CN110901936A - Unmanned aerial vehicle and airborne aerial photography image stabilizing cradle head thereof - Google Patents
Unmanned aerial vehicle and airborne aerial photography image stabilizing cradle head thereof Download PDFInfo
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- CN110901936A CN110901936A CN201911283957.0A CN201911283957A CN110901936A CN 110901936 A CN110901936 A CN 110901936A CN 201911283957 A CN201911283957 A CN 201911283957A CN 110901936 A CN110901936 A CN 110901936A
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- 238000003384 imaging method Methods 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- 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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Abstract
The invention provides an unmanned aerial vehicle and an airborne aerial photography image stabilization holder thereof, which comprise a fixed disk, a camera assembly and an annular baffle, wherein the fixed disk is fixedly connected with the unmanned aerial vehicle; an electromagnetic coil which can be magnetically connected with the permanent magnetic piece is embedded in the annular baffle. The stability of the moving disc during initial vibration can be guaranteed through the connection between the rolling ball and the spherical groove, and the stability of the moving disc can be continuously adjusted and controlled through the matching between the electromagnetic coil and the permanent magnetic part, so that the shooting stability of the camera assembly is adjusted, and the shooting of photos or videos of the whole camera assembly can be stably guaranteed.
Description
Technical Field
The invention relates to the technical field of aerial photography of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and an airborne aerial photography image stabilizing cradle head thereof.
Background
The aerial photography and video shooting have high utilization value in many fields such as topographic mapping, long earthquake and fire monitoring. Normally, people and equipment are carried by using manned helicopters only for shooting, but manned flight has the problems of high risk, high labor cost and incapability of continuously cruising for a long time. In recent years, the shooting work carried by a small unmanned aerial vehicle is started to appear, and a worker can remotely control the unmanned aerial vehicle according to the video information returned by the small unmanned aerial vehicle on the ground. However, often meet air current or wind etc. and produce jolting at unmanned aerial vehicle flight in-process to lead to shooing to appear rocking influence formation of image effect. The mode that the remote control cloud platform cooperation was rotated is generally adopted in order to realize stable shooting effect to current unmanned aerial vehicle, but its time that needs remote control transmission of remote control cooperation pivoted mode, and the air current disturbance is fast, consequently is difficult to the quick response and carries out remote control adjustment.
The Chinese patent application with the publication number of CN102556359A relates to an airborne shooting device of an unmanned aerial vehicle, in particular to an airborne aerial image stabilizing holder of the unmanned aerial vehicle, wherein a cross beam is arranged on a fixed rod of the unmanned aerial vehicle, and a first flat plate with a hole in the middle is arranged on the cross beam; the horizontal rotation driving steering engine is arranged on the first frame and is connected with the first flat plate through the horizontal transmission mechanism, the reaction force of the first flat plate drives the first frame to rotate horizontally, and the horizontal angle detection potentiometer can penetrate through the middle opening of the first flat plate in a relatively rotating mode and is fixedly connected to the first frame; the second frame is rotatably arranged on the first frame through horizontal shafts on two sides of the second frame, the horizontal shaft on one side is connected with a vertical rotation driving steering engine arranged on the first frame through a vertical transmission mechanism, and the horizontal shaft on the other side is connected with a vertical angle detection potentiometer; the second frame is driven by the vertical rotation driving steering engine to rotate vertically and rotate horizontally along with the first frame. The invention has good damping effect, large transmission torque and stable rotating speed.
However, the operating principle in the above application document is to use two gyroscopes to detect horizontal and vertical angles to realize automatic control, but the image stabilizing effect is not good in practical use by using the gyroscope, and the requirements on the processing precision of the external frame are high, and the service life is short.
Disclosure of Invention
The invention aims to provide an airborne aerial photography image stabilizing holder to solve the technical problem that in the prior art, when an unmanned aerial vehicle shoots, shaking is easy to occur, so that imaging is unclear.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides an airborne aerial photography steady image cloud platform is applied to unmanned aerial vehicle and includes: the camera assembly is connected with the fixed disc through a movable disc, a limiting column is convexly arranged at the top of the movable disc, a rolling ball is fixed at the top end of the limiting column, a spherical groove for accommodating the rolling ball is formed in the bottom of the fixed disc, the rolling ball is embedded in the spherical groove, and a permanent magnetic part is arranged on the outer side of the movable disc; and an electromagnetic coil which can be magnetically connected with the permanent magnetic piece is embedded in the annular baffle.
Furthermore, a through hole for the limiting column to penetrate through is formed in the spherical groove, and the diameter of the through hole is smaller than that of the rolling ball.
Furthermore, the rolling ball is made of ceramic materials; the outer edge of the rolling ball is coated with a wear-resistant buffer layer.
Furthermore, the annular baffle is hollow, and a plurality of electromagnetic coils are uniformly arranged in the annular baffle at intervals.
Furthermore, the number of the permanent magnetic pieces is multiple, and the multiple permanent magnetic pieces are uniformly arranged on the outer edge of the movable disc.
Furthermore, the height of the annular baffle is greater than or equal to that of the movable disc, an elastic limiting part is convexly arranged on the outer edge of the movable disc, one end of the elastic limiting part is fixed on the movable disc, and the other end of the elastic limiting part can be abutted against the inner side wall of the annular baffle.
Furthermore, the limiting column comprises a fixed column fixedly connected with the moving disc and a sliding column fixedly connected with the rolling ball, a sliding hole for the sliding column to slide is formed in the fixed column, an elastic piece is arranged at the bottom end of the sliding hole, one end of the elastic piece is abutted against the bottom end of the sliding column, and the other end of the elastic piece is abutted against the bottom end of the sliding hole.
Further, the camera assembly comprises a video camera and a rotating assembly which drives the shooting angle of the video camera to change.
Further, the rotating assembly comprises a first rotating mechanism for driving the camera to horizontally rotate and a second rotating mechanism for driving the camera to vertically rotate.
The invention also discloses an unmanned aerial vehicle which comprises the airborne aerial image stabilizing holder in any one of the above aspects.
The airborne aerial photography image stabilizing cradle head provided by the invention has the beneficial effects that: compared with the prior art, the airborne aerial photography image stabilization holder of the invention has the advantages that the fixed disc can be fixedly connected with the unmanned aerial vehicle, the camera component is arranged at the bottom of the unmanned aerial vehicle to realize the shooting operation, the top of the movable disc is fixedly connected with the fixed disc in a rotating way, the rolling ball can rotate in a multi-angle way in the spherical groove, when the unmanned aerial vehicle fluctuates, the movable disc can be continuously kept still due to gravity and inertia, and the fluctuation of the unmanned aerial vehicle cannot be directly transmitted to the camera component due to the connection between the spherical groove and the rolling ball, so that the shooting effect is influenced, and the magnetic attraction effect between the electromagnetic coil and the permanent magnetic piece is combined due to weaker gravity and weaker inertia and shorter maintenance time, so the stability of the movable disc positioned in the middle of the annular baffle plate is ensured by controlling the magnetic attraction force change of each angle, the stability of the moving disc during initial vibration can be guaranteed through the connection between the rolling ball and the spherical groove, and the stability of the moving disc can be continuously adjusted and controlled through the matching between the electromagnetic coil and the permanent magnetic part, so that the shooting stability of the camera assembly is adjusted, and the shooting of photos or videos of the whole camera assembly can be stably guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic partial sectional structural view of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a partially enlarged schematic view of a portion A in FIG. 2;
FIG. 4 is a schematic structural view of a limiting post and a rolling ball used in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a second rotary driving member according to an embodiment of the present invention.
Description of reference numerals:
1. fixing the disc; 2. a movable tray; 3. a camera assembly; 4. an annular baffle; 5. an elastic limiting part; 11. a spherical groove; 12. a through hole; 21. a limiting column; 22. a rolling ball; 23. a permanent magnet member; 24. a wear-resistant buffer layer; 211. fixing a column; 212. a sliding post; 213. an elastic member; 2111. a slide hole; 31. a camera; 32. a rotating assembly; 321. a first rotating mechanism; 322. a second rotating mechanism; 3211. a first rotary drive member; 3221. a second rotary drive member; 3222. a fixed mount; 3223. a gear; 3224. gear teeth; 41. an electromagnetic coil.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 to fig. 3, an airborne aerial photography image stabilization holder according to the present invention will now be described. Airborne aerial photography steady image cloud platform is applied to unmanned aerial vehicle and includes: the camera assembly comprises a fixed disk 1, a camera assembly 3 and an annular baffle 4, wherein the fixed disk 1 is fixedly connected with the unmanned aerial vehicle, the camera assembly 3 is arranged at the bottom of the fixed disk 1, the annular baffle 4 is arranged around the periphery of the fixed disk 1, the camera assembly 3 is connected with the fixed disk 1 through a movable disk 2, a limiting column 21 is convexly arranged at the top of the movable disk 2, a rolling ball 22 is fixed at the top end of the limiting column 21, a spherical groove 11 for accommodating the rolling ball 22 is formed in the bottom of the fixed disk 1, the rolling ball 22 is embedded in the spherical groove 11, and a permanent magnet piece 23 is arranged on the outer side of the movable disk; an electromagnetic coil 41 which can be magnetically connected with the permanent magnet piece 23 is embedded in the annular baffle 4.
Compared with the prior art, the airborne aerial photography image stabilization holder provided by the invention has the advantages that the fixed disc 1 can be fixedly connected with an unmanned aerial vehicle, the camera component 3 is arranged at the bottom of the unmanned aerial vehicle to realize the shooting operation, the top of the movable disc 2 is fixedly connected with the fixed disc 1 in a rotating way, the rolling ball 22 can rotate in a multi-angle way in the spherical groove 11, when the unmanned aerial vehicle fluctuates, the movable disc 2 can continuously keep still due to gravity and inertia, and the fluctuation of the unmanned aerial vehicle can not be directly transmitted to the camera component 3 due to the connection between the spherical groove 11 and the rolling ball 22, so that the shooting effect is influenced by the fluctuation of the camera component 3, and the magnetic attraction effect between the electromagnetic coil 41 and the permanent magnetic component 23 is combined due to weak gravity and inertia and short maintenance time, the stability of the movable disc 2 positioned in the middle of the annular baffle 4 is ensured by controlling the change of the magnetic attraction, the stability of the movable disk 2 during initial vibration can be ensured through the connection between the rolling ball 22 and the spherical groove 11, and the matching between the electromagnetic coil 41 and the permanent magnetic piece 23 can continuously adjust and control the stability of the movable disk 2, so that the shooting stability of the camera assembly 3 is adjusted, and the stable shooting of the whole camera assembly 3 can be ensured.
Specifically, the fixed disk 1 can be directly fixedly connected with the bottom of the unmanned aerial vehicle through a bolt, or the unmanned aerial vehicle is provided with a buckle disk at the bottom of the unmanned aerial vehicle, and the buckle disk is connected with the fixed disk 1 in a buckle manner; camera subassembly 3 sets up in unmanned aerial vehicle's bottom and can towards unmanned aerial vehicle's bottom and shoot all around. The quantity of spacing post 21 is a plurality of, and a plurality of spacing posts 21 all set up between removal dish 2 and fixed disk 1 to the stability of connecting between realization removal dish 2 and the fixed disk 1 guarantees its fixed effect. Solenoid 41 can be connected with control system, control system generally includes controller (not shown) and sets up the undulant sensor (not shown) that is used for detecting unmanned aerial vehicle's undulant size and undulant direction on unmanned aerial vehicle, and this undulant sensor transmits the information that detects for the controller to calculate the information that turns into the magnetic attraction force that needs control with undulant information through the controller, thereby control solenoid 41's circular telegram position and circular telegram electric current, then control the position of magnetic attraction force and the direction of magnetic attraction force. The detection method of the fluctuation sensor generally adopts an inclination angle sensor or a gyroscope, so that the inclination angle of the unmanned aerial vehicle is transmitted to the controller, and the fluctuation angle and the fluctuation size can be obtained by comparing and calculating the inclination angle with the previous data.
Further, referring to fig. 1 to fig. 3, as a specific embodiment of the airborne aerial image stabilizing holder provided by the present invention, a through hole 12 for the limiting column 21 to pass through is formed on the spherical groove 11, and the diameter of the through hole 12 is smaller than the diameter of the rolling ball 22. Specifically, the through hole 12 is arranged on one side of the spherical groove 11 close to the movable disk 2, the through hole 12 is communicated with the spherical groove 11, the through hole 12 can be penetrated by the limiting column 21, the rolling ball 22 is arranged in the spherical groove 11, and the small aperture of the through hole 12 can ensure that the rolling ball 22 cannot roll out through the through hole 12, thereby influencing the fixation between the movable disk 2 and the fixed disk 1. Wherein the diameter of the rolling ball 22 is slightly smaller than the diameter of the spherical groove 11, so that the motion stability of the rolling ball 22 in the spherical groove 11 can be ensured.
Preferably, the rolling ball 22 is shaped such that a complete sphere is fixed at the end of the stopper post 21 or a flat surface is provided at the bottom of the sphere for fixing with the stopper post 21, but the remaining rolling ball 22 is larger than a hemisphere, preferably the remaining rolling ball 22 occupies 3/4 to 4/5 of the complete sphere; the shape of the spherical groove 11 and the remaining area are identical to the rolling ball 22 or slightly larger than the rolling ball 22.
Further, referring to fig. 3 and 4, as a specific embodiment of the airborne aerial photography image stabilizing holder provided by the present invention, the rolling ball 22 is made of ceramic material; the outer edge of the rolling ball 22 is coated with a wear-resistant buffer layer 24. Specifically, since the plurality of electromagnetic coils 41 are arranged inside the annular baffle 4 to generate magnetic attraction, in order to ensure the rotating effect of the rolling ball 22, the rolling ball 22 is made of ceramic materials, and is not affected by the magnetic attraction and has good wear resistance; the rolling ball 22 may also be made of wood, stone or other hard insulating materials. The outside of roll ball 22 can also be wrapped wear-resisting buffer layer 24, this wear-resisting buffer layer 24 adopts and makes with elastic wear-resisting material, can adopt rubber or plastics etc., and wear-resisting buffer layer 24's inner edge cladding is in roll ball 22's outside, wear-resisting buffer layer 24's outer fringe can and spherical groove 11's inner wall between have certain clearance, can avoid the direct rigidity collision of inner wall of roll ball 22 and spherical groove 11 this moment, thereby produce the rocking that reaction force leads to moving plate 2, can increase its buffer power through this wear-resisting buffer layer 24, reach the better effect that keeps moving plate 2 not receive the rocking of initial stage of rocking.
Further, referring to fig. 1 and fig. 2, as a specific embodiment of the airborne aerial image stabilizing holder provided by the present invention, the inside of the annular baffle 4 is hollow, and a plurality of electromagnetic coils 41 are uniformly arranged in the annular baffle 4 at intervals. Specifically, the annular baffle 4 is a hollow baffle, and a maintenance window (not shown) can be opened on the outer side of the baffle, through which the maintenance and replacement of the plurality of electromagnetic coils 41 inside can be conveniently performed. In addition, in order to ensure that the magnetic force of the permanent magnet pieces 23 inside the ring-shaped baffle plate 4 can be influenced by the balance fluctuation in all directions, a plurality of electromagnetic coils 41 are required to be arranged inside the ring-shaped baffle plate 4, so that the electrified electromagnetic coils 41 and the current magnitude are controlled by the controller, and the direction and the magnitude of the magnetic force applied to the permanent magnet pieces 23 are controlled.
Preferably, the number of the electromagnetic coils 41 is 4, that is, 4 electromagnetic coils 41 are uniformly arranged around the moving plate 2, and the plurality of electromagnetic coils 41 can be energized simultaneously to achieve the balance of the forces or to form the resultant force.
Further, referring to fig. 1 to fig. 3, as a specific embodiment of the airborne aerial photography image stabilizing holder provided by the present invention, the number of the permanent magnetic pieces 23 is multiple, and the multiple permanent magnetic pieces 23 are uniformly disposed on the outer edge of the movable disk 2. Specifically, the permanent magnet member 23 generally adopts a magnet or a metal member capable of being magnetically attracted, and the permanent magnet member 23 can cooperate with the electromagnetic coil 41 to define the position of the movable disk 2. The permanent magnet pieces 23 may be a plurality of magnets fixed on the outer edge of the movable disk 2, and the plurality of permanent magnet pieces 23 may be disposed opposite to the electromagnetic coil 41, so that not only the weight of the entire device may be reduced, but also a good magnetic attraction force may be obtained. Of course, according to practical situations and specific requirements, in other embodiments of the present invention, the number of the permanent magnet pieces 23 may also be only one, i.e. the outer shell covering the outer side of the movable plate 2, and is not limited herein.
Further, please refer to fig. 2, which is a specific embodiment of the airborne aerial image stabilization holder according to the present invention, wherein the height of the annular baffle 4 is greater than or equal to the height of the movable plate 2, an elastic limiting member 5 is convexly disposed on the outer edge of the movable plate 2, one end of the elastic limiting member 5 is fixed on the movable plate 2, and the other end of the elastic limiting member 5 can abut against the inner sidewall of the annular baffle 4. Specifically, the annular baffle 4 is because the removal that will drive the removal dish 2 consequently, and the height of annular baffle 4 should be greater than the height of removal dish 2, realizes the full cladding by annular baffle 4 to removing dish 2 to make and to have better magnetic attraction between permanent magnetism spare 23 and the magnetic coil. The outer fringe of moving dish 2 can with annular baffle 4 between through 5 looks butt of elastic locating part, this elastic locating part 5 generally adopts rubber or other elastic material to make, can avoid can not and annular baffle 4 between bump when adjusting the position of moving dish 2, and this elastic locating part 5 can also play the effect of buffering to the magnetic attraction that produces between solenoid 41 and the permanent magnetism spare 23, avoid camera subassembly 3 direct fluctuation by a wide margin under solenoid 41's drive, thereby lead to the relatively poor problem of shooting effect.
Further, referring to fig. 4, as a specific embodiment of the airborne aerial image stabilizing holder provided by the present invention, the limiting column 21 includes a fixed column 211 fixedly connected to the moving plate 2 and a sliding column 212 fixedly connected to the rolling ball 22, a sliding hole 2111 for the sliding column 212 to slide is formed in the fixed column 211, an elastic member 213 is disposed at the bottom end of the sliding hole 2111, one end of the elastic member 213 abuts against the bottom end of the sliding column 212, and the other end abuts against the bottom end of the sliding hole 2111. Specifically, since there are not only fluctuations in the horizontal plane but also fluctuations in the vertical plane during the movement, the fixed column 211 and the sliding column 212 that can slide relative to each other are provided as the position restricting column 21, which can satisfy the fluctuations in the vertical plane of the moving plate. The sliding post 212 can slide in the sliding hole 2111, thereby achieving the adjustment of the distance between the moving tray 2 and the fixed tray 1. Set up elastic component 213 in the inside of slide opening 2111, this elastic component 213 generally adopts the pressure spring, can inject and cushion the slip of slip post 212 through this elastic component 213, both can avoid unmanned aerial vehicle's upper and lower undulant can directly transmit the camera for, can realize slow adjustment through this spring, guarantees its stability.
Further, referring to fig. 1 to fig. 3, as a specific embodiment of the airborne aerial image stabilizing pan/tilt head provided by the present invention, the camera assembly 3 includes a camera 31 and a rotating assembly 32 for driving the camera 31 to change the shooting angle. Specifically, the camera 31 is the camera 31 in the prior art, and the camera 31 preferably adopts the camera 31 which has high pixels and can automatically focus, and can be fixed on the rotating assembly 32 through the snap assembly, and can be driven by the rotating assembly 32 to rotate, and it can also be the camera 31 directly and fixedly connected to the bottom of the moving plate 2, and the camera 31 and the unmanned aerial vehicle are fixedly connected. The rotating assembly 32 may be a rotating device for controlling the automatic rotation of the camera 31 in the prior art, which is widely used in the existing desktop and wall-mounted cameras 31.
Further, referring to fig. 2 and fig. 5, as an embodiment of the airborne aerial photography image stabilizing pan/tilt head provided by the present invention, the rotating assembly 32 includes a first rotating mechanism 321 for driving the camera 31 to rotate horizontally and a second rotating mechanism 322 for driving the camera 31 to rotate vertically. Specifically, the first rotating mechanism 321 includes a first rotating driving member 3211, where the first rotating driving member 3211 is directly fixed to the bottom of the moving plate 2, or an output shaft of the first rotating driving member 3211 penetrates through the bottom of the moving plate 2 and is directly fixedly connected to the second rotating mechanism 322, and at this time, a rotating direction of the output shaft of the first rotating driving member 3211 is horizontal rotation.
The second rotating mechanism 322 includes a fixing frame 3222 fixedly connected to an output shaft end of the first rotating mechanism 321, a second rotating driving member 3221 fixed to the fixing frame 3222, and a gear 3223 disposed at the output shaft end of the second rotating driving member 3221, wherein a part or all of gear teeth 3224 of the gear 3223 may protrude from the fixing frame 3222, one side of the camera 31 close to the fixing frame 3222 is provided with a plurality of gear teeth 3224, and the gear teeth 3224 are disposed along a longitudinal rotating direction of the camera 31, i.e., the rotation of the gear 3223 may be driven by the rotation of the second rotating driving member 3221, so as to drive the camera 31 to rotate along with the gear 3223, and then adjust a longitudinal direction of the camera 31. Of course, if the side surface of the camera 31 close to the fixing frame 3222 is a flat surface, the plurality of teeth may be replaced by racks, and if the side surface of the camera 31 close to the fixing frame 3222 is an inclined surface, the plurality of teeth 3224 are arranged along the axial direction of the inclined surface.
Referring to fig. 1 to 3, the present invention further provides an unmanned aerial vehicle, wherein the unmanned aerial vehicle includes the airborne aerial image stabilizing holder according to any of the embodiments described above.
In the unmanned aerial vehicle provided by the invention, the fixed disk 1 can be used for realizing fixed connection with the unmanned aerial vehicle, the camera component 3 is arranged at the bottom of the unmanned aerial vehicle to realize shooting operation, the top of the movable disk 2 is fixedly connected with the fixed disk 1 in a rotating way, wherein the rolling ball 22 can realize multi-angle rotation in the spherical groove 11, when the unmanned aerial vehicle fluctuates, the movable disk 2 can continuously keep still due to gravity and inertia, and the fluctuation of the unmanned aerial vehicle cannot be directly transmitted to the camera component 3 due to the connection between the spherical groove 11 and the rolling ball 22, so that the shooting effect is influenced by the fluctuation of the camera component 3, and the magnetic attraction effect between the electromagnetic coil 41 and the permanent magnetic component 23 is combined due to weaker gravity and inertia and shorter maintenance time, the magnetic attraction effect at each angle is controlled, so that the stability of the movable disk 2 positioned in the middle of the annular baffle, the stability of the movable disk 2 during initial vibration can be ensured through the connection between the rolling ball 22 and the spherical groove 11, and the matching between the electromagnetic coil 41 and the permanent magnetic piece 23 can continuously adjust and control the stability of the movable disk 2, so that the shooting stability of the camera assembly 3 is adjusted, and the stable shooting of the whole camera assembly 3 can be ensured.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. Airborne aerial photography steady image cloud platform is applied to unmanned aerial vehicle and is last, its characterized in that includes:
the fixed disc (1) is fixedly connected with the unmanned aerial vehicle;
the camera component (3) is arranged at the bottom of the fixed disc (1), the camera component (3) is connected with the fixed disc (1) through the movable disc (2), the top of the movable disc (2) is convexly provided with a limiting column (21), the top end of the limiting column (21) is fixed with a rolling ball (22), the bottom of the fixed disc (1) is provided with a spherical groove (11) for accommodating the rolling ball (22), the rolling ball (22) is embedded in the spherical groove (11), and the outer side of the movable disc (2) is provided with a permanent magnetic part (23); and
encircle annular baffle (4) that the periphery of fixed disk (1) set up, embedded being equipped with of annular baffle (4) can with permanent magnetism spare (23) produce magnetism and connect solenoid (41).
2. The airborne aerial image-stabilizing pan/tilt head of claim 1, wherein: the spherical groove (11) is provided with a through hole (12) for the limiting column (21) to pass through, and the diameter of the through hole (12) is smaller than that of the rolling ball (22).
3. The airborne aerial image-stabilizing pan/tilt head of claim 1, wherein: the rolling ball (22) is made of ceramic materials; the outer edge of the rolling ball (22) is coated with a wear-resistant buffer layer (24).
4. The airborne aerial image-stabilizing pan/tilt head of claim 1, wherein: the annular baffle plate (4) is hollow, and a plurality of electromagnetic coils (41) are uniformly arranged in the annular baffle plate (4) at intervals.
5. The airborne aerial image-stabilizing pan/tilt head of claim 4, wherein: the number of the permanent magnetic pieces (23) is multiple, and the permanent magnetic pieces (23) are uniformly arranged on the outer edge of the movable disc (2).
6. An airborne aerial image-stabilizing head as claimed in any one of claims 1 to 5, wherein: the height of annular baffle (4) is more than or equal to the height of removal dish (2), the outer fringe of removing dish (2) is protruding to be equipped with elasticity locating part (5), the one end of elasticity locating part (5) is fixed in remove on the dish (2), the other end can with the inside wall looks butt of annular baffle (4).
7. An airborne aerial image-stabilizing head as claimed in any one of claims 1 to 5, wherein: the limiting column (21) comprises a fixed column (211) fixedly connected with the moving disc (2) and a sliding column (212) fixedly connected with the rolling ball (22), a sliding hole (2111) for the sliding column (212) to slide is formed in the fixed column (211), an elastic piece (213) is arranged at the bottom end of the sliding hole (2111), one end of the elastic piece (213) is abutted to the bottom end of the sliding column (212), and the other end of the elastic piece is abutted to the bottom end of the sliding hole (2111).
8. An airborne aerial image-stabilizing head as claimed in any one of claims 1 to 5, wherein: the camera component (3) comprises a video camera (31) and a rotating component (32) which drives the shooting angle of the video camera (31) to change.
9. The airborne aerial image-stabilizing pan/tilt head of claim 8, wherein: the rotating assembly (32) comprises a first rotating mechanism (321) for driving the camera (31) to horizontally rotate and a second rotating mechanism (322) for driving the camera (31) to vertically rotate.
10. Unmanned aerial vehicle, its characterized in that: comprising an airborne aerial image stabilization head according to any of claims 1 to 9.
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