CN116573176A - Unmanned aerial vehicle with adjustable holder position and adjusting method thereof - Google Patents
Unmanned aerial vehicle with adjustable holder position and adjusting method thereof Download PDFInfo
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- CN116573176A CN116573176A CN202310482684.2A CN202310482684A CN116573176A CN 116573176 A CN116573176 A CN 116573176A CN 202310482684 A CN202310482684 A CN 202310482684A CN 116573176 A CN116573176 A CN 116573176A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000013016 damping Methods 0.000 claims abstract description 38
- 230000005484 gravity Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 27
- 230000035939 shock Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 description 5
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000004642 Polyimide Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000515 polycarbonate Polymers 0.000 description 1
- 239000004417 polycarbonate Substances 0.000 description 1
- 229920001721 polyimide Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention relates to a tripod head position-adjustable unmanned aerial vehicle and a working method thereof, wherein the unmanned aerial vehicle comprises a balance adjusting mechanism, a tripod head structure, a damping plate structure, an unmanned aerial vehicle and a camera; the balance adjusting mechanism is arranged at the lower end of the cradle head mechanism and is used for adjusting the balance of the unmanned aerial vehicle; the damping plate structure is arranged in the middle of the cradle head structure and used for reducing vibration of the unmanned aerial vehicle; the unmanned aerial vehicle is arranged at the top of the cradle head structure; the balance adjusting structure comprises a fixed guide rail, a gravity sliding rail and an electric push rod; one end of the electric push rod is connected with the gravity slide rail; the gravity sliding rail is movably arranged on the surface of the fixed guide rail, so that the balance state of the unmanned aerial vehicle during aerial photography can be well adjusted, multi-azimuth shooting can be realized, the shooting requirement is greatly met, and the unmanned aerial vehicle automatic shooting device is simple in structure, high in stability, convenient and accurate to adjust and quick.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle holder position adjustable balance, in particular to an unmanned aerial vehicle with an adjustable holder position and an adjusting method thereof.
Background
Rotor unmanned aerial vehicle is widely applied to fixed point high altitude flight operation because of characteristics such as simple structure, flight hover, along with unmanned aerial vehicle technical development, unmanned aerial vehicle rotor size, fuselage weight are constantly promoting in order to carry more work load, leads to the aircraft when taking photo by plane from this, often can bring great interference to unmanned aerial vehicle on-the-fly camera shooting because of unmanned aerial vehicle unbalance influences normal function and the work of equipment, still influences the flight security simultaneously. Therefore, in order to solve the above-mentioned problems, the present invention provides an unmanned aerial vehicle with adjustable pan-tilt position and an adjustment method thereof.
Disclosure of Invention
Aiming at the dynamic balance problem of the fuselage equipment and the structure of the existing unmanned aerial vehicle flight task, the invention provides the unmanned aerial vehicle with the adjustable holder position and the adjusting method, which can extend the airborne equipment when the unmanned aerial vehicle hovers to fly, expand the effective use range of the airborne equipment, and generate less interference on the unmanned aerial vehicle fuselage, thereby ensuring the normal operation of the flight work.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a unmanned aerial vehicle with an adjustable cradle head position comprises a balance adjusting mechanism, a cradle head structure, a damping plate structure and a camera;
the balance adjusting mechanism is arranged at the lower end of the cradle head mechanism;
the damping plate structure is arranged in the middle of the cradle head structure;
the unmanned aerial vehicle is arranged at the top of the cradle head structure;
the balance adjusting structure comprises a fixed guide rail, a gravity sliding rail, an electric push rod and a telescopic rod;
one end of the electric push rod is connected with a gravity slide rail; the gravity slide rail is movably arranged on the surface of the fixed guide rail.
In some embodiments, the gravity slide rail is "C" shaped; the gravity slide rail is buckled on the surface of the fixed guide rail and slides along the surface of the fixed guide rail;
in some embodiments, the electric putter includes an electric putter controller and a telescoping rod;
the signal output end of the electric push rod controller is connected with the control signal input end of the electric push rod;
the signal input end of the electric push rod controller is provided with a sensor;
the electric push rod controller is arranged on the electric push rod.
In some embodiments, the pan-tilt structure includes a base;
the camera is fixed at a port of one end of the inside of the base;
the balance adjusting structure is fixed in the base;
the camera and the balance structure are positioned on the same horizontal line in the base.
In some embodiments, the pan-tilt mechanism further comprises a servo motor, a connecting rod, a rotating shaft and a supporting plate;
the servo motor is fixed at the center of the supporting plate;
four connecting rods are respectively fixed on four corners of the supporting plate;
the rotating shaft is movably connected to the lower surface of the supporting plate;
a servo motor controller is arranged on the servo motor;
the servo motor is connected with the rotating shaft.
In some of these embodiments, the lower end of the rotating shaft is provided with a fastener;
the fastener is inverted U-shaped, and the upper end of the fastener is fixedly connected with the rotating shaft;
two clamping rods are arranged on the fastening piece;
the clamping rod is used for fixing the base.
In some embodiments, the shock absorbing damping plate structure comprises an upper connecting plate, a lower connecting plate, an elastic damping ball and a pin;
the upper connecting plate is connected with the unmanned aerial vehicle;
the upper connecting plate and the lower connecting plate and the elastic damping ball are respectively provided with round holes with the same specification;
the pin passes through the round hole to fixedly connect the upper connecting plate with the lower connecting plate and the elastic damping ball.
In some of these embodiments, the camera includes a lens and a lens controller;
the lens is telescopic;
the lens controller is used for controlling the lens to stretch and retract.
In some embodiments, the drone further includes a flight control system; is arranged in the unmanned aerial vehicle body;
the flight control system is used for receiving operation control instructions of ground personnel.
An adjusting method of a unmanned aerial vehicle with adjustable holder position based on the same conception comprises the following steps:
step 1: the flight control system sends a control command to the unmanned aerial vehicle, the unmanned aerial vehicle receives the command to fly to the vicinity of a task point, and the servo motor, the camera and the electric push rod are connected with an interface of the flight control system of the unmanned aerial vehicle through signal lines to receive the whole machine flight command information;
step 2: the flight control system sends signals to a lens controller of the camera according to the shooting task instruction;
step 3: the lens controller controls the lens to stretch and retract, when the lens stretches and contracts, the sensor senses that the balance of the unmanned aerial vehicle changes, and the sensor transmits sensing signals to the electric push rod controller;
step 4: the electric push rod controller controls the electric push rod to rotate, so that the telescopic rod is driven to push the gravity slide rail to move, and the unmanned aerial vehicle is balanced;
step 5: when the camera needs to be rotated for shooting, the flight control system transmits an instruction to the servo motor controller, and the servo motor controller controls the rotation shaft to rotate, so that the shooting direction of the camera is adjusted;
step 6: after all flight tasks are completed, the electric push rod controller controls the telescopic rod to retract inwards, the lens controller controls the lens to retract to the original position, the servo motor controller controls the rotating shaft to rotate and return to the original position, and the unmanned aerial vehicle stably drops based on machine vision and inertial measurement data.
The invention has the beneficial effects that: according to the unmanned aerial vehicle with the adjustable tripod head position, the balance adjusting mechanism is arranged below the tripod head structure, so that when a camera lens of the unmanned aerial vehicle stretches out and draws back, the telescopic rod is driven by the electric push rod to stretch out and draw back, the gravity sliding rail connected with the telescopic rod is pushed to move towards one end far away from the camera along the fixed guide rail, and the unmanned aerial vehicle body is in a balanced state; the invention also achieves better unmanned aerial vehicle shooting effect by arranging the lens controller and the servo motor controller, the lens controller receives the instruction signal of the flight control system to make corresponding action and stretches out and draws back the lens, so that the visual angle of the camera is wider, far-distance pictures are shot, the servo motor controller controls the rotating shaft to rotate, so that scenes in different directions can be shot, and the unmanned aerial vehicle system is also provided with the elastic damping ball, thereby better reducing vibration of the unmanned aerial vehicle in flight, affecting the camera and improving the quality of aerial images.
Drawings
Fig. 1 is a schematic structural diagram of some embodiments of a pan-tilt-position-adjustable unmanned aerial vehicle according to the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle pan-tilt with adjustable pan-tilt position according to the present invention;
FIG. 3 is a schematic structural view of a vibration damping plate of an unmanned aerial vehicle with an adjustable pan-tilt position;
FIG. 4 is a schematic structural view of a vibration damping plate of an unmanned aerial vehicle with an adjustable pan-tilt position;
fig. 5 is a schematic workflow diagram of an adjusting method of a pan-tilt-adjustable unmanned aerial vehicle according to the present invention.
In the drawings, 100, a base; 110. a camera; 120. a fastener; 130. a connecting rod; 140. a servo motor; 150. a support plate; 160. a rotation shaft; 200. an upper connecting plate; 210. a lower connecting plate; 220. an elastic damping ball; 230. a pin; 300. an electric push rod; 310. a magnetic motor; 320. a gravity slide rail; 330. a fixed guide rail; 340. a telescopic rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Examples of the embodiments are illustrated in the accompanying drawings, wherein like or similar symbols indicate like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "top," "bottom," "inner," "outer," "axis," "circumferential," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present invention or simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "engaged," "hinged," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1, 2, 3 and 4, a pan-tilt position adjustable unmanned aerial vehicle includes a balance adjustment mechanism, a pan-tilt structure, a shock absorbing damping plate structure, and a camera 110. The balance adjusting mechanism is arranged at the lower end of the cradle head mechanism. The damping plate structure is arranged in the middle of the cradle head structure. Unmanned aerial vehicle sets up at the top of cloud platform structure. The balance adjustment structure includes a fixed rail 330, a gravity slide 320, and an electric putter 300. One end of the electric push rod 300 is connected with a gravity slide rail 320. The gravity sliding rail 320 is movably arranged on the surface of the fixed guide rail 330. In this embodiment, the balance adjustment mechanism, the pan-tilt structure, the damping plate structure, the unmanned aerial vehicle, and the camera 110 are connected and arranged below the unmanned aerial vehicle, and perform work along with the unmanned aerial vehicle.
In some embodiments of the present invention, gravity rail 320 is "C" shaped. The gravity sliding rail 320 is buckled on the surface of the fixed guide rail 330, slides along the surface of the fixed guide rail 330 in the direction, and can bear a certain load.
In some embodiments of the present invention, the electric push rod 300 includes an electric push rod controller and a telescoping rod 340.
The signal output end of the electric push rod controller is connected with the control signal input end of the electric push rod 300.
The signal input end of the electric push rod controller is provided with a sensor.
The electric push rod controller is arranged on the electric push rod.
In some embodiments of the present invention, the cradle head structure includes a base 100.
The camera 110 is fixed at a port of an inner end of the base 100.
The balance adjustment structure is fixed inside the base 100.
The camera 110 is in the same horizontal line as the balance structure in the base 100.
In some embodiments of the present invention, the pan-tilt mechanism further includes a servo motor 140, a connecting rod 130, a rotation shaft 160, and a support plate 150.
The servo motor 140 is fixed to the center of the support plate 150.
The connecting rods 130 are respectively fixed at four corners of the support plate 150.
The rotation shaft 160 is movably coupled to the lower surface of the support plate 150.
The servo motor 140 is provided with a servo motor controller.
The servo motor 140 is connected to the rotation shaft 160. The servo motor 140 is connected to and controls the rotation shaft 160 to rotate, so that scenes of different orientations can be photographed.
In some embodiments of the present invention, the lower end of the rotating shaft 160 is provided with a fastener 120.
The fastening member 120 is inverted U-shaped, and the upper end of the fastening member 120 is fixedly linked with the rotation shaft 160.
Two clamping bars are provided on the fastener 120.
The clamping bar is used to fix the base 100. The clamping rod has certain clamping force and can firmly fix the base.
In some embodiments of the present invention, the shock absorbing damping panel structure includes an upper connection plate 200, a lower connection plate 210, a resilient damping ball 220, and a pin 230.
The upper connecting plate 200 is connected with the unmanned aerial vehicle.
The upper and lower connection plates 200 and 210 and the elastic damping balls 220 are respectively provided with round holes.
The pin 230 passes through the circular hole to fixedly connect the upper connection 200, the lower connection plate 210 and the elastic damping ball 220.
In this embodiment, the elastic damping ball 220 is connected with the upper connecting plate 200 and the lower connecting plate 210 through the opening, the upper connecting plate 200 is connected with the unmanned aerial vehicle, the lower connecting plate 210 is connected with the cradle head structure, the center of the elastic damping ball 220 is opened, the pin 230 penetrates through the elastic damping ball 220, and the elastic damping ball 220, the upper connecting plate 200 and the lower connecting plate 210 are further fixed. Here, the elastic damping ball 220 and the pin 230 are made of high molecular polymer, the elastic damping ball 220 is made of polyimide, and the pin 230 is made of polycarbonate.
In some embodiments of the present invention, the camera 110 includes a lens and a lens controller. The lens is retractable. The lens controller is used for controlling the lens to stretch and retract.
In some embodiments of the invention, the drone further includes a flight control system. The flight control system is installed in the unmanned aerial vehicle. The flight control system is used for receiving the operation control instruction of ground personnel.
Referring to fig. 5, the invention further provides an adjusting method of the unmanned aerial vehicle with the adjustable holder position, which comprises the following steps:
step 1: the flight control system sends a control command to the unmanned aerial vehicle, the unmanned aerial vehicle receives the command to fly to the vicinity of a task point, and the servo motor, the camera and the electric push rod are connected with an interface of the flight control system of the unmanned aerial vehicle through signal lines to receive the whole machine flight command information;
step 2: the flight control system sends signals to a lens controller of the camera according to the shooting task instruction;
step 3: the lens controller controls the lens to stretch and retract, when the lens stretches and contracts, the sensor senses that the balance of the unmanned aerial vehicle changes, and the sensor transmits sensing signals to the electric push rod controller;
step 4: the electric push rod controller controls the electric push rod to rotate, so that the telescopic rod is driven to push the gravity slide rail to move, and the unmanned aerial vehicle is balanced;
step 5: when the camera shooting needs to be rotated, the flight control system transmits an instruction to the servo motor controller, and the servo motor controller controls the rotation shaft to rotate, so that the shooting direction of the camera is adjusted;
step 6: after all flight tasks are completed, the electric push rod controller controls the telescopic rod to retract inwards, the lens controller controls the lens to retract to the original position, the servo motor controller controls the rotating shaft to rotate and return to the original position, and the unmanned aerial vehicle stably drops based on machine vision and inertial measurement data.
The working principle of the invention is as follows:
the invention provides a unmanned aerial vehicle with an adjustable tripod head position and an adjusting method. The balance adjustment mechanism is arranged at the lower end of the cradle head mechanism and used for adjusting the balance of the unmanned aerial vehicle. The damping plate structure is arranged in the middle of the cradle head structure and used for reducing vibration of the unmanned aerial vehicle. Unmanned aerial vehicle sets up at the top of cloud platform structure. The balance adjusting structure comprises a fixed guide rail 330, a gravity sliding rail 320, an electric push rod 300 and a telescopic rod 340. One end of the electric push rod 300 is connected with a gravity slide rail 320. The gravity sliding rail 320 is movably arranged on the surface of the fixed guide rail 330. Gravity slide 320 is "C" shaped. The gravity sliding rail 320 is fastened to the surface of the fixed rail 330, and can slide along the surface of the fixed rail 330. The electric push rod 300 includes an electric push rod controller and a telescoping rod 340. The signal output end of the electric push rod controller is connected with the control signal input end of the electric push rod 300. The signal input end of the electric putter controller is connected with a sensor for sensing the balance state of the unmanned aerial vehicle. The electric putter controller is disposed on the electric putter 300 for controlling the movement of the electric putter 300. The cradle head structure includes a base 100. The camera 110 is fixed at a port of an inner end of the base 100. The balance adjustment structure is fixed inside the base 100. The camera 110 is in the same horizontal line as the balance structure in the base 100. The pan-tilt mechanism further comprises a servo motor 140, a connecting rod 130, a rotating shaft 160 and a supporting plate 150. The servo motor 140 is fixed to the center of the support plate 150. The connecting rods 130 are respectively fixed at four corners of the support plate 150. The rotation shaft 160 is movably coupled to the lower surface of the support plate 150 for adjusting the photographing direction of the camera 110 in the base 100. The servo motor 140 is provided with a servo motor controller for controlling the rotation of the servo motor 140. The servo motor 140 is connected to the rotation shaft 160. The lower end of the rotation shaft 160 is provided with a fastener 120. The fastening member 120 is inverted U-shaped, and the upper end of the fastening member 120 is fixedly linked with the rotation shaft 160. Two clamping bars are provided on the fastener 120. The clamping bar is used to fix the base 100. The shock absorbing damping panel structure includes an upper connection plate 200, a lower connection plate 210, an elastic damping ball 220, and a pin 230. The upper connecting plate 200 is connected with the unmanned aerial vehicle. The upper connection plate 200, the lower connection plate 210 and the elastic damping balls 220 are respectively provided with round holes with the same specification. The pins 230 pass through the circular holes to fixedly connect the upper and lower connection plates 200 and 210 and the elastic damping balls 220 together. The camera 110 includes a lens and a lens controller. The lens can be controlled to stretch and retract. The lens controller is used for controlling the lens to stretch and retract. The drone also includes a flight control system. The flight control system is used for transmitting signal instructions.
The unmanned aerial vehicle is started, the carrying equipment flies, when the unmanned aerial vehicle flies to the working range, hovers, the flight control system sends a control command to the unmanned aerial vehicle, the servo motor 140, the camera 110 and the electric push rod 300 are connected with an interface of the flight control system of the unmanned aerial vehicle through signal lines, and the information of the flight command of the whole machine is received. The flight control system sends a signal to the lens controller of the camera 110 according to the shooting task instruction. The lens controller controls the lens to stretch out and draw back, when the lens stretches out and draws back, the sensor senses that unmanned aerial vehicle balance changes, and the sensor transmits sensing signals to the electric putter controller. The electric push rod controller controls the electric push rod 300 to rotate, so that the telescopic rod is driven to push the gravity slide rail 320 to move, and the unmanned aerial vehicle is balanced; when the camera 110 needs to be rotated to take pictures in other directions, the flight control system can send corresponding instructions to the servo motor controller, and the servo motor controller controls the rotation shaft 160 to rotate, so that the shooting direction of the camera 110 is adjusted, and shooting requirements are met.
After all the flight tasks are completed, the electric push rod controller controls the telescopic rod to retract inwards, the lens controller controls the lens to retract to the original position, the servo motor controller controls the rotating shaft 160 to rotate and return to the original position, and the unmanned aerial vehicle stably drops based on machine vision and inertial measurement data. In the flight process, the elastic damping ball 220 absorbs vibration caused by transmission of each structure of the unmanned aerial vehicle and reduces impact load between the unmanned aerial vehicle and the ground during landing.
The invention has the beneficial effects that: according to the unmanned aerial vehicle with the adjustable tripod head position, the balance adjusting mechanism is arranged below the tripod head structure, so that when the lens of the unmanned aerial vehicle camera 110 stretches out and draws back, the telescopic rod is driven by the electric push rod 300 to stretch out and draw back, the gravity sliding rail 320 connected with the telescopic rod is pushed to move towards one end far away from the camera 110 along the fixed guide rail 330, and the unmanned aerial vehicle body is in a balanced state, and the balance adjusting mechanism is convenient to adjust and efficient; the invention also achieves better unmanned aerial vehicle shooting effect by arranging the lens controller and the servo motor controller, the lens controller receives the instruction signal of the flight control system to make corresponding action and extend and retract the lens, so that the visual angle of the camera 110 is wider, a picture at a far distance is shot, the servo motor controller controls the rotating shaft 160 to rotate the rotating shaft 160, thereby shooting scenes at different directions, and the unmanned aerial vehicle system is also provided with the elastic damping ball 220, thereby better reducing the vibration of the unmanned aerial vehicle in flight, affecting the camera 110 and improving the aerial image quality.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "examples," "particular examples," "one particular embodiment," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The present invention is not limited to the above preferred embodiments, and any person skilled in the art, within the scope of the present invention, may apply to the present invention, and equivalents and modifications thereof are intended to be included in the scope of the present invention.
Claims (10)
1. Unmanned aerial vehicle with adjustable cloud platform position, characterized by comprising:
the camera comprises a balance adjusting mechanism, a cradle head structure, a shock absorption damping plate structure and a camera;
the balance adjusting mechanism is arranged at the lower end of the cradle head mechanism; the damping plate structure is arranged in the middle of the cradle head structure; the unmanned aerial vehicle is arranged at the top of the cradle head structure;
the balance adjusting structure comprises a fixed guide rail, a gravity sliding rail and an electric push rod;
one end of the electric push rod is connected with the gravity slide rail;
the gravity sliding rail is movably arranged on the surface of the fixed guide rail.
2. The pan-tilt position adjustable unmanned aerial vehicle of claim 1, wherein the gravity slide rail is "C"; the gravity slide rail is buckled on the surface of the fixed guide rail and slides along the surface of the fixed guide rail.
3. The pan-tilt position adjustable unmanned aerial vehicle of claim 1, wherein the electric putter comprises an electric putter controller and a telescoping rod;
the signal output end of the electric push rod controller is connected with the control signal input end of the electric push rod;
a sensor is arranged at the signal input end of the electric push rod controller;
the electric push rod controller is arranged on the electric push rod.
4. The pan-tilt position adjustable drone of claim 1, wherein the pan-tilt structure comprises a base;
the camera is fixed at a port of one end of the interior of the base;
the balance adjusting structure is fixed in the base;
the camera and the balance structure are on the same horizontal line in the base.
5. The pan-tilt position adjustable unmanned aerial vehicle of claim 4, wherein the pan-tilt mechanism further comprises a servo motor, a connecting rod, a rotating shaft, and a support plate;
the servo motor is fixed at the center of the supporting plate;
the four connecting rods are respectively fixed on the four corners of the supporting plate;
the rotating shaft is movably connected to the lower surface of the supporting plate;
a servo motor controller is arranged on the servo motor;
the servo motor is connected with the rotating shaft.
6. The unmanned aerial vehicle with adjustable pan-tilt position of claim 5, wherein,
the lower end of the rotating shaft is provided with a fastener;
the fastener is inverted U-shaped, and the upper end of the fastener is fixedly connected with the rotating shaft;
two clamping rods are arranged on the fastening piece;
the clamping rod is used for fixing the base.
7. The pan-tilt position adjustable unmanned aerial vehicle of claim 1, wherein the shock absorbing damping plate structure comprises an upper connecting plate, a lower connecting plate, an elastic damping ball and a pin;
the upper connecting plate is connected with the unmanned aerial vehicle;
the upper connecting plate, the lower connecting plate and the elastic damping ball are respectively provided with round holes;
the pin penetrates through the round hole to fixedly connect the upper connecting plate, the lower connecting plate and the elastic damping ball.
8. The pan-tilt position adjustable drone of claim 1, wherein the camera includes a lens and a lens controller;
the lens is telescopic;
the lens controller is used for controlling the lens to stretch and retract.
9. The pan-tilt position adjustable unmanned aerial vehicle of claim 1, further comprising a flight control system;
is arranged in the unmanned aerial vehicle body;
the flight control system is used for receiving operation control instructions of ground personnel.
10. The adjusting method of the unmanned aerial vehicle with the adjustable holder position is characterized by further comprising the following steps of:
step 1: the flight control system sends a control command to the unmanned aerial vehicle, the unmanned aerial vehicle receives the command to fly to the vicinity of a task point, and the servo motor, the camera and the electric push rod are connected with an interface of the flight control system of the unmanned aerial vehicle through signal lines to receive the whole machine flight command information;
step 2: the flight control system sends signals to the lens controller of the camera according to shooting task instructions;
step 3: the lens controller controls the lens to stretch and retract, when the lens stretches and contracts, the sensor senses that the balance of the unmanned aerial vehicle changes, and the sensor transmits sensing signals to the electric push rod controller;
step 4: the electric push rod controller controls the electric push rod to rotate, so that the telescopic rod is driven to push the gravity slide rail to move, and the unmanned aerial vehicle is balanced;
step 5: when the camera needs to be rotated for shooting, the flight control system transmits an instruction to the servo motor controller, and the servo motor controller controls the rotation shaft to rotate, so that the shooting direction of the camera is adjusted;
step 6: after all flight tasks are completed, the electric push rod controller controls the telescopic rod to retract inwards, the lens controller controls the lens to retract to the original position, the servo motor controller controls the rotating shaft to rotate and return to the original position, and the unmanned aerial vehicle stably drops based on machine vision and inertial measurement data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310482684.2A CN116573176A (en) | 2023-04-28 | 2023-04-28 | Unmanned aerial vehicle with adjustable holder position and adjusting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310482684.2A CN116573176A (en) | 2023-04-28 | 2023-04-28 | Unmanned aerial vehicle with adjustable holder position and adjusting method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116573176A true CN116573176A (en) | 2023-08-11 |
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| KR20230001064A (en) * | 2021-06-25 | 2023-01-04 | 정하익 | Drone, air craft, mobility, unmanned aerial vehicle and shooting, control, detection, observation, survey, working, mapping, construction, cleaning, delivery, monitoring method, equipment, system |
| CN115892534A (en) * | 2022-11-04 | 2023-04-04 | 四川文化艺术学院 | Unmanned aerial vehicle intelligent photographing system and method for reducing shaking |
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Application publication date: 20230811 |