described housing (3) is the taper barrel structure bottom of with, and described head-shield (5) adopts printing opacity
The very high spherical optical glass producing of rate forms, and described head-shield (5) is fixedly mounted on the top surface of housing (3), described
Four mounting rails (1) have been distributed uniformly and circumferentially on housing (3) bottom surface, described installing rack (2) be spider structure and
Installing rack (2) is fixedly mounted on the bottom surface in housing (3), and described rolling motor (11) is fixedly mounted on installation by screw
On frame (2), described reversing frame (10) is fixedly mounted on the output shaft of rolling motor (11), and described pitching motor (9) is defeated
Shaft is fixedly mounted in the installing hole of reversing frame (10), and described frame (8) is fixedly mounted on pitching motor (9), described
Azimuth-drive motor (7) be fixedly mounted in frame (8), described camera (6) be arranged on the output shaft of azimuth-drive motor (7) and
Camera (6) is located in housing (3), and described attitude-measuring sensor (4) is arranged on camera (6), described installing rack
(2) center is provided with through hole.
2. a kind of built-in steady picture head of SUAV according to claim 1 it is characterised in that：Also include controlling electricity
Cable (12), body mounting groove (13) and control module (14), the upper left end of fuselage (15) has been distributed uniformly and circumferentially four machines
Body mounting groove (13), described mounting rail (1) is arranged on that body mounting groove (13) is inner, and described control cable (12) left end is from peace
Pass in the centre bore shelving (2), described control module (14) is arranged in fuselage (15), described control cable (12) is right
End is connected with control module (14).
3. a kind of built-in steady picture head of SUAV according to claim 1 it is characterised in that：Described attitude is surveyed
Quantity sensor (4) selects GY-85 nine axle free degree IMU sensor assembly.
4. a kind of built-in steady picture head of SUAV according to claim 1 it is characterised in that：Described orientation electricity
Machine (7), pitching motor (9) and rolling motor (11) can realize 360 ° of rotations.
5. a kind of built-in steady picture head of SUAV according to claim 2 it is characterised in that：Described control mould
TMS320C5000 series DSP chip, power management chip and power amplifier are provided with block (14).
6. a kind of built-in steady picture head of SUAV according to claim 1 it is characterised in that：Described camera
(6) adopt optical zoom pick-up head.
7. a kind of built-in steady picture head of SUAV according to claim 6 it is characterised in that：Described head-shield
(5) it is spherical cap shape, the radius that head-shield (5) radius moves in the pitch direction with reversing frame (10) is consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913898.0A CN106428595A (en) | 2016-10-20 | 2016-10-20 | Built-in image stabilization cradle head for miniature unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610913898.0A CN106428595A (en) | 2016-10-20 | 2016-10-20 | Built-in image stabilization cradle head for miniature unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN106428595A true CN106428595A (en) | 2017-02-22 |
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| CN201610913898.0A Pending CN106428595A (en) | 2016-10-20 | 2016-10-20 | Built-in image stabilization cradle head for miniature unmanned aerial vehicle |
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Cited By (8)
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|---|---|---|---|---|
| CN107770437A (en) * | 2017-09-08 | 2018-03-06 | 温州大学 | Unmanned plane photography and vedio recording system and its displacement compensating mechanism |
| CN108445078A (en) * | 2018-02-09 | 2018-08-24 | 深圳市睿灵创新科技开发有限公司 | Skin hollowing detection device and method |
| WO2018214162A1 (en) * | 2017-05-26 | 2018-11-29 | 深圳市大疆创新科技有限公司 | Action camera |
| CN109606718A (en) * | 2018-12-28 | 2019-04-12 | 成都纵横大鹏无人机科技有限公司 | A kind of three-axis stabilization holder and unmanned plane |
| CN110362122A (en) * | 2019-07-26 | 2019-10-22 | 广西圣尧航空科技有限公司 | A kind of tripod head controlling device and its control method |
| WO2020000507A1 (en) * | 2018-06-26 | 2020-01-02 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and body thereof and pan-tilt-zoom camera |
| US10976647B2 (en) | 2017-05-26 | 2021-04-13 | SZ DJI Technology Co., Ltd. | Method and system for motion camera with embedded gimbal |
| CN114383702A (en) * | 2022-01-25 | 2022-04-22 | 河南牧原智能科技有限公司 | Visual weight estimation device for measuring animal body weight |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110362122A (en) * | 2019-07-26 | 2019-10-22 | 广西圣尧航空科技有限公司 | A kind of tripod head controlling device and its control method |
| CN114383702A (en) * | 2022-01-25 | 2022-04-22 | 河南牧原智能科技有限公司 | Visual weight estimation device for measuring animal body weight |
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