CN112009709B - A camera linkage for unmanned aerial vehicle takes photo by plane - Google Patents
A camera linkage for unmanned aerial vehicle takes photo by plane Download PDFInfo
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- CN112009709B CN112009709B CN202010936857.XA CN202010936857A CN112009709B CN 112009709 B CN112009709 B CN 112009709B CN 202010936857 A CN202010936857 A CN 202010936857A CN 112009709 B CN112009709 B CN 112009709B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- 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
- B64D47/02—Arrangements or adaptations of signal or lighting devices
Abstract
The invention discloses a camera hanging device for aerial photography of an unmanned aerial vehicle, which comprises a fixed connecting mechanism and a camera mounting mechanism, wherein the camera mounting mechanism is movably mounted on the fixed connecting mechanism, a movable mounting block can move on a connecting guide pillar to achieve the purpose of adjusting the distance between the movable mounting block and a connecting block, and when the height of a camera is too high, the movable mounting block is moved upwards, so that the bottom of the camera mounted on a camera mounting frame cannot contact the ground, and the unmanned aerial vehicle can take off and land conveniently; the effect of fixing the position is achieved by screwing the second locking bolt, the adjusted distance is prevented from changing, and the movable mounting block is prevented from sliding off from the lower end of the connecting guide pillar by welding a limit stop at the lower end of the connecting guide pillar; through the both sides with camera mounting bracket movable mounting at the movable mounting piece for the quantity of installation camera can increase to two, and the installation pole can remove in installation pole inserting groove simultaneously, conveniently adjusts the reach of both sides camera.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle shooting equipment, in particular to a camera suspension device for unmanned aerial vehicle aerial photography.
Background
The unmanned aerial vehicle aerial photography uses an unmanned aerial vehicle as an aerial platform, uses airborne remote sensing equipment such as a high-resolution CCD digital camera, a light optical camera, an infrared scanner, a laser scanner, a magnetic measuring instrument and the like to acquire information, processes image information by using a computer, and makes the image according to certain precision requirements. The whole system has outstanding characteristics in the aspects of design and optimal combination, and is a novel application technology integrating high-altitude shooting, remote control, remote measuring technology, video image microwave transmission and computer image information processing.
Traditional unmanned aerial vehicle takes photo by plane uses camera linkage, and the unmanned aerial vehicle bottom is provided with the support frame, causes the influence to shooting, and during the camera of installation different models, when the camera height was too high, the camera bottom can contact ground, unmanned aerial vehicle's of not being convenient for take off and descend.
In order to solve the problems, the invention provides a camera suspension device for aerial photography of an unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a camera hanging device for aerial photography of an unmanned aerial vehicle, which comprises a fixed connecting mechanism and a camera mounting mechanism, wherein the camera mounting mechanism is movably mounted on the fixed connecting mechanism, the distance between the camera mounting mechanism and the fixed connecting mechanism can be adjusted, and the bottom of a camera is prevented from contacting the ground, so that the problems in the background technology are solved.
In order to achieve the purpose, the invention provides the following technical scheme: a camera hanging device for aerial photography of an unmanned aerial vehicle comprises a fixed connecting mechanism and a camera mounting mechanism, wherein the camera mounting mechanism is movably mounted on the fixed connecting mechanism, the fixed connecting mechanism is fixedly connected with the bottom of the unmanned aerial vehicle and is provided with a connecting block and a connecting guide pillar, the four corners of the lower end face of the connecting block are fixedly welded with the connecting guide pillar, and the camera mounting mechanism is movably mounted on the connecting guide pillar;
the camera mounting mechanism is provided with a movable mounting block and a camera mounting frame, four corners of the movable mounting block are movably sleeved on the connecting guide columns, and the camera mounting frame is movably mounted on two sides of the movable mounting block to form the whole camera mounting mechanism.
Preferably, the connecting block is provided with guide pillar welding blocks, and the guide pillar welding blocks are fixedly welded at four corners of the connecting block.
Preferably, the connecting guide pillar is provided with a limit stop, and the limit stop is fixedly welded at the lower end of the connecting guide pillar.
Preferably, the movable mounting block is provided with a frame body inserting groove and connecting lug blocks, the frame body inserting groove is formed in two sides of the movable mounting block, and the connecting lug blocks are fixedly welded at four corners of the movable mounting block.
Preferably, the support body inserting groove is provided with an installation rod inserting groove and a connecting rod placing groove, and the installation rod inserting groove and the connecting rod placing groove are both arranged on the side face of the movable installation block.
Preferably, the support body inserting groove is further provided with a first locking bolt, the first locking bolt is installed on the lower end face of the movable installation block in a threaded mode, and one end of the first locking bolt penetrates through the installation rod inserting groove.
Preferably, the connecting lug block is provided with a sleeve hole, a threaded hole and a second locking bolt, the sleeve hole is formed in the connecting lug block, the threaded hole is formed in the side face of the connecting lug block and communicated with the sleeve hole, and the second locking bolt is installed on the connecting lug block through the threaded hole in a threaded mode.
Preferably, the camera mounting bracket includes installation pole, connecting rod and camera connection piece, and installation pole fixed welding is at the both ends of connecting rod, and camera connection piece fixed welding is in the centre of connecting rod.
Preferably, a first anti-skid pad is adhered to the inner side wall of the upper trepanning of the movable mounting block, and a second anti-skid pad is adhered to the contact part of the outer side of the mounting rod and the mounting rod inserting groove;
connecting ropes are mounted on the outer walls of two sides of the connecting block, the upper side ports of the connecting ropes are welded on the outer walls of the two sides of the connecting block, sponge pocket bodies are mounted at the lower side ports of the connecting ropes, one end of each sponge pocket body is welded at the lower side port of one connecting rope, and the other end of each sponge pocket body is welded at the lower side port of the other connecting rope;
install height sensor, distance sensor, timer, comparator, controller and megaphone on the camera connection piece, height sensor and distance sensor and timer series connection linear connection, height sensor and distance sensor still establish ties linear connection with the comparator, the comparator with controller series connection linear connection, the controller with megaphone series connection linear connection, wherein, height sensor installs to set up and is being close to the position of placing the camera, and distance sensor installs to set up at camera connection piece downside port department.
Preferably, the timer is configured to time the remaining time to be dropped when the remaining time to be dropped of the camera suspension device is consistent with a preset time threshold;
the height sensor is used for detecting the height of the camera when the timer starts to time to obtain a first detection value;
the distance sensor is used for detecting the distance from the lower side port of the camera connecting piece to the ground when the timer starts to time to obtain a second detection value;
the comparator is used for comparing the first detection value with the second detection value according to formula (1) and transmitting the comparison result to the controller;
wherein, h represents the first detection value, l represents the second detection value, f represents the comparison result of the comparator, when f is equal to 1, the camera can impact the ground when falling, and when f is equal to 0, the camera is safe when falling and can not impact the ground;
the controller is used for controlling the loudspeaker to emit a danger signal prompt when f is 1, adjusting the height of the camera according to the calculation result of the formula (2), adjusting the distance from the lower side port of the connecting piece of the camera to the ground according to the calculation result of the formula (3), and controlling the loudspeaker to emit a safety signal prompt when f is 0;
wherein h' represents the self height of the camera after adjustment, h represents the self height of the camera before adjustment, and gamma (t) represents a function of the change of the comprehensive factors influencing the self height of the camera along with the flight time t of the unmanned aerial vehicle;
the comprehensive factors influencing the height of the camera comprise a height factor, the proportional parameters of all parts of the camera and the elastic parameters of the material of the camera;
wherein, alpha represents a height factor, k represents a proportion parameter of each part of the camera, and rho represents an elastic parameter of the material of the camera;
wherein l' represents the distance from the lower port of the adjusted camera connecting piece to the ground, l represents the distance from the lower port of the camera connecting piece to the ground before adjustment, and epsilon (t) represents the change function of the comprehensive factors influencing the distance from the lower port of the camera connecting piece to the ground along with the flight time of the unmanned aerial vehicle;
the comprehensive factors influencing the distance from the lower side port of the camera connecting piece to the ground comprise distance factors, proportional parameters of different area blocks of the camera connecting piece and elastic parameters of the material of the camera connecting piece;
wherein beta represents a distance factor, v represents a proportion parameter of different area blocks of the camera connecting piece, and mu represents an elastic parameter of the material of the camera connecting piece;
the controller is also used for judging according to the formula (1) after adjusting the height of the camera and the distance from the lower side port of the connecting piece of the camera to the ground each time until the loudspeaker gives out a safety signal prompt.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the camera suspension device for aerial photography of the unmanned aerial vehicle, the guide pillar welding blocks are welded at the four corners of the connecting block, the connecting guide pillars are fixedly welded at the lower ends of the guide pillar welding blocks, the connecting lug blocks are welded at the four corners of the movable mounting block, and the movable mounting block is movably sleeved on the connecting guide pillars through the sleeve holes formed in the connecting lug blocks, so that the movable mounting block can move on the connecting guide pillars, the purpose of adjusting the distance between the movable mounting block and the connecting block is achieved, when the height of the camera is too high, the movable mounting block is moved upwards, the bottom of the camera mounted on the camera mounting frame cannot contact the ground, and the unmanned aerial vehicle can take off and land conveniently.
2. According to the camera suspension device for the aerial photography of the unmanned aerial vehicle, the threaded hole is formed in the side face of the connecting lug block and is communicated with the sleeve hole, the second locking bolt is installed on the connecting lug block through the threaded hole, after the distance between the movable installation block and the connecting block is adjusted, the effect of fixing the position is achieved by screwing the second locking bolt, the adjusted distance is prevented from changing, and the movable installation block is prevented from sliding off from the lower end of the connecting guide pillar by welding the limit stop block at the lower end of the connecting guide pillar.
3. According to the camera hanging device for the aerial photography of the unmanned aerial vehicle, the frame body inserting grooves are formed in the two sides of the movable mounting block, the mounting rod of the camera mounting frame is inserted into the mounting rod inserting groove, the first locking bolt is installed on the lower end face of the movable mounting block in a threaded mode, one end of the first locking bolt penetrates into the mounting rod inserting groove, when the mounting rod is pulled out of or inserted into the mounting rod inserting groove, the effect of fixing the mounting rod is achieved by tightening the first locking bolt, and the mounting rod is prevented from moving in the mounting rod inserting groove.
4. According to the camera hanging device for the unmanned aerial vehicle aerial photography, the camera mounting frames are movably mounted on the two sides of the movable mounting block, so that the number of the mounted cameras can be increased to two, the shooting area is increased, the mounting rod can move in the mounting rod insertion groove, and the extending distance of the cameras on the two sides can be conveniently adjusted.
5. According to the camera hanging device for the aerial photography of the unmanned aerial vehicle, the anti-slip pads are arranged on the inner side wall of the sleeve hole in the movable mounting block and the contact part of the outer side of the mounting rod and the mounting rod insertion groove, so that the sleeve hole and the mounting rod are fixed and are not easy to slip, and the reliability of the device is improved.
6. According to the camera hanging device for the unmanned aerial vehicle aerial photography, the connecting ropes are arranged on the outer walls of the two sides of the connecting block, and the sponge pocket body is arranged at the lower side port of the connecting rope, so that the safety guarantee is assembled on the camera, and the camera can be prevented from being struck again when the camera falls down from the hanging device and breaks down or the distance between the height of the camera and the lower side port of the camera connecting piece and the ground is not adjusted reasonably before the camera falls to the ground.
7. The invention provides a camera hanging device for unmanned aerial vehicle aerial photography, which is characterized in that a height sensor, a distance sensor, a timer, a comparator, a controller and a loudspeaker are arranged on a camera connecting piece, so that not only can the height of a camera and the distance from a lower side port of the camera connecting piece to the ground be detected, but also the height sensor and the distance sensor can be controlled by the timer to work within a certain time, when the camera hanging device for unmanned aerial vehicle aerial photography is 1000 meters away from the ground, the height sensor and the distance sensor start to work, when the camera hanging device for unmanned aerial vehicle aerial photography is stopped working, a first detection value and a second detection value are compared by the comparator, and the comparison result is transmitted to the controller, and the controller is used for controlling the loudspeaker to emit danger signal prompts when f is 1, and adjust the height of camera and the distance of camera connection piece downside port to ground, when f is 0, control the megaphone and emit the suggestion of safe signal, the height of camera and the distance of camera connection piece downside port to ground are adjusted to the controller, all judge after adjusting every time, until the megaphone emits the suggestion of safe signal, and such setting up is fine has protected the camera, and this linkage has very high reliability, integrality and validity.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a fixed connection mechanism of the present invention;
FIG. 3 is a schematic front view of the movable mounting block of the present invention;
FIG. 4 is a schematic view of the back side structure of the movable mounting block of the present invention;
FIG. 5 is a schematic view of a camera mount of the present invention;
fig. 6 is a schematic connection diagram of the device on the camera connection chip of the present invention.
In the figure: 1. a fixed connection mechanism; 11. connecting blocks; 111. a guide pillar welding block; 12. connecting the guide post; 121. a limit stop block; 2. a camera mounting mechanism; 21. a movable mounting block; 211. a frame body inserting groove; 2111. installing a rod inserting groove; 2112. a connecting rod placing groove; 21101. a first locking bolt; 212. connecting the ear blocks; 2121. trepanning; 2122. a threaded hole; 2123. a second locking bolt; 22. a camera mounting bracket; 221. mounting a rod; 222. a connecting rod; 223. camera connection piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-6, a camera suspension device for unmanned aerial vehicle aerial photography comprises a fixed connection mechanism 1 and a camera mounting mechanism 2, wherein the camera mounting mechanism 2 is movably mounted on the fixed connection mechanism 1.
The fixed connecting mechanism 1 is fixedly connected with the bottom of the unmanned aerial vehicle and is provided with a connecting block 11 and a connecting guide post 12, the four corners of the lower end surface of the connecting block 11 are fixedly welded with the connecting guide post 12, a camera mounting mechanism 2 is movably mounted on the connecting guide post 12, the connecting block 11 is provided with a guide post welding block 111, the guide post welding block 111 is fixedly welded at the four corners of the connecting block 11, the connecting guide post 12 is provided with a limit stop 121, the limit stop 121 is fixedly welded at the lower end of the connecting guide post 12, the connecting guide post welding block 111 is welded at the four corners of the connecting block 11, the connecting guide post 12 is fixedly welded at the lower end of the guide post welding block 111, the lug blocks 212 are welded at the four corners of the movable mounting block 21 and movably sleeved on the connecting guide post 12 through sleeve holes 2121 formed in the lug blocks 212, so that the movable mounting block 21 can move on the connecting guide post 12 to achieve the purpose of adjusting the distance between the movable mounting block 21 and the connecting block 11, when the camera height was too high, moved up movable mounting piece 21 for install the camera bottom on camera mounting bracket 22 and can not contact ground, make things convenient for unmanned aerial vehicle's taking off and descending.
The camera mounting mechanism 2 is provided with a movable mounting block 21 and a camera mounting frame 22, four corners of the movable mounting block 21 are movably sleeved on the connecting guide post 12, the camera mounting frame 22 is movably mounted on two sides of the movable mounting block 21 to form the whole camera mounting mechanism 2, the movable mounting block 21 is provided with a frame body inserting groove 211 and a connecting lug 212, the frame body inserting groove 211 is arranged on two sides of the movable mounting block 21, the connecting lug 212 is fixedly welded on four corners of the movable mounting block 21, the frame body inserting groove 211 is provided with a mounting rod inserting groove 2111 and a connecting rod placing groove 2112, the mounting rod inserting groove 2111 and the connecting rod placing groove 2112 are arranged on the side surface of the movable mounting block 21, the frame body inserting groove 211 is further provided with a first locking bolt 21101, the first locking bolt 21101 is threadedly mounted on the lower end surface of the movable mounting block 21, one end of the first locking bolt penetrates into the mounting rod inserting groove 2111, the connecting lug 212 is provided with a sleeve hole 2121, A screw hole 2122 and a second locking bolt 2123, wherein a sleeve hole 2121 is formed on the connecting lug piece 212, a screw hole 2122 is formed on the side surface of the connecting lug piece 212 and is communicated with the sleeve hole 2121, the second locking bolt 2123 is threadedly mounted on the connecting lug piece 212 through the screw hole 2122, the screw hole 2122 is formed on the side surface of the connecting lug piece 212 and is communicated with the sleeve hole 2121, the second locking bolt 2123 is threadedly mounted on the connecting lug piece 212 through the screw hole 2122, when the distance between the movable mounting block 21 and the connecting block 11 is adjusted, the fixed position is achieved by screwing the second locking bolt 2123, the adjusted distance is prevented from changing, the movable mounting block 21 is prevented from sliding off from the lower end of the connecting guide post 12 by welding a limit stop 121 at the lower end of the connecting guide post 12, the camera head 22 comprises a mounting rod 221, a connecting rod 222 and a camera head connecting plate 223, the mounting rod 221 is fixedly welded at two ends of the connecting rod 222, the camera connecting piece 223 is fixedly welded in the middle of the connecting rod 222, the frame body inserting grooves 211 are formed in two sides of the movable mounting block 21, the mounting rod 221 of the camera mounting frame 22 is inserted into the mounting rod inserting groove 2111, the first locking bolt 21101 is installed on the lower end face of the movable mounting block 21 in a threaded mode, one end of the first locking bolt penetrates into the mounting rod inserting groove 2111, when the mounting rod 221 is pulled out of or inserted into the mounting rod inserting groove 2111, the effect of fixing the mounting rod 221 is achieved by tightening the first locking bolt 21101, and the mounting rod 221 is prevented from moving in the mounting rod inserting groove 2111; by movably mounting the camera mounting brackets 22 on both sides of the movable mounting block 21, the number of cameras to be mounted can be increased to two, so that the shooting area is increased, and meanwhile, the mounting rod 221 can move in the mounting rod insertion groove 2111, thereby facilitating adjustment of the extension distance of the cameras on both sides.
In summary, the following steps: the invention provides a camera hanging device for aerial photography of an unmanned aerial vehicle, which comprises a fixed connecting mechanism 1 and a camera mounting mechanism 2, wherein the camera mounting mechanism 2 is movably mounted on the fixed connecting mechanism 1, a guide pillar welding block 111 is welded at the four corners of a connecting block 11, a connecting guide pillar 12 is fixedly welded at the lower end of the guide pillar welding block 111, connecting lug blocks 212 are welded at the four corners of a movable mounting block 21, and the movable mounting block 21 can move on the connecting guide pillar 12 by movably sleeving a sleeve hole 2121 formed in the connecting lug block 212 on the connecting guide pillar 12, so that the aim of adjusting the distance between the movable mounting block 21 and the connecting block 11 is fulfilled; by arranging the threaded hole 2122 on the side surface of the connecting lug block 212 and communicating with the sleeve hole 2121, the second locking bolt 2123 is threadedly mounted on the connecting lug block 212 through the threaded hole 2122, after the distance between the movable mounting block 21 and the connecting block 11 is adjusted, the second locking bolt 2123 is screwed to achieve the effect of fixing the position, so that the adjusted distance is prevented from being changed, and the movable mounting block 21 is prevented from sliding off from the lower end of the connecting guide post 12 by welding the limit stop 121 on the lower end of the connecting guide post 12; by arranging the frame body insertion grooves 211 on two sides of the movable mounting block 21, the mounting rod 221 of the camera mounting frame 22 is inserted into the mounting rod insertion groove 2111, the first locking bolt 21101 is installed on the lower end face of the movable mounting block 21 in a threaded manner, one end of the first locking bolt penetrates into the mounting rod insertion groove 2111, and after the mounting rod 221 is pulled out of or inserted into the mounting rod insertion groove 2111, the effect of fixing the mounting rod 221 is achieved by tightening the first locking bolt 21101, so that the mounting rod 221 is prevented from moving in the mounting rod insertion groove 2111; by movably mounting the camera mounting brackets 22 on both sides of the movable mounting block 21, the number of cameras to be mounted can be increased to two, so that the shooting area is increased, and meanwhile, the mounting rod 221 can move in the mounting rod insertion groove 2111, thereby facilitating adjustment of the extension distance of the cameras on both sides.
Furthermore, a first anti-skid pad is adhered to the inner side wall of the sleeve hole 2121 of the movable mounting block 21, and a second anti-skid pad is adhered to the contact part of the outer side of the mounting rod 221 and the mounting rod insertion groove 211;
connecting ropes are arranged on the outer walls of two sides of the connecting block 11, the upper side ports of the connecting ropes are welded on the outer walls of two sides of the connecting block 11, sponge pockets are arranged at the lower side ports of the connecting ropes, one ends of the sponge pockets are welded at the lower side port of one of the connecting ropes, and the other ends of the sponge pockets are welded at the lower side port of the other connecting rope;
install height sensor, distance sensor, timer, comparator, controller and megaphone on the camera connection piece 223, height sensor and distance sensor and timer series connection linear connection, height sensor and distance sensor still establish ties linear connection with the comparator, the comparator with controller series connection linear connection, the controller with megaphone series connection linear connection, wherein, the height sensor installation sets up in the position of being close to placing the camera, and the distance sensor installation sets up side port department under camera connection piece 223.
The working principle and the beneficial effects of the technical scheme are as follows: according to the camera hanging device for the aerial photography of the unmanned aerial vehicle, the anti-slip pads are arranged on the inner side wall of the sleeve hole in the movable mounting block and the contact part of the outer side of the mounting rod and the mounting rod insertion groove, so that the sleeve hole and the mounting rod are fixed and are not easy to slip, and the reliability of the device is improved.
According to the camera hanging device for the unmanned aerial vehicle aerial photography, the connecting ropes are arranged on the outer walls of the two sides of the connecting block, and the sponge pocket body is arranged at the lower side port of the connecting rope, so that the safety guarantee is assembled on the camera, and the camera can be prevented from being struck again when the camera falls down from the hanging device and breaks down or the distance between the height of the camera and the lower side port of the camera connecting piece and the ground is not adjusted reasonably before the camera falls to the ground.
According to the camera hanging device for unmanned aerial vehicle aerial photography, the height sensor, the distance sensor, the timer, the comparator, the controller and the loudspeaker are mounted on the camera connecting piece, so that not only can the height of the camera and the distance from the lower side port of the camera connecting piece to the ground be detected, but also the height sensor and the distance sensor can be controlled to work within a certain time through the timer, when the camera hanging device for unmanned aerial vehicle aerial photography is 1000 meters away from the ground, the height sensor and the distance sensor start to work, and when the camera hanging device for unmanned aerial vehicle aerial photography falls to the ground, the work is stopped.
Further, the timer is used for timing the remaining time to be landed when the remaining time to be landed of the camera suspension device is consistent with a preset time threshold;
the height sensor is used for detecting the height of the camera when the timer starts to time to obtain a first detection value;
the distance sensor is used for detecting the distance from the port at the lower side of the camera connecting piece 223 to the ground when the timer starts to time to obtain a second detection value;
the comparator is used for comparing the first detection value with the second detection value according to formula (1) and transmitting the comparison result to the controller;
wherein, h represents the first detection value, l represents the second detection value, f represents the comparison result of the comparator, when f is equal to 1, the camera can impact the ground when falling, and when f is equal to 0, the camera is safe when falling and can not impact the ground;
the controller is used for controlling the loudspeaker to emit a danger signal prompt when f is 1, adjusting the height of the camera according to the calculation result of the formula (2), adjusting the distance from the lower side port of the camera connecting piece 223 to the ground according to the calculation result of the formula (3), and controlling the loudspeaker to emit a safety signal prompt when f is 0;
wherein h' represents the self height of the camera after adjustment, h represents the self height of the camera before adjustment, and gamma (t) represents a function of the change of the comprehensive factors influencing the self height of the camera along with the flight time t of the unmanned aerial vehicle;
the comprehensive factors influencing the height of the camera comprise height factors, proportion parameters of all parts of the camera, elastic parameters of the material of the camera and the like;
wherein, alpha represents a height factor, k represents a proportion parameter of each part of the camera, and rho represents an elastic parameter of the material of the camera;
wherein l' represents the distance from the lower port of the camera connecting piece 223 to the ground after adjustment, l represents the distance from the lower port of the camera connecting piece 223 to the ground before adjustment, and epsilon (t) represents the change function of the comprehensive factors influencing the distance from the lower port of the camera connecting piece 223 to the ground along with the flight time of the unmanned aerial vehicle;
the comprehensive factors influencing the distance from the lower side port of the camera connecting piece 223 to the ground comprise distance factors, proportional parameters of different area blocks of the camera connecting piece 223, elastic parameters of the material of the camera connecting piece 223 and the like;
wherein, β represents a distance factor, v represents a proportional parameter of different area blocks of the camera connecting piece 223 itself, and μ represents an elastic parameter of the material of the camera connecting piece 223;
the controller is also used for judging according to the formula (1) after adjusting the height of the camera and the distance from the lower side port of the camera connecting piece 223 to the ground each time until the loudspeaker emits a safety signal prompt.
The working principle and the beneficial effects of the technical scheme are as follows: the invention provides a camera hanging device for unmanned aerial vehicle aerial photography, which is characterized in that a height sensor, a distance sensor, a timer, a comparator, a controller and a loudspeaker are arranged on a camera connecting piece, so that not only can the height of a camera and the distance from a lower side port of the camera connecting piece to the ground be detected, but also the height sensor and the distance sensor can be controlled by the timer to work within a certain time, when the camera hanging device for unmanned aerial vehicle aerial photography is 1000 meters away from the ground, the height sensor and the distance sensor start to work, when the camera hanging device for unmanned aerial vehicle aerial photography is stopped working, a first detection value and a second detection value are compared by the comparator, and the comparison result is transmitted to the controller, and the controller is used for controlling the loudspeaker to emit danger signal prompts when f is 1, and adjust the height of camera and the distance of camera connection piece downside port to ground, when f is 0, control the megaphone and emit the suggestion of safe signal, the height of camera and the distance of camera connection piece downside port to ground are adjusted to the controller, all judge after adjusting every time, until the megaphone emits the suggestion of safe signal, and such setting up is fine has protected the camera, and this linkage has very high reliability, integrality and validity.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. The utility model provides a camera linkage for unmanned aerial vehicle takes photo by plane, includes fixed connection mechanism (1) and camera installation mechanism (2), camera installation mechanism (2) movable mounting is on fixed connection mechanism (1), its characterized in that: the fixed connecting mechanism (1) is fixedly connected with the bottom of the unmanned aerial vehicle and is provided with a connecting block (11) and a connecting guide pillar (12), the connecting guide pillar (12) is fixedly welded at the four corners of the lower end face of the connecting block (11), and the camera mounting mechanism (2) is movably mounted on the connecting guide pillar (12);
the camera mounting mechanism (2) is provided with a movable mounting block (21) and a camera mounting rack (22), four corners of the movable mounting block (21) are movably sleeved on the connecting guide post (12), and the camera mounting rack (22) is movably mounted on two sides of the movable mounting block (21) to form the whole camera mounting mechanism (2);
the movable mounting block (21) is provided with a frame body inserting groove (211) and connecting lug blocks (212), the frame body inserting groove (211) is formed in two sides of the movable mounting block (21), and the connecting lug blocks (212) are fixedly welded at four corners of the movable mounting block (21);
the frame body inserting groove (211) is provided with an installation rod inserting groove (2111) and a connecting rod placing groove (2112), and the installation rod inserting groove (2111) and the connecting rod placing groove (2112) are arranged on the side face of the movable installation block (21);
the connecting lug block (212) is provided with a sleeve hole (2121), a threaded hole (2122) and a second locking bolt (2123), the sleeve hole (2121) is formed in the connecting lug block (212), the threaded hole (2122) is formed in the side face of the connecting lug block (212) and communicated with the sleeve hole (2121), and the second locking bolt (2123) is installed on the connecting lug block (212) through the threaded hole (2122) in a threaded mode;
the camera mounting rack (22) comprises mounting rods (221), a connecting rod (222) and camera connecting pieces (223), the mounting rods (221) are fixedly welded at two ends of the connecting rod (222), and the camera connecting pieces (223) are fixedly welded in the middle of the connecting rod (222);
a first anti-skid pad is adhered to the inner side wall of the trepanning (2121) on the movable mounting block (21), and a second anti-skid pad is adhered to the contact part of the outer side of the mounting rod (221) and the mounting rod insertion groove (2111);
connecting ropes are mounted on the outer walls of two sides of the connecting block (11), the upper side ports of the connecting ropes are welded on the outer walls of two sides of the connecting block (11), sponge pockets are mounted at the lower side ports of the connecting ropes, one ends of the sponge pockets are welded at the lower side port of one of the connecting ropes, and the other ends of the sponge pockets are welded at the lower side port of the other connecting rope;
install height sensor, distance sensor, timer, comparator, controller and megaphone on camera connection piece (223), height sensor and distance sensor and timer series connection linear connection, height sensor and distance sensor still establish ties linear connection with the comparator, the comparator with controller series connection linear connection, the controller with megaphone series connection linear connection, wherein, height sensor installs to set up and is being close to the position of placing the camera, and distance sensor installs to set up at camera connection piece (223) downside port department.
2. A camera suspension device for aerial photography by unmanned aerial vehicle according to claim 1, wherein: the connecting block (11) is provided with guide pillar welding blocks (111), and the guide pillar welding blocks (111) are fixedly welded at four corners of the connecting block (11).
3. A camera suspension device for aerial photography by unmanned aerial vehicle according to claim 1, wherein: the connecting guide post (12) is provided with a limit stop (121), and the limit stop (121) is fixedly welded at the lower end of the connecting guide post (12).
4. A camera suspension device for aerial photography by unmanned aerial vehicle according to claim 1, wherein: the frame body inserting groove (211) is further provided with a first locking bolt (21101), the first locking bolt (21101) is installed on the lower end face of the movable installation block (21) in a threaded mode, and one end of the first locking bolt penetrates into the installation rod inserting groove (2111).
5. A camera suspension device for aerial photography by unmanned aerial vehicle according to claim 1, wherein:
the timer is used for timing the remaining time to be landed when the remaining time to be landed of the camera suspension device is consistent with a preset time threshold;
the height sensor is used for detecting the height of the camera when the timer starts to time to obtain a first detection value;
the distance sensor is used for detecting the distance from a lower side port of the camera connecting piece (223) to the ground when the timer starts to time to obtain a second detection value;
the comparator is used for comparing the first detection value with the second detection value according to formula (1) and transmitting the comparison result to the controller;
wherein, h represents the first detection value, l represents the second detection value, f represents the comparison result of the comparator, when f is equal to 1, the camera can impact the ground when falling, and when f is equal to 0, the camera is safe when falling and can not impact the ground;
the controller is used for controlling the loudspeaker to emit a danger signal prompt when f is 1, adjusting the height of the camera according to the calculation result of the formula (2), adjusting the distance from the lower side port of the camera connecting piece (223) to the ground according to the calculation result of the formula (3), and controlling the loudspeaker to emit a safety signal prompt when f is 0;
wherein h' represents the self height of the camera after adjustment, h represents the self height of the camera before adjustment, and gamma (t) represents a function of the change of the comprehensive factors influencing the self height of the camera along with the flight time t of the unmanned aerial vehicle;
the comprehensive factors influencing the height of the camera comprise a height factor, the proportional parameters of all parts of the camera and the elastic parameters of the material of the camera;
wherein, alpha represents a height factor, k represents a proportion parameter of each part of the camera, and rho represents an elastic parameter of the material of the camera;
wherein l' represents the distance from the lower side port of the adjusted camera connecting piece (223) to the ground, l represents the distance from the lower side port of the camera connecting piece (223) to the ground before adjustment, and epsilon (t) represents the change function of the comprehensive factors influencing the distance from the lower side port of the camera connecting piece (223) to the ground along with the flight time t of the unmanned aerial vehicle;
the comprehensive factors influencing the distance from the lower side port of the camera connecting piece (223) to the ground comprise distance factors, proportion parameters of different area blocks of the camera connecting piece (223) and elastic parameters of the material of the camera connecting piece (223);
wherein beta represents a distance factor, v represents a proportion parameter of different area blocks of the camera connecting piece (223) per se, and mu represents an elastic parameter of the material of the camera connecting piece (223);
the controller is also used for judging according to the formula (1) after adjusting the height of the camera and the distance from the lower side port of the camera connecting sheet (223) to the ground each time until the loudspeaker gives out a safety signal prompt.
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| CN202010936857.XA CN112009709B (en) | 2020-09-08 | 2020-09-08 | A camera linkage for unmanned aerial vehicle takes photo by plane |
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| CN112009709B true CN112009709B (en) | 2021-12-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2014007873A2 (en) * | 2012-03-20 | 2014-01-09 | Wagreich David | Image monitoring and display from unmanned vehicle |
| US9596617B2 (en) * | 2015-04-14 | 2017-03-14 | ETAK Systems, LLC | Unmanned aerial vehicle-based systems and methods associated with cell sites and cell towers |
| CN106029502B (en) * | 2015-04-24 | 2018-06-12 | 深圳市大疆灵眸科技有限公司 | Holder and the unmanned vehicle using the holder |
| CN205168935U (en) * | 2015-11-11 | 2016-04-20 | 杭州深空实业股份有限公司 | Many rotor unmanned aerial vehicle do not have all -round program recording system of shake |
| CN209938984U (en) * | 2018-11-30 | 2020-01-14 | 江西壮龙无人机科技有限公司 | A camera fixing device for unmanned aerial vehicle takes photo by plane |
| CN211167398U (en) * | 2019-12-27 | 2020-08-04 | 赵春媛 | Aerial photography unmanned aerial vehicle for making and broadcasting broadcast television |
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