CN109835495A - A kind of aircraft inclination flight Self-stabilization holder - Google Patents
A kind of aircraft inclination flight Self-stabilization holder Download PDFInfo
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- CN109835495A CN109835495A CN201711229018.9A CN201711229018A CN109835495A CN 109835495 A CN109835495 A CN 109835495A CN 201711229018 A CN201711229018 A CN 201711229018A CN 109835495 A CN109835495 A CN 109835495A
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- adjustment apparatus
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Abstract
The present invention relates to air vehicle technique fields, a kind of aircraft inclination flight Self-stabilization holder, wherein the X-axis angular adjustment apparatus, the Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus are located in the X-axis, Y-axis and Z axis of the pedestal, the single-chip microcontroller is electrically connected with the fuselage attitude detection system and the servo drive respectively, and the servo drive is electrically connected with the X-axis angular adjustment apparatus, the Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus respectively；The holder further includes the fuselage tilt detection system connecting with microcontroller communication, after the fuselage tilt detection system obtains craft inclination state of flight, it conveys to stablize to servo drive system and maintains signal, and then control adjustment device and the aircraft maintenance is made to cut ramp-like state.
Description
Technical field
The present invention relates to substation's technical field, in particular to a kind of unmanned plane Self-stabilization holder.
Background technique
UAV, abbreviation unmanned plane is a kind of new concept aircraft being in rapid development, with motor-driven
Flexibly, rapid reaction, unmanned flight, operation require low advantage.Image may be implemented by carrying multiclass sensor in unmanned plane
The functions such as real-time Transmission, high-risk areas detection are the strong supplements of satellite remote sensing and traditional air remote sensing.
When realizing image real-time Transmission, by installing a holder in the bottom of unmanned plane, camera shooting is set existing unmanned plane
It is standby to be mounted on the pedestal of holder.
In the implementation of the present invention, the inventor finds that the existing technology has at least the following problems: in unmanned plane during flying
During carrying out regular line walking to transformer equipment and substation's ambient enviroment, the orientation of photographic subjects object can occur relative to pedestal
Variation, when the picture pick-up device on unmanned machine head being caused to shoot photographic subjects object, shooting photographic quality is poor, increases photograph
The complexity of piece post-processing leads to not the real time data for quickly getting transformer equipment and substation's ambient enviroment.
In addition, during regular line walking it is some in special circumstances, unmanned plane during flying device need to keep heeling condition, existing
Unmanned air vehicle technique in technology cannot achieve this requirement.
Summary of the invention
To solve the above problems, the present invention provides a kind of aircraft inclination flight Self-stabilization holder, this platform may make nothing
Aircraft keeps inclination self-stabilization under special state during transformer equipment and substation's ambient enviroment regular line walking
State.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of aircraft inclination flight Self-stabilization holder, including being mounted on the pedestal of uav bottom, being located at the pedestal
On picture pick-up device, the holder further include detect photographic subjects object orientation fuselage attitude detection system, X-axis angle adjustment
Device, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus, according to the fuselage attitude detection system detect data determine institute
State the single-chip microcontroller and servo drive of the adjustment angle of the X-axis of pedestal, Y-axis and Z axis, the X-axis angular adjustment apparatus, institute
It states Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus is located in the X-axis, Y-axis and Z axis of the pedestal, the list
Piece machine is electrically connected with the fuselage attitude detection system and the servo drive respectively, the servo drive difference
It is electrically connected with the X-axis angular adjustment apparatus, the Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus；
The holder further includes the fuselage tilt detection system connecting with microcontroller communication, which obtains
After taking craft inclination state of flight, convey to stablize to servo drive system and maintain signal, so control adjustment device make it is described
Ramp-like state is cut in aircraft maintenance.
Preferably, the fuselage tilt detection system is gyroscope.
Preferably, the fuselage tilt detection system is angle speed sensor.
Preferably, the picture pick-up device is that infrared view obtains equipment.
Preferably, the X-axis angular adjustment apparatus can be rotated 120 degree of angles；The Y-axis angular adjustment apparatus can turn
Move 120 degree of angles；The Z axis angular adjustment apparatus can be rotated 360 degree of angles.
Preferably, the attitude detector device is three-axis gyroscope.
Preferably, the X-axis angular adjustment apparatus and/or Y-axis angular adjustment apparatus and/or Z axis angle adjustment dress
It is set to hollow-cup motor.
Preferably, the holder further includes the attitude detector device for the posture for detecting the pedestal, the posture is visited
It surveys device to be located at the center of the pedestal, the attitude detector device and the monolithic mechatronics.
The beneficial effects of the present invention are:
This holder is by increasing fuselage tilt detection system, so that holder state obtains cloud by fuselage tilt detection system
The existing heeling condition angle-data of platform, after holder tilts and photographic device is made to be located at suitable shooting angle, fuselage inclination
Detection system conveys positioning signal to single-chip microcontroller, and single-chip microcontroller controls X-axis angular adjustment apparatus, Y-axis angle by servo drive system
Three device control holders such as degree adjustment device, Z axis angular adjustment apparatus, which maintain, cuts ramp-like state, to realize holder heeling condition
Stabilization so that unmanned plane can under special state during transformer equipment and substation's ambient enviroment regular line walking
To keep tilting self-stabilization state, the detection picture of high quality is shot, transformer equipment and substation are finally quickly got
The real time data of ambient enviroment.
Detailed description of the invention
Fig. 1 is that aircraft of the present invention tilts flight Self-stabilization holder system connection schematic diagram.
Appended drawing reference includes:
100- single-chip microcontroller, 110- picture pick-up device, 120- fuselage Attitute detecting device, 130- fuselage tilt detection system,
200- servo drive system, 210-X axis angular adjustment apparatus, 220-Y axis angular adjustment apparatus, 230-Z axis angular adjustment apparatus.
Specific embodiment
The present invention is described in detail below in conjunction with attached drawing.
With reference to Fig. 1, the embodiment of the invention provides a kind of unmanned plane Self-stabilization holder, including pedestal, picture pick-up device 110,
Fuselage Attitute detecting device 120, single-chip microcontroller 100, servo drive and X-axis angular adjustment apparatus 210, Y-axis angle adjustment dress
Set 220 and Z axis angular adjustment apparatus 230.The pedestal is mounted on uav bottom, which is located on the pedestal, should
X-axis angular adjustment apparatus 210, the Y-axis angular adjustment apparatus 220 and the Z axis angular adjustment apparatus 230 are located at the pedestal
On X-axis, Y-axis and Z axis, which is electrically connected with the fuselage Attitute detecting device 120 and the servo drive respectively
Connect, the servo drive respectively with the X-axis angular adjustment apparatus 210, the Y-axis angular adjustment apparatus 220 and the Z axis angle
Device 230 is adjusted to be electrically connected.
In the present embodiment, this holder is by increasing fuselage tilt detection system 130, so that holder state is tilted by fuselage
Detection system 130 obtains the existing heeling condition angle-data of holder, tilts in holder and photographic device is made to be located at suitable clap
After taking the photograph angle, fuselage tilt detection system 130 conveys positioning signal to single-chip microcontroller 100, and single-chip microcontroller 100 passes through servo drive system
Three device controls such as 200 control X-axis angular adjustment apparatus 210, Y-axis angular adjustment apparatus 220, Z axis angular adjustment apparatus 230
Holder, which maintains, cuts ramp-like state, to realize the stabilization of holder heeling condition.
Preferably, fuselage tilt detection system 130 is gyroscope.Fuselage tilt detection system 130 is angle speed sensing
Device.Picture pick-up device 110 is that infrared image obtains system.Fuselage attitude detection system 130 is gyroscope or angular transducer.
The working principle of the present embodiment unmanned plane Self-stabilization holder is: fuselage Attitute detecting device 120 detects photographic subjects
The orientation of object, single-chip microcontroller 100 determine the X-axis of pedestal, Y-axis and Z axis according to the data that the fuselage Attitute detecting device 120 detects
It adjusts the angle, the adjustment angle of X-axis, Y-axis and Z axis that servo drive is determined according to the single-chip microcontroller 100 is corresponding to drive the X-axis
Angular adjustment apparatus 210, Y-axis angular adjustment apparatus 220, Z axis angular adjustment apparatus 230, the X-axis angular adjustment apparatus 210 are somebody's turn to do
The X-axis, Y-axis, Z axis of pedestal are adjusted to corresponding angle by Y-axis angular adjustment apparatus 220, the Z axis angular adjustment apparatus 230.
In one embodiment of the invention, the camera shooting that closes on which is located at the pedestal is set
At standby 110.Since fuselage Attitute detecting device 120 and picture pick-up device 110 are closer, fuselage Attitute detecting device 120
The orientation of photographic subjects object can be detected from the shooting angle of picture pick-up device 110, so that X-axis angular adjustment apparatus 210, Y-axis
Angular adjustment apparatus 220, Z axis angular adjustment apparatus 230 adjust pedestal according to the detection data of fuselage Attitute detecting device 120
Afterwards, the picture pick-up device 110 on pedestal is more true to nature to the shooting effect of photographic subjects object.
In another embodiment of the invention, the adjustment amplitude of the X-axis angular adjustment apparatus 210 is 0~degree.Therefore, nothing
By the orientation any position in the X-axis direction of photographic subjects object, X-axis angular adjustment apparatus 210 can ensure that the posture of pedestal with
The orientation of photographic subjects object is adapted.
In one more embodiment of the present invention, the adjustment amplitude of the Y-axis angular adjustment apparatus 220 is 0~degree.Therefore, nothing
By the orientation any position in the Y-axis direction of photographic subjects object, Y-axis angular adjustment apparatus 220 can ensure that the posture of pedestal with
The orientation of photographic subjects object is adapted.
In another embodiment of the present invention, the adjustment amplitude of the Z axis angular adjustment apparatus 230 is 0~360 degree.Therefore,
No matter any position of the orientation of photographic subjects object in the Z-axis direction, Z angular adjustment apparatus can ensure that the posture and shooting of pedestal
The orientation of object is adapted.
Further, X-axis angular adjustment apparatus 210 and/or Y-axis angular adjustment apparatus 220 and/or Z axis angle adjustment dress
230 are set as servo motor.The d-axis of the servo motor does not have the return difference of retarder to influence, and precision is high.The servo motor is preferably
Hollow-cup motor.The magnetic resistance that the hollow-cup motor generates in cold situation is small, influences on the center of gravity of photographic device small.
In another embodiment of the present invention, which further includes the posture for detecting the posture of the pedestal
Detection device, the attitude detector device are located at the center of the pedestal, which is electrically connected with the single-chip microcontroller 100.
The present embodiment unmanned plane Self-stabilization holder working principle is: when enabling fuselage Attitute detecting device 120, single-chip microcontroller
The orientation of the 100 photographic subjects objects detected according to fuselage Attitute detecting device 120 determines the adjustment of the X-axis, Y-axis and Z axis of pedestal
Angle, when not enabling fuselage Attitute detecting device 120, the posture for the pedestal that single-chip microcontroller 100 is detected according to attitude detector device
Data determine that the X-axis of pedestal adjusts the angle, Y-axis adjusts the angle and Z axis adjusts the angle, and servo drive is according to single-chip microcontroller 100
Determining X-axis adjusts the angle, Y-axis adjusts the angle and Z axis adjusts the angle corresponding driving X-axis angular adjustment apparatus 210, Y-axis angle
Device 220, Z axis angular adjustment apparatus 230 are adjusted, X-axis angular adjustment apparatus 210 adjusts the X-axis angle of pedestal, Y-axis angle tune
Engagement positions 220 adjust the Y-axis angle of pedestal, and Z axis angular adjustment apparatus 230 adjusts the Z axis angle of pedestal.
As shown from the above technical solution, when enabling fuselage Attitute detecting device 120, the present embodiment is examined by fuselage posture
The orientation that device 120 detects photographic subjects object is surveyed, servo drive drives X-axis angular adjustment apparatus 210, the adjustment of Y-axis angle
Device 220, Z axis angular adjustment apparatus 230 by the X-axis, Y-axis, Z axis of pedestal be adjusted to the orientation of photographic subjects object be adapted
Angle, when not enabling fuselage Attitute detecting device 120, the present embodiment detects the posture of pedestal by attitude detector device, watches
It takes driving device driving X-axis angular adjustment apparatus 210, Y-axis angular adjustment apparatus 220, Z axis angular adjustment apparatus 230 and adjusts bottom
X-axis, the Y-axis, Z axis of seat, are adjusted to horizontal attitude for pedestal, so that it is guaranteed that the shooting quality of the picture pick-up device 110 on pedestal,
So that the photographed data of picture pick-up device 110 is accurate, the precision and efficiency of post-processing can be improved.
It should be noted that the attitude detector device is arranged at the center of pedestal, such attitude detector device can be more
Add the X-axis, Y-axis, Z axis posture for accurately detecting pedestal.
In one embodiment of the invention, which is three-axis gyroscope.The three-axis gyroscope volume
Small, light-weight, detection good reliability.
Further, which is piezoelectricity gyro.Piezoelectricity gyro reaction in detection is fast, quasi-
Exactness is high.It is to be appreciated that the attitude detector device may be micro-mechanical gyroscope or fibre optic gyroscope or lasergyro.
From the foregoing, it will be observed that the present embodiment unmanned plane Self-stabilization holder detects photographic subjects by fuselage Attitute detecting device 120
The orientation of object, servo drive drive X-axis angular adjustment apparatus 210, Y-axis angular adjustment apparatus 220, Z axis angle adjustment dress
It sets 230 and the X-axis, Y-axis, Z axis of pedestal is adjusted to the angle being adapted with the orientation of photographic subjects object, so that it is guaranteed that on pedestal
The shooting quality of picture pick-up device 110 can improve the precision and effect of post-processing so that the photographed data of picture pick-up device 110 is accurate
Rate, so that unmanned plane can be protected under special state during transformer equipment and substation's ambient enviroment regular line walking
Inclination self-stabilization state is held, the detection data of high quality is shot, finally quickly gets around transformer equipment and substation
The real time data of environment.
The above is only a preferred embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, in specific embodiments and applications can be with many changes may be made, as long as these variations are without departing from structure of the invention
Think, all belongs to the scope of protection of the present invention.
Claims (8)
1. a kind of aircraft tilts flight Self-stabilization holder, it is characterised in that: including being mounted on the pedestal of uav bottom, being located at
Picture pick-up device on the pedestal, the holder further include fuselage attitude detection system, the X-axis for detecting the orientation of photographic subjects object
Angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus, the number detected according to the fuselage attitude detection system
According to the single-chip microcontroller and servo drive of the adjustment angle of the X-axis of the determination pedestal, Y-axis and Z axis, the X-axis angle tune
Engagement positions, the Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus are located at the X-axis, Y-axis and Z axis of the pedestal
On, the single-chip microcontroller is electrically connected with the fuselage attitude detection system and the servo drive respectively, and the servo is driven
Dynamic device is electric with the X-axis angular adjustment apparatus, the Y-axis angular adjustment apparatus and the Z axis angular adjustment apparatus respectively
Connection；
The holder further includes the fuselage tilt detection system connecting with microcontroller communication, which, which obtains, flies
It after machine tilts state of flight, is conveyed to servo drive system and stablizes maintenance signal, and then controlled adjustment device and make the flight
Ramp-like state is cut in device maintenance.
2. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the fuselage tilt detection system
For gyroscope.
3. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the fuselage tilt detection system
For angle speed sensor.
4. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the picture pick-up device is infrared ray
Image acquisition equipment.
5. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the X-axis angular adjustment apparatus
It can be rotated 120 degree of angles；The Y-axis angular adjustment apparatus can be rotated 120 degree of angles；The Z axis angular adjustment apparatus can be rotated
360 degree of angles.
6. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the attitude detector device is three
Axis gyroscope.
7. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: the X-axis angular adjustment apparatus
And/or Y-axis angular adjustment apparatus and/or Z axis angular adjustment apparatus are hollow-cup motor.
8. tilting flight Self-stabilization holder according to aircraft described in right 1, it is characterised in that: further include detecting the pedestal
The attitude detector device of posture, the attitude detector device are located at the center of the pedestal, the attitude detector device and institute
State monolithic mechatronics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711229018.9A CN109835495A (en) | 2017-11-29 | 2017-11-29 | A kind of aircraft inclination flight Self-stabilization holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711229018.9A CN109835495A (en) | 2017-11-29 | 2017-11-29 | A kind of aircraft inclination flight Self-stabilization holder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109835495A true CN109835495A (en) | 2019-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711229018.9A Pending CN109835495A (en) | 2017-11-29 | 2017-11-29 | A kind of aircraft inclination flight Self-stabilization holder |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707734A (en) * | 2012-06-19 | 2012-10-03 | 上海大学 | Self-stabilizing cloud deck based on inertia attitude sensor |
| CN202499280U (en) * | 2011-12-29 | 2012-10-24 | 湖北易瓦特科技有限公司 | Unmanned device self stabilization holder |
| CN203567947U (en) * | 2013-06-04 | 2014-04-30 | 国家电网公司 | Self stabilizing holder for unmanned plane |
| CN104822052A (en) * | 2015-04-23 | 2015-08-05 | 暨南大学 | Substation electrical equipment inspection system and method |
| CN106672252A (en) * | 2016-12-07 | 2017-05-17 | 国网北京市电力公司 | Unmanned aerial vehicle |
| CN207809802U (en) * | 2017-11-29 | 2018-09-04 | 云南电网有限责任公司玉溪供电局 | A kind of aircraft inclination flight Self-stabilization holder |
-
2017
- 2017-11-29 CN CN201711229018.9A patent/CN109835495A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202499280U (en) * | 2011-12-29 | 2012-10-24 | 湖北易瓦特科技有限公司 | Unmanned device self stabilization holder |
| CN102707734A (en) * | 2012-06-19 | 2012-10-03 | 上海大学 | Self-stabilizing cloud deck based on inertia attitude sensor |
| CN203567947U (en) * | 2013-06-04 | 2014-04-30 | 国家电网公司 | Self stabilizing holder for unmanned plane |
| CN104822052A (en) * | 2015-04-23 | 2015-08-05 | 暨南大学 | Substation electrical equipment inspection system and method |
| CN106672252A (en) * | 2016-12-07 | 2017-05-17 | 国网北京市电力公司 | Unmanned aerial vehicle |
| CN207809802U (en) * | 2017-11-29 | 2018-09-04 | 云南电网有限责任公司玉溪供电局 | A kind of aircraft inclination flight Self-stabilization holder |
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