CN108438244A - A kind of airborne aerial device and the unmanned plane containing it - Google Patents
A kind of airborne aerial device and the unmanned plane containing it Download PDFInfo
- Publication number
- CN108438244A CN108438244A CN201810391372.XA CN201810391372A CN108438244A CN 108438244 A CN108438244 A CN 108438244A CN 201810391372 A CN201810391372 A CN 201810391372A CN 108438244 A CN108438244 A CN 108438244A
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- China
- Prior art keywords
- camera
- pitching
- rangefinder
- mounting bracket
- protecting crust
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- 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.)
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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
-
- 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
Abstract
The present invention relates to air vehicle technique fields, more particularly to a kind of airborne aerial device and containing its unmanned plane, including holder and camera, it further include rangefinder, holder includes electric rotating machine, support arm, roll motor, pitching motor and two pitching linking arms being oppositely arranged, the upper end of support arm is rotatablely connected electric rotating machine, bottom end is rotatablely connected roll motor, the both ends of roll motor are respectively fixedly connected with two pitching linking arms being oppositely arranged, wherein the free end of a pitching linking arm connects pitching motor；Camera is rotatably connected between pitching motor and another pitching linking arm；Rangefinder is installed on the wherein side of camera surrounding.Rangefinder integration is fixed on holder, on the one hand reduces body occupied space, take full advantage of holder space so that space utilization rationalizes by a kind of airborne aerial device provided by the present invention and the unmanned plane containing it；On the other hand can auxiliary camera shooting, effectively obtain in captured image objectives object between unmanned plane at a distance from.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of airborne aerial device and the unmanned plane containing it.
Background technology
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.With
The rapid development of unmanned plane industry, more and more unmanned planes be applied to take photo by plane, agricultural, forestry, electric power, mapping, telemetering
Etc. industries.
Equipped with aerial device in application field of taking photo by plane, unmanned plane body, aerial device includes holder, and holder is usually used
In carry camera, by increasing stability from steady holder and being remotely controlled the angle for changing and shooting, to ensure take photo by plane quality and protection
It takes photo by plane equipment；In addition, being usually mounted with rangefinder on unmanned plane body, the distance of object is obtained to realize nothing by rangefinder
Man-machine automatic obstacle avoidance functions.Rangefinder is installed to assist aerial device to be shot however, being not yet present at present on holder
Structure.
Invention content
In order to solve the above technical problems, The present invention provides a kind of airborne aerial device and containing its unmanned plane.
First aspect present invention provides a kind of airborne aerial device, including holder and camera, further includes rangefinder, described
Holder includes electric rotating machine, support arm, roll motor, pitching motor and two pitching linking arms being oppositely arranged, the support
The upper end of arm is rotatablely connected the electric rotating machine, and bottom end is rotatablely connected the roll motor, the both ends difference of the roll motor
Two pitching linking arms being oppositely arranged are fixedly connected with, wherein the free end of a pitching linking arm connects the pitching motor；Institute
Camera is stated to be rotatably connected between the pitching motor and another pitching linking arm；The rangefinder is installed on the camera surrounding
Wherein side.
As being further improved in structure of the invention, the light in the ranging direction of the rangefinder and the camera lens of the camera
Axis direction keeping parallelism.
Further include mounting bracket as being further improved in structure of the invention, the mounting bracket includes two be oppositely arranged
A side mounting bracket, wherein a side mounting bracket and the pitching motor are rotatablely connected, the other side mounting bracket by bearing with
Another pitching linking arm rotation connection, the both sides of the camera are fixedly connected with two side mounting brackets respectively.
As being further improved in structure of the invention, the mounting bracket further includes bottom mounting bracket, the bottom installation
Frame is connected to two sides mounting bracket bottom, and the camera is fixed on the bottom mounting bracket and is surrounded with two side mounting brackets
Accommodating space in.
Preferably, the rangefinder is fixed on side mounting bracket bottom.
Further include protective cover as being further improved in structure of the invention, the protective cover is by the camera and ranging
Instrument is accommodated in it, and is offered camera lens mouth corresponding with the camera lens of the camera on protective cover and emitted with the rangefinder
The corresponding launch hole in hole.
Further, the protective cover includes the first protecting crust, the second protecting crust and third protecting crust, and described first is anti-
Protective case, the second protecting crust form after being symmetrical arranged and being connect with the third protecting crust camera and rangefinder being enclosed in it
Interior accommodating space.
Preferably, first protecting crust, the second protecting crust are mutually butted and along the camera lens optical axis direction at docking
It is located at same vertical plane with camera lens optical axis.
Preferably, the third protecting crust is connected to the front side bottom of first protecting crust, the second protecting crust diagonally downward
Portion；The third protecting crust is by two two side plates being oppositely arranged, the vertical back plate of two side plates of connection and connection side plates
Top plate integrally connected form, the launch hole is opened in the vertical back plate.
On the other hand, further include above-mentioned airborne aerial device the present invention also provides a kind of unmanned plane, including body,
The airborne aerial device is installed on the organism bottom.
Using above-mentioned technical proposal, including following advantageous effect：A kind of airborne aerial device provided by the present invention and contain
Rangefinder integration is fixed on holder, on the one hand reduces body occupied space by its unmanned plane, takes full advantage of holder sky
Between so that space utilization rationalizes；It on the other hand being capable of auxiliary camera shooting, effectively objectives object in the captured image of acquisition
At a distance between unmanned plane so that ranging data is accurate and reliable.
Description of the drawings
Fig. 1 is the structural schematic diagram of airborne aerial device provided by the present invention（Not comprising protective cover）；
Fig. 2 is the structural schematic diagram of airborne aerial device provided by the present invention（Including protective cover）；
Fig. 3 is the structural schematic diagram of airborne aerial device provided by the present invention（Not comprising the second protecting crust）；
Fig. 4 is the structural schematic diagram of airborne aerial device provided by the present invention（Not comprising protective cover and camera）.
In figure,
1, electric rotating machine；2, support arm；3, roll motor；4, pitching linking arm；5, camera；5.1 camera lens；6, third protecting crust；
6.1, top plate；6.2, side plate；6.3, vertical back plate；7, rangefinder；7.1, launch hole；7.2, receiver hole；8, pitching motor；9, axis
It holds；10, mounting bracket；11, bottom mounting bracket；12, the first protecting crust；13, the second protecting crust；14, camera lens mouth.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
The every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the present invention, term "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on ... shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
It sets, element or component must have particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " " socket " shall be understood in a broad sense.For example, can
To be to be fixedly connected, it is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected,
Either indirectly connected through an intermediary, or it is two connections internal between device, element or component.For
For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Unless otherwise indicated, the meaning of " multiple " is two or more.
It is described in further detail below by specific embodiment and in conjunction with attached drawing to the present invention.
Embodiment：
A kind of airborne aerial device is present embodiments provided, refering to fig. 1-4, including holder and camera 5, further include rangefinder 7, institute
It includes electric rotating machine 1, support arm 2, roll motor 3, pitching motor 8 and two pitching linking arms 4 being oppositely arranged, institute to state holder
The upper end for stating support arm 2 is rotatablely connected the electric rotating machine 1, and bottom end is rotatablely connected the roll motor 3, the roll motor 3
Both ends be respectively fixedly connected with two pitching linking arms 4 being oppositely arranged, wherein a pitching linking arm 4 free end connection described in
Pitching motor 8；The camera 5 is rotatably connected between the pitching motor 8 and another pitching linking arm 4；The rangefinder 7 is pacified
Wherein side loaded on 5 surrounding of the camera.
Preferably, the rangefinder 7 is laser range finder, and rangefinder 7 may be mounted at any up and down the one of camera 5
Side, can by rangefinder auxiliary camera obtain image in object position, and then obtain the object between unmanned plane away from
From.
Rangefinder is installed on the holder of unmanned plane, auxiliary camera shooting by the airborne aerial device provided in the present embodiment
Image, and by rangefinder obtain in captured image object between unmanned plane at a distance from；In addition, in some sector applications
In, operator needs to obtain the current distance of a certain specific objective object and unmanned plane in captured image, but due to captured figure
Contain multiple objects as in, the rangefinder object being measured of fixed installation be difficult to it is corresponding with required specific objective object, to make
It obtains institute's ranging and separates out existing deviation, it is possible to so that the aerial mission of unmanned plane is difficult to effectively implement.
Therefore, in order to effectively obtaining specific objective object position needed for captured image, the present embodiment
In, when installing rangefinder, the optical axis direction keeping parallelism in the ranging direction of the rangefinder and the camera lens of the camera.And
Further, the rangefinder includes symmetrically arranged launch hole and receiver hole, the plane of symmetry of the two and the camera lens optical axis
The plane of the vertical direction at place or the plane of horizontal direction overlap.If rangefinder to be fixed on to the top or bottom of camera,
The plane of symmetry of launch hole and receiver hole is overlapped with the plane of the vertical direction where the optical axis of the camera in rangefinder；If will survey
Distance meter is fixed on the left and right sides portion of camera, then launch hole and receiver hole setting symmetrical above and below, the plane of symmetry and camera lens light of the two
Axis plane in the horizontal direction overlap.By the way that rangefinder setting in the arbitrary side of camera surrounding and is made the plane of symmetry and mirror
The plane of both direction where head optical axis overlaps, so that rangefinder is closer with the optical axis position of the camera lens, but also
Can be so that the luminous point that rangefinder transmitting light is irradiated in somewhere in image with camera lens optical axis overlap, i.e. optical axis light is irradiated in image
Portion, then rangefinder follow camera lens to be irradiated in same place.Operator can be sent to the phase of ground surface end according to the figure transmission module on holder
Image captured by machine, remote control cradle head control camera angle make the specific objective level in the middle part of captured image, at this point,
Rangefinder object being measured is just the specific objective object, to accurately obtain the specific objective object to the distance between unmanned plane.
Holder provided in the present embodiment is three-axis stability augmentation holder, mainly by cradle head controllor, attitude transducer, rotation
Motor, roll motor and pitching motor composition, three motors be each responsible for around, the rotation in upper and lower three directions, holder
Controller calculates the pitching, roll and yaw angle of current holder by attitude transducer, to control three motors so that
Camera keeps posture static during exercise.Known to, rangefinder is equipped with data-interface, and rangefinder is connect data by data line
Mouth is connect with cradle head controllor, and cradle head controllor connect to realize that data transmission, rangefinder will with UAV Flight Control device
Measured data are sent to cradle head controllor, and are transferred to UAV Flight Control device by cradle head controllor, so that nobody
Machine implements corresponding flight measure according to the rangefinder data obtained.The control principle of three-axis stability augmentation holder and rangefinder
Range measurement principle is the common knowledge of the art, no longer further spreads out and repeats herein.
In other embodiments, further, further include mounting bracket, the mounting bracket includes two sides being oppositely arranged
Mounting bracket 10, wherein a side mounting bracket 10 is rotatablely connected with the pitching motor 8, the other side mounting bracket 10 passes through bearing 9
It is rotatablely connected with another pitching linking arm 4, the both sides of the camera 5 are fixedly connected with two side mounting brackets 10 respectively.Pass through
Be oppositely arranged two side mounting brackets 10 are fixedly mounted cameras 5 and are optionally consolidated camera and side mounting bracket 10 by screw
Fixed connection, motor rotation drive mounting bracket accordingly to rotate, to drive the camera being fixed on mounting bracket to rotate synchronously, side peace
Shelve 10 size it is suitable with camera, be conducive to protect camera.In the embodiment, rangefinder 7 may be alternatively mounted at the upper of camera
Portion or bottom.
In certain embodiments, further, the mounting bracket further includes bottom mounting bracket 11, the bottom mounting bracket
Two 10 bottoms of side mounting bracket are connected to, the camera 5 is fixed on the bottom mounting bracket 11 and two side mounting bracket institutes
In the accommodating space surrounded.Side mounting bracket 10 and bottom mounting bracket 11 can be the platy structure for offering lightening hole.
The rangefinder 7 is fixed on the bottom mounting bracket 11.By bottom mounting bracket and two opposite side portion mounting bracket institutes
On the one hand camera is fixedly mounted in the space for the open on three sides that it is surrounded by the mounting bracket of composition, the both sides of camera pass through company
Fitting is fixedly connected with side mounting bracket respectively, and bottom is fixedly connected by connector with bottom mounting bracket, side mounting bracket top
Portion's inward at both ends extend horizontally away boss, and top of camera is fixed on by connector on boss, as a result, camera and mounting bracket
Between firm and reliable connection, meanwhile, both sides mounting bracket and bottom mounting bracket play the role of effective protection to camera；On the other hand
Both mounting bracket provides the bottom mounting bracket of fixed support for rangefinder so that and rangefinder is individually fixed with camera, improve
The reliability of installation；Furthermore it is all fixed on mounting bracket due to rangefinder and camera and is moved synchronously with mounting bracket, due to three axis
Increase the effect of steady holder so that camera remains static always, and captured picture is high-visible, and similarly, rangefinder exists
Under the action of three axis holders, it can accurately beat on measured target object, improve the stability of ranging, further such that being surveyed
Range data is true and reliable.
In some embodiments, further include protective cover in order to which comprehensive offer is to the protective action of camera and rangefinder, institute
It states protective cover the camera and rangefinder are accommodated in it, and offers mirror corresponding with the camera lens of the camera on protective cover
Head mouth 14 and emission port corresponding with the rangefinder launch hole.It is further opened with transmitting corresponding with the rangefinder launch hole
Mouth, receiving port corresponding with the rangefinder receiver hole.
Specifically, the protective cover include the first protecting crust 12, the second protecting crust 13 and third protecting crust 6, described first
Protecting crust 12, the second protecting crust 13 are formed after being symmetrical arranged and being connect with the third protecting crust 6 by the camera and rangefinder
The accommodating space being enclosed in it.
In some preferred embodiments, first protecting crust 12, the second protecting crust 13 are along the camera lens optical axis direction
It is mutually butted and is located at same vertical plane with camera lens optical axis at docking.Wherein, the first protecting crust 12 is located at connection pitching motor 8
Between pitching linking arm 4 and side mounting bracket 10, the first protecting crust 12 is fixedly connected with the side mounting bracket 10 by connector,
For second protecting crust 13 between another pitching linking arm 4 and side mounting bracket 10, the second protecting crust 13 is by connector and is somebody's turn to do
Side mounting bracket 10 is fixedly connected.
The third protecting crust 6 is connected to the front side bottom of first protecting crust 12, the second protecting crust 13；The third
Protecting crust 6 is by two two side plates being oppositely arranged 6.2, the vertical back plate 6.3 of two side plates 6.2 of connection and connection side plates
6.2 top plate integrally connected forms, the emission port, and receiving port is opened in the vertical back plate and the lower lateral deviation positioned at camera lens mouth
Rear.Two side plates of the third protecting crust are chamfer triangle, so that being formed by opening phase on third protecting crust
Camera lens mouth is arranged obliquely.The overall construction design of above-mentioned protecting crust plays the role of effective protection to camera and rangefinder,
It avoids external object or overcast and rainy environment damages the two, especially the structure of third protecting crust, one side is to ranging
Instrument plays protective action, and the vertical back plate of third protecting crust is respectively embedded at the launch hole and receiver hole of another aspect rangefinder
It is interior, it acts synergistically with mounting bracket, further improves the reliability of rangefinder installation, avoid surveying due to installing not firm
The problem of away from deviation.
A kind of unmanned plane, including body are additionally provided in other embodiments, further include the airborne boat in above-described embodiment
Device is clapped, the airborne aerial device is installed on the organism bottom.Optionally, peace at the top of the electric rotating machine of airborne aerial device
Equipped with holder connecting plate, airborne aerial device is fixed on organism bottom by holder connecting plate.Unmanned plane includes flight controller,
Flight controller is communicated to connect with cradle head controllor.
Unmanned plane holder mounted is usually three-axis stability augmentation holder, mainly by cradle head controllor, attitude transducer, rotation
Motor, roll motor and pitching motor composition, three motors be each responsible for around, the rotation in upper and lower three directions, holder
Controller calculates the pitching, roll and yaw angle of current holder by attitude transducer, to control three motors so that
Camera keeps posture static during exercise.Known to, rangefinder is equipped with data-interface, and rangefinder is connect data by data line
Mouth is connect with cradle head controllor, to realize data transmission.Measured data are sent to cradle head controllor by rangefinder, and are led to
It crosses cradle head controllor and is transferred to UAV Flight Control device, so that unmanned plane is implemented accordingly according to the rangefinder data obtained
Flight measure.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of airborne aerial device, including holder and camera（5）, which is characterized in that further include rangefinder（7）, the holder
Including electric rotating machine（1）, support arm（2）, roll motor（3）, pitching motor（8）With two pitching linking arms being oppositely arranged
（4）, the support arm（2）Upper end be rotatablely connected the electric rotating machine（1）, bottom end is rotatablely connected the roll motor（3）, institute
State roll motor（3）Both ends be respectively fixedly connected with two pitching linking arms being oppositely arranged（4）, wherein a pitching linking arm
（4）Free end connect the pitching motor（8）；The camera（5）It is rotatably connected on the pitching motor（8）With another pitching
Linking arm（4）Between；The rangefinder（7）It is installed on the camera（1）The wherein side of surrounding.
2. airborne aerial device according to claim 1, which is characterized in that the rangefinder（7）Ranging direction and institute
State camera（5）Camera lens（5.1）Optical axis direction keeping parallelism.
3. airborne aerial device according to claim 1 or 2, which is characterized in that further include mounting bracket, the mounting bracket packet
Include two side mounting brackets being oppositely arranged（10）, wherein a side mounting bracket（10）With the pitching motor（8）Rotation connection,
The other side mounting bracket（10）Pass through bearing（9）With another pitching linking arm（4）Rotation connection, the camera（5）Both sides point
Not with two side mounting brackets（10）It is fixedly connected.
4. airborne aerial device according to claim 3, which is characterized in that the mounting bracket further includes bottom mounting bracket
（11）, the bottom mounting bracket（11）It is connected to two side mounting brackets（10）Bottom, the camera（1）It is fixed on the bottom
Mounting bracket（11）With two side mounting brackets（10）In the accommodating space surrounded.
5. airborne aerial device according to claim 4, which is characterized in that the rangefinder（7）It is fixed on the side
Mounting bracket（10）Bottom.
6. according to the airborne aerial device described in claim 1-5 any one, which is characterized in that further include protective cover, institute
It states protective cover the camera and rangefinder are accommodated in it, and offers mirror corresponding with the camera lens of the camera on protective cover
Head mouth（14）.
7. according to the airborne aerial device described in claim 6, which is characterized in that the protective cover includes the first protecting crust
（12）, the second protecting crust（13）With third protecting crust（6）, first protecting crust（12）, the second protecting crust（13）It is symmetrical arranged
And with the third protecting crust（6）Form the accommodating space camera and rangefinder being enclosed in it after connection.
8. according to the airborne aerial device described in claim 7, which is characterized in that first protecting crust（12）, it is second anti-
Protective case（13）It is mutually butted along the camera lens optical axis direction and is located at same vertical plane with camera lens optical axis at docking.
9. according to the airborne aerial device described in claim 8, which is characterized in that the third protecting crust（6）Diagonally downward
It is connected to first protecting crust（12）, the second protecting crust（13）Front side bottom；The third protecting crust（6）It is opposite by two
The side plate of setting（6.2）, connection two side plates（6.2）Vertical back plate（6.3）And two side plates of connection（6.2）Top plate
（6.1）Integrally connected forms.
10. a kind of unmanned plane, including body, which is characterized in that further include the airborne boat described in claim 1-9 any one
Device is clapped, the airborne aerial device is installed on the organism bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391372.XA CN108438244A (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391372.XA CN108438244A (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108438244A true CN108438244A (en) | 2018-08-24 |
Family
ID=63201739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810391372.XA Pending CN108438244A (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
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| Country | Link |
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| CN (1) | CN108438244A (en) |
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| CN109515729A (en) * | 2018-12-13 | 2019-03-26 | 成都睿铂科技有限责任公司 | A kind of unmanned plane camera mounting support and aerial surveying camera of photographing |
| WO2020107338A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Image transmission apparatus, and assembly method and movable platform thereof |
| CN112272745A (en) * | 2019-11-27 | 2021-01-26 | 深圳市大疆创新科技有限公司 | Cloud platform subassembly and shooting equipment of integrated camera fuselage |
| CN112572815A (en) * | 2021-01-27 | 2021-03-30 | 温州仔搭贸易有限公司 | Can prevent that difference in temperature from hazing unmanned aerial vehicle cloud platform that influences shooting effect |
| CN113734441A (en) * | 2021-09-01 | 2021-12-03 | 深圳供电局有限公司 | Unmanned aerial vehicle high-pressure water washing cloud platform device |
| CN114084361A (en) * | 2020-08-24 | 2022-02-25 | 瞰景科技发展(上海)有限公司 | Single-lens oblique photography aerial survey device and method |
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