CN115924153A - Low-altitude unmanned aerial camera platform - Google Patents
Low-altitude unmanned aerial camera platform Download PDFInfo
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- CN115924153A CN115924153A CN202211434848.6A CN202211434848A CN115924153A CN 115924153 A CN115924153 A CN 115924153A CN 202211434848 A CN202211434848 A CN 202211434848A CN 115924153 A CN115924153 A CN 115924153A
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Abstract
The invention discloses a low-altitude unmanned aerial camera-mounted platform, particularly relates to the field of unmanned aerial vehicles, and mainly solves the problem that when an unmanned aerial vehicle flies frequently with changed postures, an aerial camera is easily influenced to change a shooting angle, so that a shooting effect is poor. The airplane body comprises an airplane body and wings distributed on the periphery of the airplane body, wherein a support is arranged at the bottom of each wing, an aerial camera mechanism is arranged at the bottom of each support and comprises an adjusting frame and an aerial camera arranged on the adjusting frame, and the adjusting frame is fixedly connected with the bottom of each support. The aerial camera can adjust the pitching angle of the aerial camera under the action of the adjusting piece, so that the aerial camera can rotate in a vertical plane at a large angle, and the specific rotating angle can be selected and determined according to the actual structure size; simultaneously, drive the connecting rod rotation through the rotating electrical machines, and then drive the aerial camera and carry out 360 degrees rotations in the horizontal plane, can adjust the aerial camera in real time and guarantee that its shooting angle is unchangeable when unmanned aerial vehicle carries out frequent attitude change flight.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a low-altitude unmanned aerial camera platform.
Background
Aerial photography, also known as aerial photography or aerial photography, refers to shooting the earth's surface from the air to obtain a top view, i.e., an aerial map. The aerial camera can be controlled by a photographer, and can also be automatically shot or remotely controlled. The used platforms comprise helicopters, multi-axis aircrafts, hot air balloons, small airships, rockets, kites, parachutes and the like. Aerial photography is a part of photography, and is also used in military affairs, traffic construction, hydraulic engineering, ecological research, urban planning, and the like.
Nowadays because the unmanned aerial vehicle technique is more mature, the more and more use is taken in social life to the unmanned aerial vehicle of low latitude, unmanned aerial vehicle carries the camera when the photography of taking photo by plane, because of receiving the too big unmanned aerial vehicle body that can take place to incline of wind-force to lead to the camera lens skew of taking photo by plane, be unfavorable for the photography of taking photo by plane, and when unmanned aerial vehicle carried out frequent attitude change and flies, the camera easily influenced and changed the shooting angle, make the shooting effect not good.
Therefore, the invention provides a low-altitude unmanned aerial camera platform to solve the problems.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the invention provides a low-altitude unmanned aerial camera platform, and the pitching angle of the aerial camera can be adjusted under the action of an adjusting piece, so that the aerial camera can rotate in a vertical plane at a large angle, and the specific rotating angle can be selected and determined according to the actual structure size; meanwhile, the connecting rod is driven to rotate through the rotating motor, and then the aerial camera is driven to rotate 360 degrees in the horizontal plane, so that the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme:
a low-altitude unmanned aerial vehicle comprises a vehicle body and wings distributed around the vehicle body, wherein a support is arranged at the bottom of each wing, a aerial photography mechanism is arranged at the bottom of each support, each aerial photography mechanism comprises an adjusting frame and an aerial camera arranged on the adjusting frame, and the adjusting frames are fixedly connected with the bottoms of the supports;
the surface of the wing is provided with a through hole, an electric push rod is arranged inside the wing, the bracket is connected with the electric push rod, the bracket is connected with the through hole in a sliding manner through the electric push rod, and the bracket penetrates through the through hole;
the aerial photography mechanism is characterized in that the supports correspond to the wings one by one, the bottoms of the supports are fixedly provided with bearing pieces, the surfaces of the bearing pieces are provided with mounting holes, the bottoms of the aerial photography mechanisms are provided with splicing holes matched with the mounting holes, and the aerial photography mechanisms and the bearing pieces correspond to each other through the mounting holes and the splicing holes and are connected through bolts;
the bottom of the support is provided with a mounting groove and a clamping plate, the inner side and the outer side of the bottom of the support are provided with the clamping plates, the surface of the bearing piece is provided with a plurality of pairs of clamping grooves, and the distance between each pair of clamping grooves and the clamping plate is equal; the mounting groove is slidably connected with the bearing piece, the mounting groove penetrates through the inside and the outside of the support, and the bearing piece can be arranged on the inner side or the outer side of the support through the mounting groove and can be matched with the clamping groove through a clamping plate to be fixed with the bearing piece;
the support still includes electric telescopic handle, electric telescopic handle bottom is provided with holds carrier and mounting groove.
In a preferred embodiment, the adjusting frame comprises a mounting cavity, a rotating motor is arranged in the mounting cavity, a connecting rod is fixed at the output end of the rotating motor, an adjusting piece is connected to the other end of the connecting rod, and a aerial camera is fixedly connected to the top of the adjusting piece; a protective sleeve is arranged on the periphery of the connecting rod, a gap exists between the protective sleeve and the connecting rod, and the protective sleeve is fixed to the top of the installation cavity; the outer surface of the protective sleeve is connected with a lifting piece in a sliding mode, the outer surface of the lifting piece is connected with a vertical motor, and the vertical motor drives the lifting piece to slide up and down on the outer surface of the protective sleeve; the inner surface of the lifting piece is provided with a control groove, and the adjusting piece is connected with the control groove in a sliding mode.
In a preferred embodiment, the top of the lifting piece is in a circular truncated cone shape, a plurality of control grooves are formed in the top of the lifting piece, the control grooves are in a circular shape, the control grooves are uniformly arranged in the vertical direction at intervals, and the radiuses of the control grooves are different.
In a preferred embodiment, the adjusting member includes a first adjusting lever and a second adjusting lever, the first adjusting lever is fixedly connected with the aerial camera, the second adjusting lever is slidably connected with the control slot, and the first adjusting lever is rotatably connected with the second adjusting lever.
In a preferred embodiment, the top of the lifting piece is provided with a through groove, and the through groove is communicated with the lifting piece top control groove.
In a preferred embodiment, the outer surface of the protective sleeve is provided with a connecting ball, the output end of the vertical motor is provided with a connecting hole, the shape and size of the connecting hole are matched with those of the connecting ball, and the connecting ball is in contact connection with the connecting hole.
A low-altitude unmanned aerial camera airborne platform comprises a controller, wherein the controller is in communication connection with a terminal held by ground personnel and used for receiving a terminal signal and correspondingly controlling an unmanned aerial vehicle according to the flight environment of the unmanned aerial vehicle, and the controller internally comprises a storage unit, an analysis processing unit, an information acquisition unit, a power detection unit and a feedback regulation unit;
the storage unit is used for storing various operation formulas and operation data;
the analysis processing unit is used for determining the adjusting mode of the unmanned aerial vehicle according to the information acquired by the information acquisition unit and the power detection unit and sending an adjusting control signal to the feedback adjusting unit;
the information acquisition unit is used for acquiring the external environment information of the unmanned aerial vehicle and the self state information of the unmanned aerial vehicle and sending the information to the analysis processing unit;
the power detection unit is used for acquiring output power information of the unmanned aerial vehicle attitude motor and sending the information to the analysis processing unit;
and the feedback adjusting unit is used for receiving the adjusting control signal of the analysis processing unit and adjusting the posture of the unmanned aerial vehicle.
In a preferred embodiment, the external environment information acquired by the information acquisition unit is wind speed information borne by the unmanned aerial vehicle, and the information acquisition unit acquires the wind speed information borne by the unmanned aerial vehicle through a wind speed sensor arranged on the surface of the unmanned aerial vehicle or by using environmental wind speed information detected by ground personnel and sends monitoring data to the analysis processing unit;
the information acquisition unit acquires self state information of the unmanned aerial vehicle, monitors the self inclination angle of the unmanned aerial vehicle in real time through a gyroscope and an inclination angle sensor inside the unmanned aerial vehicle, and sends the monitored unmanned aerial vehicle inclination angle information to the analysis processing unit;
the power detection unit detects the current and voltage of the attitude motor to obtain the output power of the attitude motor and sends the output power information to the analysis processing unit;
the feedback adjusting unit is electrically connected with the rotating motor, the vertical motor, the electric telescopic rod and the electric push rod and used for receiving corresponding control signals of the analysis processing unit and then adjusting the starting and stopping of the rotating motor, the vertical motor, the electric telescopic rod and the electric push rod.
In a preferred embodiment, the analysis processing unit calculates a self-inclination coefficient E of the unmanned aerial vehicle according to the wind force borne by the unmanned aerial vehicle, and sends a control signal to the feedback adjusting unit according to the self-inclination coefficient E of the unmanned aerial vehicle to adjust the self-states of the rotating motor, the vertical motor, the electric telescopic rod and the electric push rod; and the support rod and the aerial photography mechanism are subjected to secondary regulation and control according to the self state information of the unmanned aerial vehicle.
In a preferred embodiment, the analysis processing unit is further configured to change the size of the unmanned aerial vehicle loading space by adjusting the electric push rod.
The invention discloses a low-altitude unmanned aerial camera platform, which has the technical effects and advantages that:
1. the aerial camera can adjust the inclination angle thereof under the action of the adjusting piece, so that the aerial camera can rotate in a vertical plane at a large angle, and the specific rotating angle can be selected and determined according to the actual structure size; meanwhile, the connecting rod is driven to rotate through the rotating motor, so that the aerial camera is driven to rotate for 360 degrees on the horizontal plane, and therefore when the unmanned aerial vehicle flies frequently and in a posture change mode, the aerial camera can be adjusted in real time to ensure that the shooting angle of the aerial camera is unchanged;
2. according to the invention, the length of the inner bearing piece, the outer bearing piece and the electric telescopic rod of the support is adjusted, so that the view range of the aerial camera can be changed, and the hanging object can be better clamped by changing the distance between the body and the bearing piece.
Drawings
FIG. 1 is a schematic view of a partial structure of a low-altitude unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic structural view of an aerial camera mechanism according to the present invention;
FIG. 3 is a top view of the lifter of the present invention;
FIG. 4 is a top view of an airfoil according to the present invention;
FIG. 5 is a schematic view of the stent structure of the present invention;
FIG. 6 is a schematic view of the carrier of the present invention;
FIG. 7 is a schematic structural diagram of a low altitude unmanned aerial camera platform according to the present invention;
the reference signs are: 10. a body; 20. an airfoil; 30. a rotor; 40. a support; 50. an aerial photography mechanism; 11. a fixed part; 21. a through hole; 22. an electric push rod; 41. a carrier; 42. mounting holes; 43. mounting grooves; 44. clamping a plate; 45. an electric telescopic rod; 51. an adjusting bracket; 52. an aerial camera; 53. splicing holes; 411. a card slot; 511. a mounting cavity; 512. a rotating electric machine; 513. a connecting rod; 514. a protective sleeve; 515. a lifting member; 516. a vertical motor; 517. an adjustment member; 5151. a control slot; 5152. a through groove; 5153. a connecting ball; 5161. connecting holes; 5171. a first adjusting lever; 5172. a second adjustment lever.
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.
Example 1
According to the low-altitude unmanned aerial vehicle, the aerial camera can be continuously and stably kept at the designated azimuth angle without changing along with the attitude change of the flight equipment when the unmanned aerial vehicle flies frequently due to multi-angle adjustment of the aerial camera, so that the aerial quality is constantly ensured, the aerial efficiency is improved, and the aerial requirement is further met.
Specifically, as shown in fig. 1 and 2, the method includes: fuselage body 10 and distribute wing 20 around it, wing 20 top outside is provided with the rotor 30 that drives unmanned aerial vehicle and take off, wing 20 bottom is provided with support 40, support 40 bottom is provided with aerial camera mechanism 50, aerial camera mechanism 50 includes alignment jig 51 and sets up aerial camera 52 above that, alignment jig 51 and support 40 bottom fixed connection. The adjusting frame 51 comprises an installation cavity 511, a rotating motor 512 is arranged in the installation cavity 511, a connecting rod 513 is fixed at the output end of the rotating motor 512, an adjusting piece 517 is connected at the other end of the connecting rod 513, and a aerial camera 52 is fixedly connected at the top of the adjusting piece 517; a protective sleeve 514 is arranged on the periphery of the connecting rod 513, a gap exists between the protective sleeve 514 and the connecting rod 513, and the protective sleeve 514 is fixed on the top of the installation cavity 511; the outer surface of the protecting sleeve 514 is connected with a lifting piece 515 in a sliding manner, the outer surface of the lifting piece 515 is connected with a vertical motor 516, and the vertical motor 516 drives the lifting piece 515 to slide up and down on the outer surface of the protecting sleeve 514; the inner surface of the lifting piece 515 is provided with a control groove 5151, and the adjusting piece 517 is connected with the control groove 5151 in a sliding manner. Therefore, when the vertical motor 516 drives the lifting piece 515 to slide up and down on the outer surface of the protecting sleeve 514, the self inclination angle of the aerial camera 52 can be adjusted under the action of the adjusting piece 517, so that the aerial camera can rotate in a large angle in a vertical plane, and the specific rotation angle is selected and determined according to the actual structure size. Meanwhile, when the rotating motor 512 drives the connecting rod 513 to rotate, the aerial camera 52 can be driven to rotate by 360 degrees on the horizontal plane, so that the aerial camera can be adjusted to ensure that the shooting angle of the aerial camera is unchanged when the unmanned aerial vehicle flies in frequent posture changes.
As shown in fig. 1, the fuselage body 10 includes a fixing portion 11 disposed around, the wings 20 are connected with the fixing portion 11 by bolts, and the unfolding direction of the wings 20 can be adjusted, so as to facilitate later flight modification.
As a further optimization and improvement, as shown in fig. 2, in order to conveniently drive the aerial camera 52 to rotate in a vertical plane by a corresponding angle, the top of the lifting piece 515 is in a circular truncated cone shape, a plurality of control grooves 5151 are formed in the top of the lifting piece 515, the control grooves 5151 are in a circular shape, and the control grooves 5151 are uniformly arranged in the vertical direction at intervals and have different radiuses. With the arrangement, when the adjusting piece 517 is in sliding connection with the control grooves 5151 with different radiuses before takeoff, the rotating speed and the whole rotating angle range of the vertical surface of the aerial camera 52 can be changed, and the adjusting piece can be conveniently selected according to actual needs.
As shown in fig. 2, the adjusting member 517 includes a first adjusting rod 5171 and a second adjusting rod 5172, the first adjusting rod 5171 is fixedly connected to the aerial camera 52, the second adjusting rod 5172 is slidably connected to the control groove 5151, and the first adjusting rod 5171 is rotatably connected to the second adjusting rod 5172. With this arrangement, when the adjusting member 517 is slidably coupled to the control groove 5151, a triangular structure is formed between the camera 52 and the adjusting member 517, which has a stable structure, and the wind resistance of the camera 52 is enhanced due to the shielding of the lifter 515.
Further, as shown in fig. 3. In order to enable the aerial camera 52 to rotate in a vertical plane at a larger angle, the top of the lifting piece 515 is provided with a through groove 5152, the through groove 5152 is communicated with a control groove 5151 at the top of the lifting piece 515, and at this time, when the horizontal plane of the aerial camera 52 rotates to a certain angle, the vertical motor 516 drives the lifting piece 515 to slide up and down on the outer surface of the protective sleeve 514 on the vertical plane, so that the adjusting piece 517 can keep a vertical state through the through groove 5152, and at this time, the aerial camera 52 can shoot vertically and downwards.
As a further optimization and improvement, the outer surface of the protective sleeve 514 is provided with a connecting ball 5153, the output end of the vertical motor 516 is provided with a connecting hole 5161, the shape and size of the connecting hole 5161 are matched with those of the connecting ball 5153, and the connecting ball 5153 is in contact connection with the connecting hole 5161. With this arrangement, when the vertical motor 516 drives the lifting member 515 to slide up and down on the outer surface of the shield 514, the connecting ball 5153 is not fixed in the connecting hole 5161, so that the lifting member 515 is only vertically lifted and lowered.
Example 2
The second embodiment of the present invention is different from the above embodiments in that the unmanned aerial vehicle support is often used for carrying, so the present embodiment provides a structure capable of carrying objects effectively.
Specifically, as shown in fig. 1 and 4, a through hole 21 is formed in the surface of the wing 20, the through hole 21 is slidably connected with the bracket 40, and the bracket 40 penetrates through the through hole 21, so that the bracket 40 can slide in the through hole 21 to drive the aerial photography mechanism 50 to adjust the position, thereby facilitating shooting. The sliding control modes of the bracket 40 and the through hole 21 are various, in this embodiment, the electric push rod 22 is arranged inside the wing 20, and the bracket 40 is fixedly connected with the electric push rod 22, so that the bracket 40 is driven by the electric push rod 22 to slide in the through hole 21.
Secondly, as shown in fig. 2 and 5, the brackets 40 correspond to the wings 20 one to one, the bottom of each bracket is fixedly provided with a bearing member 41, the surface of each bearing member 41 is provided with a mounting hole 42, the bottom of the aerial photography mechanism 50 is provided with a splicing hole 53 matched with the mounting hole 42, and the aerial photography mechanism 50 and the bearing member 41 correspond to each other through the mounting hole 42 and the splicing hole 53 and are connected through bolts. Accordingly, the aerial photography mechanism 50 can be provided one around the main body 10, and can photograph the main body 10 in each of the front, rear, left, and right directions. Simultaneously, if the carrier 41 is not connected with aerial photography mechanism 50, it can make unmanned aerial vehicle carry the thing again, because support 40 can slide in through-hole 21 this moment, then can carry out corresponding regulation according to the object size who carries the thing, because support 40 is provided with a plurality ofly, can cooperate the thing of carrying together.
Further, since the carrier 41 is disposed outside the support 40 when the bottom of the support 40 is used for mounting the aerial photography mechanism 50, the aerial photography mechanism 50 is easy to view, and is disposed inside the support 40 when carrying the object, so that the aerial photography mechanism 50 is easy to protect and fix. Therefore, as shown in fig. 6, the bottom of the bracket 40 of the present invention is provided with an installation groove 43 and a clamping plate 44, the clamping plate 44 is arranged on both the inside and the outside of the bottom of the bracket 40, the surface of the bearing member 41 is provided with a plurality of pairs of clamping grooves 411, and the distance between each pair of clamping grooves 411 and the clamping plate 44 is equal; the mounting groove 43 is slidably connected with the bearing member 41, the mounting groove 43 penetrates through the inside and the outside of the bracket 40, the bearing member 41 can be arranged on the inner side or the outer side of the bracket 40 through the mounting groove 43, and can be matched with the clamping groove 411 through the clamping plate 44, and under the action of gravity, the clamping plate 44 is vertically inserted into the clamping groove 411 downwards, so that the mounting groove 43 and the bearing member 41 are fixed.
Furthermore, in order to make the selection of the aerial photographing angle better, as shown in fig. 5, the bracket 40 further includes an electric telescopic rod 45, and a bearing member 41 and a mounting groove 43 are disposed at the bottom of the electric telescopic rod 45, so that the height of the electric telescopic rod 45 can be adjusted, on one hand, the viewing range of the aerial camera 52 can be changed, and on the other hand, the height of the main body 10 and the bearing member 41 can be changed, so as to better clamp the object.
Example 3
The third embodiment of the present invention is different from the above embodiments in that the above embodiments only describe a mechanical part of the low-altitude unmanned aerial vehicle of the present invention, but since the unmanned aerial vehicle takes off and takes a flight and a photograph, and needs to be controlled by a controller software module, the present embodiment describes a low-altitude unmanned aerial vehicle airborne platform of the present invention.
Specifically, as shown in fig. 7, the unmanned aerial vehicle control system comprises a controller, wherein the controller is in communication connection with a terminal held by ground personnel and used for receiving a terminal signal and correspondingly controlling the unmanned aerial vehicle according to the flight environment of the unmanned aerial vehicle, and the controller internally comprises a storage unit, an analysis processing unit, an information acquisition unit, a power detection unit and a feedback adjustment unit.
The storage unit is used for storing various operation formulas and operation data.
The analysis processing unit is used for determining the adjusting angle of the support 40 and the aerial photography mechanism 50 according to the information acquired by the information acquisition unit and the power detection unit, so that the stability of unmanned aerial vehicle photography is ensured, and the condition that the photography focusing is not accurate due to the shaking of the unmanned aerial vehicle is avoided.
The information acquisition unit is used for acquiring the external environment information of the unmanned aerial vehicle and the self state information of the unmanned aerial vehicle, and sending the information to the analysis processing unit.
The power detection unit is used for acquiring output power information of the unmanned aerial vehicle attitude motor and sending the information to the analysis processing unit.
The feedback adjusting unit is used for receiving the processing signal of the analysis processing unit and adjusting the postures of the support 40 and the aerial photography mechanism 50.
Wherein, the external environment information that the information acquisition unit acquireed mainly is the wind speed information that unmanned aerial vehicle received, because its wind-resistant performance of different unmanned aerial vehicles is different, consequently, its highest wind speed that can stably fly is also different. Specifically, it can bear wind-force to unmanned aerial vehicle through setting up the wind velocity transducer on the unmanned aerial vehicle surface and carry out real-time supervision and also can utilize the environment wind-force information that ground personnel detected to judge the wind-force that unmanned aerial vehicle receives to with monitoring data transmission to analysis and processing unit.
The unmanned aerial vehicle self-state information acquired by the information acquisition unit is the inclination angle information of the unmanned aerial vehicle, when the unmanned aerial vehicle flies or hovers in wind, due to the influence of wind force, the body can swing and shake to a certain degree under the action of larger wind force, so that the unmanned aerial vehicle needs to be monitored, the lens can be better stabilized to focus, the unmanned aerial vehicle self-inclination angle is monitored in real time through a gyroscope and an inclination angle sensor inside the unmanned aerial vehicle, and the monitored unmanned aerial vehicle inclination angle information is sent to the analysis processing unit.
The output power information of the unmanned aerial vehicle attitude motor acquired by the power detection unit is output power information of a motor for controlling the self attitude of the unmanned aerial vehicle, under the condition that other conditions are not changed, the output power of the unmanned aerial vehicle attitude motor influences the maximum wind power born by the unmanned aerial vehicle, when the motor is aged and the output power becomes smaller, the attitude control of the unmanned aerial vehicle becomes worse, and the maximum wind power born by the unmanned aerial vehicle in normal operation becomes smaller.
The feedback adjusting unit is electrically connected with the rotating motor 512, the vertical motor 516, the electric telescopic rod 45 and the electric push rod 22 and used for adjusting the starting and stopping of the rotating motor 512, the vertical motor 516, the electric telescopic rod and the electric push rod 22 after receiving corresponding control signals of the analysis processing unit, so that the adjustment of the shooting angle of the aerial camera 52 is completed, and the shooting, surveying and focusing angles of the aerial camera are ensured.
The analysis processing unit is used for determining a critical wind speed threshold U of the unmanned aerial vehicle according to the acquired output power of the attitude motor of the unmanned aerial vehicle 0 Above a critical wind speed threshold U 0 At this moment, the attitude motor of the unmanned aerial vehicle cannot be used for stably adjusting the horizontal position of the body of the unmanned aerial vehicle according to the completion of the gyroscope, so that the photographing angle can be deflected, therefore, the support 40 and the aerial photographing mechanism 50 need to be adjusted, the unmanned aerial vehicle can be conveniently restored to be balanced in the horizontal position as soon as possible, and the photographing angle is prevented from being deflected.
Meanwhile, the maximum wind speed threshold U of the unmanned aerial vehicle under the center of gravity is determined according to the acquired output power of the attitude motor of the unmanned aerial vehicle max Exceeding the maximum wind speed threshold U max At this moment, the unmanned aerial vehicle cannot guarantee that the posture of the unmanned aerial vehicle is blown away by wind, and therefore, if the collected wind speed is greater than the maximum wind speed threshold value U max The drone should be stopped immediately.
I.e. at the critical wind speed threshold U 0 To a maximum wind speed threshold value U max In this wind speed range, unmanned aerial vehicle can not keep the level stable to self gesture, but can hover to normal flight, is in the tilt state, and unmanned aerial vehicle camera lens can not the level shoot this moment, causes easily and shoots the visual angle deviation, consequently needs carry out corresponding regulation to it.
The invention first establishes the wind speedAnd obtaining a relation curve of the wind speed borne by the unmanned aerial vehicle and the tilt coefficient of the unmanned aerial vehicle through an experimental method, and fitting the relation curve by adopting a polynomial. I.e. using the polynomial f (x) = a 0 +a 1 x+a 2 x 2 +…+a n x n Is approximated by fitting.
Specifically, it is U to establish the wind speed that unmanned aerial vehicle self receives, and unmanned aerial vehicle self's inclination coefficient is E. At the moment, the wind speed borne by the unmanned aerial vehicle is U-shaped 1 、U 2 、...、U n The inclination coefficient at each corresponding wind speed is represented as e 1 、e 2 、...、e n . The following system of equations is constructed for both:
e 1 ＝a 0 +a 1 U 1 +a 2 U 1 2 +…+a n U 1 n
e 2 ＝a 0 +a 1 U 2 +a 2 U 2 2 +…+a n U 2 n
e n ＝a 0 +a 1 U n +a 2 U n 2 +…+a n U n n
in the formula, a 0 、a 1 、....、a n Is a coefficient of a polynomial, due to U 1 、U 2 、...、U n The range of (c) is significant, and the domain of the equation set is [ U ] 0 ，U max ]. I.e. the minimum value is the critical wind speed threshold U 0 Maximum value is maximum wind speed threshold value U max 。
The analysis processing unit calls the wind speed-inclination coefficient correlation model from the storage unit according to the wind power borne by the unmanned aerial vehicle, calculates the self-inclination coefficient E of the unmanned aerial vehicle, sends a control signal to the feedback adjusting unit according to the self-inclination coefficient E of the unmanned aerial vehicle, and adjusts the rotating motor512. The self-state of the vertical motor 516, the electric telescopic rod 45 and the electric push rod 22. For example, when the wind speed of the unmanned aerial vehicle is [ U ] 0 ，U max ]Within a certain interval, reduce the area of catching wind through shrink electric telescopic handle 45, adjust unmanned aerial vehicle self holistic focus through extending or shrink different electric putter 22 to better resistance wind etc.. Meanwhile, because the wind power is not constant, when the wind speed is [ U ] 0 ，U max ]In the interval, the support rod 40 and the aerial photographing mechanism 50 need to be continuously regulated and controlled.
Further, in order to guarantee unmanned aerial vehicle's level even running, the analysis processing unit still need carry out the secondary regulation and control to branch 40 and mechanism 50 of taking photo by plane according to unmanned aerial vehicle's self state information, the analysis processing unit is according to receiving wind-force to unmanned aerial vehicle go up branch 40 and take photo by plane mechanism 50 regulate and control in order to guarantee the regulation and control in advance of unmanned aerial vehicle level even running always, before this regulation and control, unmanned aerial vehicle self inclination is very little or the slope has not taken place yet. But when mediation is performed. In order to guarantee unmanned aerial vehicle self even running, the analysis processing unit carries out the secondary regulation and control to branch 40 and aerial photography mechanism 50 according to the actual inclination of unmanned aerial vehicle self that the inside gyroscope of unmanned aerial vehicle measured, eliminates and carries out the error of regulating and control in advance according to the wind-force that receives.
Furthermore, the analysis processing unit is also used for changing the size of the carrying space by adjusting the electric push rod 22, when the aerial photographing mechanism 50 is not installed on the carrying part, the analysis processing unit can receive the control signal of the terminal held by the ground personnel, transmit the control signal to the feedback adjusting unit, and adjust the position of the electric push rod 22, so as to change the size of the carrying space of the whole unmanned aerial vehicle.
The controller of the present invention may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium that stores computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC625D, atmel at91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
For convenience of description, the above devices are described as being divided into various units by function, and described separately. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.
The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;
secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the invention, only the structures related to the disclosed embodiments are referred to, other structures can refer to common designs, and the same embodiment and different embodiments of the invention can be combined with each other without conflict;
and finally: the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A low-altitude unmanned aerial vehicle comprises a vehicle body (10) and wings (20) distributed on the periphery of the vehicle body, wherein a support (40) is arranged at the bottom of each wing (20), a aerial camera mechanism (50) is arranged at the bottom of each support (40), each aerial camera mechanism (50) comprises an adjusting frame (51) and an aerial camera (52) arranged on each adjusting frame, and each adjusting frame (51) is fixedly connected with the bottom of each support (40); the method is characterized in that:
the surface of the wing (20) is provided with a through hole (21), an electric push rod (22) is arranged inside the wing (20), the support (40) is connected with the electric push rod (22), the support (40) is connected with the through hole (21) in a sliding mode through the electric push rod (22), and the support (40) penetrates through the through hole (21);
the support (40) corresponds to the wings (20) one by one, the bottom of the support is fixedly provided with a bearing piece (41), the surface of the bearing piece (41) is provided with a mounting hole (42), the bottom of the aerial photography mechanism (50) is provided with a splicing hole (53) matched with the mounting hole (42), and the aerial photography mechanism (50) and the bearing piece (41) correspond to each other through the mounting hole (42) and the splicing hole (53) and are connected through bolts;
the bottom of the support (40) is provided with a mounting groove (43) and a clamping plate (44), the clamping plate (44) is arranged on the inner side and the outer side of the bottom of the support (40), the surface of the bearing piece (41) is provided with a plurality of pairs of clamping grooves (411), and the distance between each pair of clamping grooves (411) and the clamping plate (44) is equal; the mounting groove (43) is connected with the bearing piece (41) in a sliding mode, the mounting groove (43) penetrates through the inside and the outside of the support (40), and the bearing piece (41) can be arranged on the inner side or the outer side of the support (40) through the mounting groove (43) and can be fixed with the bearing piece (41) through the matching of the clamping plate (44) and the clamping groove (411);
the support (40) further comprises an electric telescopic rod (45), and a bearing piece (41) and a mounting groove (43) are arranged at the bottom of the electric telescopic rod (45).
2. The low-altitude unmanned aerial vehicle according to claim 1, wherein: the adjusting frame (51) comprises an installation cavity (511), a rotating motor (512) is arranged in the installation cavity (511), a connecting rod (513) is fixed at the output end of the rotating motor (512), an adjusting piece (517) is connected at the other end of the connecting rod (513), and a aerial camera (52) is fixedly connected at the top of the adjusting piece (517); a protective sleeve (514) is arranged on the periphery of the connecting rod (513), a gap exists between the protective sleeve (514) and the connecting rod (513), and the protective sleeve (514) is fixed to the top of the installation cavity (511); the outer surface of the protecting sleeve (514) is connected with a lifting piece (515) in a sliding mode, the outer surface of the lifting piece (515) is connected with a vertical motor (516), and the vertical motor (516) drives the lifting piece (515) to slide up and down on the outer surface of the protecting sleeve (514); the inner surface of the lifting piece (515) is provided with a control groove (5151), and the adjusting piece (517) is in sliding connection with the control groove (5151).
3. A low altitude drone according to claim 2, characterised in that: the shape of lifter (515) top is the round platform form, control groove (5151) quantity that lifter (515) top was seted up is a plurality of, and control groove (5151) shape is circular, and the even interval in a plurality of control groove (5151) vertical direction sets up, and its radius is all inequality.
4. A low altitude drone according to claim 2, characterised in that: the adjusting piece (517) comprises a first adjusting rod (5171) and a second adjusting rod (5172), the first adjusting rod (5171) is fixedly connected with the aerial camera (52), the second adjusting rod (5172) is in sliding connection with the control groove (5151), and the first adjusting rod (5171) is in rotating connection with the second adjusting rod (5172).
5. A low altitude drone according to claim 2, characterised in that: the top of the lifting piece (515) is provided with a through groove (5152), and the through groove (5152) is communicated with a control groove (5151) at the top of the lifting piece (515).
6. A low altitude drone according to claim 2, wherein: the protection cover (514) surface is provided with connects ball (5153), vertical motor (516) output is provided with connecting hole (5161), connecting hole (5161) shape size with connect ball (5153) phase-match, and connect the contact between ball (5153) and connecting hole (5161) and be connected.
7. A low altitude unmanned aerial vehicle airborne platform for controlling a low altitude unmanned aerial vehicle according to any of claims 1-6, wherein: the unmanned aerial vehicle control system comprises a controller, wherein the controller is in communication connection with a terminal held by ground personnel and used for receiving a terminal signal and correspondingly controlling the unmanned aerial vehicle according to the flight environment of the unmanned aerial vehicle, and the controller internally comprises a storage unit, an analysis processing unit, an information acquisition unit, a power detection unit and a feedback regulation unit;
the storage unit is used for storing various operation formulas and operation data;
the analysis processing unit is used for determining the adjusting mode of the unmanned aerial vehicle according to the information acquired by the information acquisition unit and the power detection unit and sending an adjusting control signal to the feedback adjusting unit;
the information acquisition unit is used for acquiring the external environment information of the unmanned aerial vehicle and the self state information of the unmanned aerial vehicle and sending the information to the analysis processing unit;
the power detection unit is used for acquiring output power information of the unmanned aerial vehicle attitude motor and sending the information to the analysis processing unit;
and the feedback adjusting unit is used for receiving the adjusting control signal of the analysis processing unit and adjusting the posture of the unmanned aerial vehicle.
8. The low altitude unmanned aerial vehicle airborne platform of claim 7, wherein:
the information acquisition unit acquires wind speed information borne by the unmanned aerial vehicle through a wind speed sensor arranged on the surface of the unmanned aerial vehicle or by utilizing environmental wind speed information detected by ground personnel, and sends monitoring data to the analysis processing unit;
the information acquisition unit acquires self state information of the unmanned aerial vehicle, monitors the self inclination angle of the unmanned aerial vehicle in real time through a gyroscope and an inclination angle sensor inside the unmanned aerial vehicle, and sends the monitored unmanned aerial vehicle inclination angle information to the analysis processing unit;
the power detection unit detects the current and voltage of the attitude motor to obtain the output power of the attitude motor and sends the output power information to the analysis processing unit;
the feedback adjusting unit is electrically connected with the rotating motor (512), the vertical motor (516), the electric telescopic rod (45) and the electric push rod (22) and used for adjusting the starting and stopping of the rotating motor (512), the vertical motor (516), the electric telescopic rod and the electric push rod (22) after receiving corresponding control signals of the analysis processing unit.
9. The low altitude unmanned aerial vehicle airborne platform of claim 8, wherein: the analysis processing unit calculates the self inclination coefficient E of the unmanned aerial vehicle according to the wind force borne by the unmanned aerial vehicle, sends a control signal to the feedback adjusting unit according to the self inclination coefficient E of the unmanned aerial vehicle, and adjusts the self states of the rotating motor (512), the vertical motor (516), the electric telescopic rod (45) and the electric push rod (22); and the support rod (40) and the aerial photography mechanism (50) are subjected to secondary regulation and control according to the state information of the unmanned aerial vehicle.
10. The low altitude unmanned aerial vehicle airborne platform of claim 7, wherein: the analysis processing unit is also used for changing the size of the unmanned aerial vehicle carrying space by adjusting the electric push rod (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211434848.6A CN115924153A (en) | 2022-11-16 | 2022-11-16 | Low-altitude unmanned aerial camera platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211434848.6A CN115924153A (en) | 2022-11-16 | 2022-11-16 | Low-altitude unmanned aerial camera platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115924153A true CN115924153A (en) | 2023-04-07 |
Family
ID=86649926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211434848.6A Pending CN115924153A (en) | 2022-11-16 | 2022-11-16 | Low-altitude unmanned aerial camera platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115924153A (en) |
-
2022
- 2022-11-16 CN CN202211434848.6A patent/CN115924153A/en active Pending
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