CN107585320A - A kind of cradle head device and unmanned plane - Google Patents
A kind of cradle head device and unmanned plane Download PDFInfo
- Publication number
- CN107585320A CN107585320A CN201711041912.3A CN201711041912A CN107585320A CN 107585320 A CN107585320 A CN 107585320A CN 201711041912 A CN201711041912 A CN 201711041912A CN 107585320 A CN107585320 A CN 107585320A
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- Prior art keywords
- head device
- cradle head
- unmanned plane
- capture apparatus
- adjustment
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Abstract
The invention discloses a kind of cradle head device and unmanned plane, wherein cradle head device includes housing assembly, adjustment component, capture apparatus and control assembly, the control assembly includes circuit board, connecting line, processor and inertial sensor, the inertial sensor detects the attitude information of the capture apparatus, the processor controls the adjustment component according to the attitude information, wherein：Described adjustment component includes the joint coupling for connection frame component and capture apparatus, and the adjusting apparatus of the shooting angle for adjusting capture apparatus.Unmanned plane, including unmanned plane main body, described unmanned plane lower body part snap connection described cradle head device, unmanned plane main body electrical connection cradle head device.Using the adjustment capture apparatus angle of screw wing, the purpose of real-time adjustment angle can be realized so that adjustment is more flexible.The structure of the design of the present invention is more reasonable simultaneously, uses and is more convenient when using adjustment angle, and shooting effect is better than traditional head.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, is related to a kind of cradle head device and unmanned plane.
Background technology
With the raising for the automaticity patrolled circuit, patrol UAV is widely used, and is carried for convenience
Detection device in patrol UAV, it is necessary to install head frame mounting, thus be accordingly used in the head frame mounting of patrol UAV is
One important part, in the existing head frame mounting for patrol UAV, particularly small-sized electric platform, load
Fixed-link is formed between supporting plate, installation frame and body, body vibrations are transmitted as readily to load section, influence load imaging effect,
Simultaneously as head framework is directly affixed with body, it is unfavorable for the standardization of a variety of SUAVs or multiple mounting modes.
Head is the support works platform for installing video equipment, and video equipment is arranged on head, by head
Adjustment, the camera lens of video equipment is adjusted, to realize the correctly shooting to target.In photography, photograph and/or monitoring field, carry
The carrier of video camera or camera (such as：Aircraft, automobile, steamer, robot, human body) in the process of running, due to
High-frequency vibration and low-frequency jitter in itself be present and be used for carrying video camera, camera, it is necessary to configure stable self-balancing head in carrier
To realize steady shot.Stable self-balancing head is the attitudes vibration that video camera or camera are detected by electronic equipment mostly,
Steering wheel Contrary compensation is controlled to realize the stabilization of video camera or camera.
Chinese patent：Patent No. CN201110380344.6 discloses a kind of gyroscope type dynamic self-balance head, including machine
Frame component, electric machine assembly, capture apparatus and control assembly；Control assembly includes processor and inertial sensor, inertia sensing
Device detects the attitude information of capture apparatus, and processor is according to attitude information controlled motor component；Electric machine assembly directly drives frame
Component is rotated relative to capture apparatus to adjust the shooting angle of capture apparatus；Also include the connecting rod structure for auxiliary framework component
Part, link component is rotated with housing assembly and frames component.Although the head frame mounting of the invention realizes solid
Determine the function of video camera, but the invention also exist it is dumb when shooting, it is outside unsightly with unreasonable structure the problem of.
Meanwhile existing head is mainly that either three shaft mechanicals or electronic platform increase steady method, this method using two axles
Use motor（Brushless electric machine etc.）To control the angle at capture apparatus inclination angle, shake is larger, and capture apparatus has greater obliquity to supervise
Measure, can just make balanced adjustment.Essence is to optimize shooting picture of taking photo by plane with algorithm, and picture easily occur shake vestige
Problem.
The content of the invention
It is an object of the invention to the deficiency balanced for existing head, there is provided one kind is rational in infrastructure, adjustment is flexible, uses
Convenient and shooting effect good cradle head device and unmanned plane.
To achieve these goals, present invention employs following technical scheme：
A kind of cradle head device, including housing assembly, adjustment component, capture apparatus and control assembly, the control assembly include
Circuit board, connecting line, processor and inertial sensor, the inertial sensor detect the attitude information of the capture apparatus, institute
State processor and the adjustment component is controlled according to the attitude information, wherein：Described adjustment component includes being used for connection frame
The joint coupling of component and capture apparatus, and the adjusting apparatus of the shooting angle for adjusting capture apparatus.
Further, described adjusting apparatus is at least two screw wings for carrying motor, and motor electrically connects
Control assembly.
Further, described cradle head device also includes for wrapping up housing assembly, adjustment component and control assembly
At the top of housing, and housing assembly and it is used for the link for connecting unmanned plane, connection is erected at the top of housing assembly.
Further, described housing includes the annular frame of support protective effect and covered respectively in annular frame opening
The upper cover plate and lower cover at place.
Further, described upper cover plate and lower cover are uniformly distributed provided with air vent.
Further, described joint coupling difference connection frame component lower end and lower cover top panel, and it is universal
Connector can realize activity adjustment.
Further, described joint coupling includes Cardon universal joint or rzeppa joint.
Further, described link includes for the base of connection frame component and for snapping connection unmanned plane
Installation frame.
Further, the activity of described capture apparatus is adjustable is provided with corresponding installed in the bottom of lower cover, lower bottom cover
Coordinate the breach of capture apparatus.
A kind of unmanned plane, including unmanned plane main body, wherein：Described unmanned plane lower body part snaps connection above-mentioned cloud
Table apparatus, unmanned plane main body electrical connection cradle head device.Unmanned plane main body electrical connection cradle head device can be realized to cradle head device
Power supply and realized by unmanned plane main body and data transfer.
Beneficial effects of the present invention：
The present invention senses the shooting state of capture apparatus by acceleration gyroscope, then realizes adjustment shooting by adjusting apparatus
Equipment angle.
The present invention uses acceleration gyroscope sense state, then coordinates the screw wing of translator by gimbal structure（Fly
Row device structure）, housing assembly plays Auxiliary support effect, while does not interfere with the angle of screw wing adjustment capture apparatus, can
Realize the purpose of real-time adjustment angle so that adjustment is more flexible.The structure of the design of the present invention is more reasonable simultaneously, is using
Use and be more convenient during adjustment angle, and shooting effect is better than traditional head.
For the present invention using Flight Vehicle Structure as head, its built-in high-precision acceleration gyroscope can allow cradle head device
Keep level balance real-time with capture apparatus, capture apparatus have relatively small tilt angle with regard to that can detect, can ensure shooting picture of taking photo by plane
More stable, picture is not easy shake, blurred trace occur, is substantially to detect inclining for capture apparatus in real time with acceleration gyroscope
Angle.
Brief description of the drawings
Accompanying drawing 1 is the cradle head device decomposing schematic representation of unmanned plane；
Accompanying drawing 2 is that the cradle head device of unmanned plane looks up schematic perspective view；
Accompanying drawing 3 is the cradle head device top perspective schematic diagram of unmanned plane；
Accompanying drawing 4 is Universal active bar schematic diagram.
Identified in figure：1- capture apparatus, 2a- lower covers, 2b- upper cover plates, 3- annular frames, 4- motors, 5- frames
Component, 6a- installation frames, 6b- bases, 7- control assemblies, 8- screw wings, 9- Universal actives bar, 20- mounting body, 21- are fixed
External member, 90- circular pegs, 91- pressing plates.
Embodiment
With reference to the accompanying drawings, it is described in further detail to the embodiment of the present invention.
In the description of the invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, it is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In embodiments of the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ",
Terms such as " fixations " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be with
It is mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be two
The connection of individual element internal or the interaction relationship of two elements.For the ordinary skill in the art, Ke Yigen
Understand the concrete meaning of above-mentioned term in the present invention according to concrete condition.
Shown in refer to the attached drawing 1,2,3, present embodiment discloses a kind of cradle head device, including housing assembly 5, adjustment component,
Capture apparatus 1 and control assembly 7, the control assembly 7 includes circuit board, connecting line, processor and inertial sensor, described
Inertial sensor detects the attitude information of the capture apparatus 1, and the processor controls the adjustment according to the attitude information
Component, wherein：Described adjustment component includes the joint coupling for connection frame component 5 and capture apparatus 1, and is used for
Adjust the adjusting apparatus of the shooting angle of capture apparatus 1；Described joint coupling includes Cardon universal joint or rzeppa joint.
Cardan (hookes)universal joint structure is used in the present embodiment with reference to shown in figure 1 and Fig. 4, is provided with the bottom of housing assembly 5 and is used to live
The circular pegs 90 of dynamic connection Universal active bar 9, the middle part pressing plate 91 of Universal active bar 9 are flexibly connected with circular pegs 90 so that ten thousand
It can be rotated to motion bar 9 around circular pegs 90.The two of Universal active bar 9 is provided with outwardly cylinder and pacified by the activity of pressing plate 91
Mounted in lower cover 2a top panels, Universal active bar 9 can be realized around the axle center of Universal active bar 9 and rotated.The structure is used to cause
The head structure of the present invention that the structure of the present invention is more reasonable and relatively conventional is simpler, and adjustment is more efficient and convenient.
Shown rzeppa joint structure is used in another embodiment, in the bottom connected ball of housing assembly 5
Head, bulb coordinate the sliding sleeve on lower cover 2a to be flexibly connected so that housing assembly 5 can be with respect to housing（It also is understood that under
Cover plate 2a）Rotate regulation angle.
The present embodiment shown in refer to the attached drawing 1 is further, and described adjusting apparatus is at least two with motor 4
Screw wing 8, motor 4 electrically connect control assembly 7.Adjusting apparatus uses four spiral shells with motor 4 in the present embodiment
Rotor 8（Here it will be seen that aircraft blade and aircraft motor for an axle in four-axle aircraft）, this four band driving electricity
The screw wing 8 of machine 4 is evenly distributed in four angles in housing, after the state that capture apparatus 1 is sensed according to gyro inductor
Four motors 4 of control cause screw wing 8 to work so as to adjust the shooting angle of capture apparatus 1 respectively so that shooting is cleverer
It is living.
The present embodiment does head using four-axle aircraft, due to its built-in high-precision acceleration gyroscope, can allow head
Device and the real-time keep level balance of capture apparatus（When acceleration gyroscope detects the inclination angle of cradle head device and capture apparatus
Afterwards, the processor built in cradle head device receives four horses of dip angle signal and acceleration signal relief that acceleration gyroscope detects
The rotating speed adaptable with reaching cradle head device and capture apparatus horizontal equilibrium state up to output, so that cradle head device and shooting are set
It is standby（3 in accompanying drawing 2 and 21）Horizontal equilibrium state is remained, capture apparatus has relatively small tilt angle just to detect, shooting of taking photo by plane
Picture is more stable, and picture is not easy shake, blurred trace occur, is substantially to detect capture apparatus in real time with acceleration gyroscope
Inclination angle.
Adjusting apparatus uses three or six screw wings 8 with motor 4 in a further embodiment（Do not show in figure
Go out, when principle is identical with four screw wings 8）, when the center that housing assembly 5 is surrounded for three screw wings 8 with motor 4 is equal
Even is distributed in housing, and the interconnecting line between last screw wing 8 forms an isosceles triangle；It is electric when being driven for six bands
The screw wing 8 of machine 4 is evenly distributed in housing around the center of housing assembly 5, the interconnecting line shape between last screw wing 8
The hexagon equilateral into one etc..And the quantity of adjusting apparatus is typically with the size of head, carrying capture apparatus 1 or Adjustment precision
Deng as according to carrying out increase and decrease setting.
Flight Vehicle Structure cradle head device, it is therefore an objective to allow capture apparatus 1 to remain horizontal equilibrium, principle is using in head
Inclination angle when the high-precision acceleration gyroscope put works to detect itself in real time, the processor built in it receive acceleration top
Four motor outputs of dip angle signal and acceleration signal relief that spiral shell instrument detects are horizontal with reaching cradle head device and capture apparatus 1
The adaptable rotating speed of poised state, so as to finally make capture apparatus 1 remain horizontal equilibrium.
Further shown in refer to the attached drawing 1, described cradle head device also includes for wrapping up housing assembly 5, adjustment group
The housing of part and control assembly 7, and the top of housing assembly 5 and the link for connecting unmanned plane, connect and are erected at frame
The top of component 5.Described housing includes the annular frame 3 of support protective effect and covered respectively in the opening of annular frame 3
Upper cover plate 2b and lower cover 2a.Described upper cover plate 2b and lower cover 2a is uniformly distributed provided with air vent.The shell of the present embodiment
Body, upper cover plate 2b and lower cover 2a are used, and there is the resistance to material that falls to be made（Such as High molecular weight polyethylene）, spiral shell can be effectively protected
Rotor 8, the safety and stably of head can be effectively protected, can effectively prevent the work of ectocine head；Exist simultaneously
Air vent is set up on upper cover plate 2b and lower cover 2a can effectively maintain air balance inside head, more can effectively maintain
The balance of head, influence of the inner loop air-flow to head in itself is reduced, is also just subtracted so as to decrease the influence of internal gas flow
Lacked the adjustment work of screw wing 8, so as to reduce energy consumption, and effectively by heat caused by the work such as motor in housing timely
Discharge outside head, the effective life-span for increasing head internal component.
It is further shown in refer to the attached drawing 1, the described lower end of joint coupling difference connection frame component 5 and lower cover 2a
Top panel, and joint coupling can realize activity adjustment.Upper cover plate 2b, which is provided with, in the present embodiment is used for through housing assembly 5
Central opening, central opening is big compared with housing assembly 5, during for preventing rotational angle upper cover plate 2b interfere with housing assembly 5 from
And influence adjustment work.
Further shown in refer to the attached drawing 1, described link includes the base 6b and use for connection frame component 5
In the installation frame 6a for snapping connection unmanned plane.It is used to coordinate nobody by setting up at the top of installation frame 6a in the present embodiment
Machine forms the outstanding button of Fast Installation, can be with the purpose of fast assembling-disassembling when so as to ensure use this head, increasing
Add the convenience of user.
Further shown in refer to the attached drawing 1, the described activity of capture apparatus 1 is adjustable installed in lower cover 2a bottom
Portion, lower bottom cover are provided with the breach of corresponding matching capture apparatus 1.It is provided with the present embodiment in the bottom of breach for installing shooting
The mounting body 20 of equipment 1, and capture apparatus 1 is arranged in mounting body 20 by the way that fixed sleeve part 21 is adjustable, shooting is set
Standby 1 is provided with the port of connection unmanned plane.
In the present embodiment in order to ensure head the overall life-span and resistance to fall performance, housing, housing assembly 5, installation frame
6a, mounting body 20 and joint coupling etc. are made using lighter weight and with the material that resistance to falling property is high and crushing resistance is strong, by
In using lighter weight material be made cause head overall weight it is relatively light, even if also therefore it is small using power and compared with
Small-sized aircraft can also be completed to adjust the task of the angle of capture apparatus 1, also can effectively reduce energy consumption, improve adjustment
Accuracy, as High molecular weight polyethylene, ultra-high molecular weight polyethylene, polyurethane, polyethylene, high impact polystyrene, rubber increase
The materials such as tough epoxy resin, do not limit to above-mentioned material certainly.
The motor 4 of screw wing 8 is brush motor in the present embodiment.The motor 4 of screw wing 8 in other embodiment
DC brushless motor can be used, is advantageous in that：(1) electronic commutation replaces traditional mechanical commutation, dependable performance, forever without mill
Damage, fault rate are low, and the life-span improves about 6 times than brush motor；(2) static motor is belonged to, no-load current is small；(3) efficiency high；(4)
Small volume.
Control assembly 7 includes processor, inertial sensor, circuit board and connecting line, and connecting line includes conductor wire and letter
Number line, inertial sensor include being used for the acceleration gyroscope for detecting angular velocity signal and acceleration signal, and processor is according to angle
Rate signal and acceleration signal forward and reverse and rotating speed size to control the driving of screw wing 8.By setting inertia
Sensor comes the posture of timely dynamic monitoring capture apparatus 1, and the positive and negative rotation of quick controlled motor in time, make cradle head device and
Capture apparatus 1 remains horizontal equilibrium state, so as to improve the shooting stability of capture apparatus 1.
The above embodiments are all to use way of the aircraft blade in upper aircraft motor under, in further embodiment
In then use method in contrast with the previous embodiment, aircraft blade being set in lower aircraft motor what upper inversion was set
Meter, and be then now that aircraft motor is arranged on below upper cover plate 2b, and other settings are identical with the above embodiments.
The present embodiment shown in refer to the attached drawing 1 also discloses a kind of unmanned plane, including unmanned plane main body, wherein：Described nothing
Man-machine lower body part snaps connection above-mentioned cradle head device, unmanned plane main body electrical connection cradle head device.Unmanned plane main body is electrically connected
Connecing cradle head device can realize to the power supply of cradle head device and be realized by unmanned plane main body and data transfer.
More preferably one of concrete mode of embodiment described above, the simply present invention, those skilled in the art are at this
The usual variations and alternatives carried out in the range of inventive technique scheme should all include within the scope of the present invention.
Claims (10)
1. a kind of cradle head device, including housing assembly（5）, adjustment component, capture apparatus（1）And control assembly（7）, the control
Component processed（7）Including circuit board, connecting line, processor and inertial sensor, the inertial sensor detects the capture apparatus
（1）Attitude information, the processor controls the adjustment component according to the attitude information；It is characterized in that：Described adjustment
Component includes being used for connection frame component（5）And capture apparatus（1）Joint coupling, and for adjusting capture apparatus（1）
Shooting angle adjusting apparatus.
2. cradle head device according to claim 1, it is characterized in that：Described adjusting apparatus is at least two with driving electricity
Machine（4）Screw wing（8）, motor（4）Electrically connect control assembly（7）.
3. cradle head device according to claim 1, it is characterized in that：Described joint coupling includes Cardon universal joint or cage
Formula universal joint.
4. cradle head device according to claim 1, it is characterized in that：Described cradle head device also includes for wrapping up frame
Component（5）, adjustment component and control assembly（7）Housing, and housing assembly（5）Top and the connection for connecting unmanned plane
Frame, connection are erected at housing assembly（5）Top.
5. cradle head device according to claim 4, it is characterized in that：Described housing includes the ring frame of support protective effect
Frame（3）And cover respectively in annular frame（3）The upper cover plate of opening（2b）And lower cover（2a）.
6. cradle head device according to claim 5, it is characterized in that：Described upper cover plate（2b）And lower cover（2a）Uniformly divide
It is laid with air vent.
7. the cradle head device according to claim 1 or 3, it is characterized in that：Described joint coupling difference connection frame group
Part（5）Lower end and lower cover（2a）Top panel, and joint coupling can realize activity adjustment.
8. cradle head device according to claim 4, it is characterized in that：Described link includes being used for connection frame component
（5）Base（6b）And for snapping connection the installation frame of unmanned plane（6a）.
9. cradle head device according to claim 1, it is characterized in that：Described capture apparatus（1）The adjustable installation of activity
In lower cover（2a）Bottom, lower bottom cover is provided with corresponding matching capture apparatus（1）Breach.
10. a kind of unmanned plane, including unmanned plane main body, it is characterized in that：Described unmanned plane lower body part, which snaps connection, has the right
It is required that the cradle head device described in 1-9 any one, unmanned plane main body electrical connection cradle head device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041912.3A CN107585320A (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041912.3A CN107585320A (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107585320A true CN107585320A (en) | 2018-01-16 |
Family
ID=61044577
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711041912.3A Pending CN107585320A (en) | 2017-10-31 | 2017-10-31 | A kind of cradle head device and unmanned plane |
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| Country | Link |
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| CN (1) | CN107585320A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020000423A1 (en) * | 2018-06-29 | 2020-01-02 | 深圳市大疆创新科技有限公司 | Control method for gimbal, gimbal, aerial vehicle, and computer-readable storage medium |
| CN112335221A (en) * | 2018-06-14 | 2021-02-05 | 伟摩有限责任公司 | Camera ring structure for autonomous vehicle |
| CN115164071A (en) * | 2022-07-14 | 2022-10-11 | 河北贝拓科技有限公司 | Thermal imaging panoramic synthesis system based on holder |
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