CN202748029U - Image motion compensation device for aerial survey of unmanned aerial vehicle - Google Patents
Image motion compensation device for aerial survey of unmanned aerial vehicle Download PDFInfo
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- CN202748029U CN202748029U CN 201220426296 CN201220426296U CN202748029U CN 202748029 U CN202748029 U CN 202748029U CN 201220426296 CN201220426296 CN 201220426296 CN 201220426296 U CN201220426296 U CN 201220426296U CN 202748029 U CN202748029 U CN 202748029U
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- image motion
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Abstract
The utility model discloses an image motion compensation device for aerial survey of an unmanned aerial vehicle. The image motion compensation device comprises a rotary shaft horizontally arranged in a cabin and perpendicular to an axis of a machine body, a camera mounting platform mounted on the rotary shaft and capable of rotating around the rotary shaft, and a motor for being connected with a flight control computer of the unmanned aerial vehicle, wherein the motor is connected with the camera mounting platform. The image motion compensation device has the characteristics of small volume, light weight, simple structure, low energy consumption and the like, can be conveniently applied to the unmanned aerial vehicle for aerial survey, and can reduce the course image motion amount so as to improve the measurement precision.
Description
Technical field
The utility model relates to the aerial survey of unmanned aerial vehicle field, particularly, relates to a kind of aerial survey of unmanned aerial vehicle image motion compensation device.
Background technology
Along with the development of unmanned plane technology, the aerial survey of unmanned aerial vehicle technology is widely used.In the aerial survey process, since unmanned plane during flying terrain clearance lower (being generally 300-1000 rice), speed fast (being generally 30 meter per seconds), the camera major part of use is civilian single-lens reflex camera, generally all is fixed on the fuselage, shutter speed is about 1/1000 second.Take the photograph in the process in boat, camera exposure moment can produce larger working direction image drift, generally can account for 1/3 to 1 picture dot, causes measuring error sharply to increase.And unmanned plane is to be as the criterion with air speed in flight course, can be subject to the impact of wind-force and wind direction, and during along contrary wind, ground velocity (gps speed) also can strengthen thereupon or reduce, and the image drift amount also changes thereupon.
Traditional IMC way all is applied on the large-scale manned air-mapping aircraft, as the row of transforming the ccd electronic circuit of professional aviation measuring camera is swept mode, perhaps promote camera by mechanical hook-up and produce and move speed after opposite with ground velocity, make take pictures moment camera relatively face velocity for being approximately 0.The aforesaid way complex structure, cost is high, is only applicable to large-scale air-mapping aircraft.The camera that SUAV (small unmanned aerial vehicle) adopts is generally the finished product civil camera, is difficult to change its electronic circuit; As move mode after adopting camera, after the power that moves, slide rail, braking all needs more energy reserve and space because the unmanned plane overall weight is light, the cabin is little, is difficult to carry.And since after move past in the journey, the inertia of camera is very large, can produce the attitude of aircraft to have a strong impact on.
The utility model content
The purpose of this utility model is to overcome the shortcoming and defect of above-mentioned prior art, a kind of aerial survey of unmanned aerial vehicle image motion compensation device is provided, have the characteristics such as volume is little, lightweight, simple in structure, energy consumption is low, be convenient to use at the aerial survey unmanned plane, can reduce image drift amount in course in the aerial survey of unmanned aerial vehicle, improve measuring accuracy.
To achieve these goals, the utility model adopts following technical scheme:
A kind of aerial survey of unmanned aerial vehicle image motion compensation device, comprise the rotating shaft that is horizontally set in the cabin, described rotating shaft is perpendicular to the fuselage axis, comprise also being installed in the described rotating shaft and can be around the camera mounting platform of described rotating shaft rotation and be used for the motor that is connected with the UAV Flight Control computing machine that described motor is connected with the camera mounting platform.
Further, described motor is stepper motor, and described stepper motor is connected with the camera mounting platform by leading screw and feed screw nut.
Further, described rotating shaft is the Ω axle.
Further, described rotating shaft is installed in the cabin by stage support.
The utility model is by adopting above technical scheme, and it has following beneficial effect:
1, simple in structure, lightweight, inertia is little, cost is low, be fit to unmanned plane and carry;
2, can reduce image drift amount in course in the aerial survey of unmanned aerial vehicle, improve measuring accuracy;
3, can adjust motor speed according to the ground velocity (gps speed) before taking pictures, make the image drift amount reduce to minimum; By speed and the direction of UAV Flight Control computer control motor, make the speed of motor and precision reach the highest;
4, this platform can be used as the base of some camera head, reduces attitude image motion when reducing the course image drift.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is the structural representation (rotation reference attitude) that aerial survey of unmanned aerial vehicle of the present utility model is used image motion compensation device;
Fig. 2 is the structural representation (exposure station attitude) that aerial survey of unmanned aerial vehicle of the present utility model is used image motion compensation device;
Fig. 3 is the structural representation (rotating the terminal point attitude) that aerial survey of unmanned aerial vehicle of the present utility model is used image motion compensation device.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described, should be appreciated that preferred embodiment described herein only is used for description and interpretation the utility model, and be not used in restriction the utility model.
Aerial survey of unmanned aerial vehicle of the present utility model only for the course IMC, when unmanned plane during flying, because camera is fixed on the fuselage, can produce course image drift (image drift that the pitching action produces puts aside) with image motion compensation device.
As shown in Figure 1, 2, 3, a kind of aerial survey of unmanned aerial vehicle image motion compensation device of the present utility model, comprise the rotating shaft 2(Ω axle that is horizontally set in the cabin 1), rotating shaft 2 is installed in the cabin 1 by stage support 3, and rotating shaft 2 is perpendicular to the fuselage axis, comprise also being installed in the rotating shaft 2 and stepper motor 5 that the camera mounting platforms 4 of around the shaft 2 rotations and being used for are connected with the UAV Flight Control computing machine that stepper motor 5 passes through leading screw 6 and feed screw nut 7 is connected with camera mounting platform 4.Camera 8 is installed on the camera mounting platform.
After unmanned plane takes off and enters the aerial survey zone, UAV Flight Control computer real-time acquisition ground velocity (gps speed), by setting flying height, calculate the course line upper ground surface and put angular velocity omega (being generally in the 4 °/S) in unmanned plane, ω=ground velocity/flying height, this value is sent to flight-control computer, flight-control computer is adjusted stepper motor 5 rotating speeds, after entering the shooting district, flight-control computer sends startup command, stepper motor 5 drives camera mounting platform 4 by leading screw 6 and feed screw nut 7 and 2 produces the angular velocity that equates around the shaft, drives camera 8 and rotates, and makes the camera light shaft lock decide the ground point; When camera mounting platform 4 makes the camera optical axis vertical with the bottom surface, cabin, the UAV Flight Control computing machine sends photographing instruction, the control camera shutter is taken pictures, and UAV Flight Control computer control camera mounting platform 4 continues to finish to taking pictures at least with the angular velocity omega rotation; Then UAV Flight Control computer-controlled stepper motor 5 reverses, and drives camera mounting platform 4 and gets back to initial position, finishes a shooting cycle, and this moment, stepper motor 5 stalls were pinned, and waited for next startup command.After the UAV Flight Control computing machine sent second photographing instruction, system repeated the above-mentioned cycle, and the rest may be inferred, finishes the task of taking pictures.
Specifically take the stroke of feed screw nut 7 as-5mm to+5mm as example (this trip capable of regulating), when the UAV Flight Control computing machine sent startup command to stepper motor 5, reference position-5mm(that feed screw nut 7 is positioned at its stroke was as shown in Figure 1); When feed screw nut 7 was positioned at 0 position, centre of its stroke, camera shutter was taken pictures (as shown in Figure 2); Stroke end position+5mm(that the rear UAV Flight Control computer control camera mounting platform 4 of taking pictures is rotated further feed screw nut 7 with angular velocity omega as shown in Figure 3), and then control step motor 5 reverses, backward rotation speed can be by arranging raising, (5mm), this process is a complete action cycle to the reference position of its stroke to make feed screw nut 7 fast returns.
It should be noted that at last: the above only is preferred embodiment of the present utility model, be not limited to the utility model, although with reference to previous embodiment the utility model is had been described in detail, for a person skilled in the art, it still can be made amendment to the technical scheme that previous embodiment is put down in writing, and perhaps part technical characterictic wherein is equal to replacement.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (4)
1. aerial survey of unmanned aerial vehicle image motion compensation device, it is characterized in that, comprise the rotating shaft that is horizontally set in the cabin, described rotating shaft is perpendicular to the fuselage axis, comprise also being installed in the described rotating shaft and can be around the camera mounting platform of described rotating shaft rotation and be used for the motor that is connected with the UAV Flight Control computing machine that described motor is connected with the camera mounting platform.
2. aerial survey of unmanned aerial vehicle image motion compensation device according to claim 1 is characterized in that, described motor is stepper motor, and described stepper motor is connected with the camera mounting platform by leading screw and feed screw nut.
3. aerial survey of unmanned aerial vehicle image motion compensation device according to claim 1 and 2 is characterized in that, described rotating shaft is the Ω axle.
4. aerial survey of unmanned aerial vehicle image motion compensation device according to claim 1 and 2 is characterized in that, described rotating shaft is installed in the cabin by stage support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220426296 CN202748029U (en) | 2012-08-24 | 2012-08-24 | Image motion compensation device for aerial survey of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220426296 CN202748029U (en) | 2012-08-24 | 2012-08-24 | Image motion compensation device for aerial survey of unmanned aerial vehicle |
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| CN202748029U true CN202748029U (en) | 2013-02-20 |
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| CN 201220426296 Expired - Lifetime CN202748029U (en) | 2012-08-24 | 2012-08-24 | Image motion compensation device for aerial survey of unmanned aerial vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103292791A (en) * | 2013-06-17 | 2013-09-11 | 中国航天科工集团第三研究院第八三五八研究所 | Visible light imaging image motion compensation device adapting to high-speed flight platform |
| CN103604420A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Method for performing two-dimensional image motion compensation by using secondary mirror rotation of foldback system |
| CN103630119A (en) * | 2012-08-24 | 2014-03-12 | 董韬 | Image motion compensation device and method for aerial survey of unmanned aerial vehicle |
| US9635259B2 (en) | 2015-01-21 | 2017-04-25 | Izak Jan van Cruyningen | Forward motion compensated flight path |
| CN107168356A (en) * | 2017-06-28 | 2017-09-15 | 广东电网有限责任公司电力科学研究院 | A kind of airphoto displacement acquisition methods and airphoto control method for movement |
-
2012
- 2012-08-24 CN CN 201220426296 patent/CN202748029U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103630119A (en) * | 2012-08-24 | 2014-03-12 | 董韬 | Image motion compensation device and method for aerial survey of unmanned aerial vehicle |
| CN103630119B (en) * | 2012-08-24 | 2015-12-16 | 董韬 | A kind of aerial survey of unmanned aerial vehicle image motion compensation device and method |
| CN103292791A (en) * | 2013-06-17 | 2013-09-11 | 中国航天科工集团第三研究院第八三五八研究所 | Visible light imaging image motion compensation device adapting to high-speed flight platform |
| CN103604420A (en) * | 2013-11-21 | 2014-02-26 | 中国科学院西安光学精密机械研究所 | Method for performing two-dimensional image motion compensation by using secondary mirror rotation of foldback system |
| US9635259B2 (en) | 2015-01-21 | 2017-04-25 | Izak Jan van Cruyningen | Forward motion compensated flight path |
| CN107168356A (en) * | 2017-06-28 | 2017-09-15 | 广东电网有限责任公司电力科学研究院 | A kind of airphoto displacement acquisition methods and airphoto control method for movement |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: BEIJING SHUWEIXIANTU HIGH-TECH CO.,LTD. Assignor: Dong Tao Contract record no.: 2015370000113 Denomination of utility model: Image motion compensation device and method for aerial survey of unmanned aerial vehicle Granted publication date: 20130220 License type: Exclusive License Record date: 20150707 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151222 Address after: 100000, Fengtai District, Beijing, a Garden District No. 2, building 2, 239 Patentee after: BEIJING SHUWEIXIANTU HIGH-TECH CO.,LTD. Address before: 102300 Beijing city Mentougou District No. 279 West store shop Patentee before: Dong Tao |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 100000, Fengtai District, Beijing, a Garden District No. 2, building 2, 239 Patentee after: DIMENSION MAPPING HIGH TECH. CO.,LTD. Address before: 100000, Fengtai District, Beijing, a Garden District No. 2, building 2, 239 Patentee before: BEIJING SHUWEIXIANTU HIGH-TECH CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP03 | Change of name, title or address |
Address after: 100067 room 13, 1301-1 room (Park), No. 18, District 18, district seventeen, South Fourth Ring Road, Fengtai District, Beijing Patentee after: AEROSPACE SHUWEI HIGH TECH. CO.,LTD. Address before: 100000, Fengtai District, Beijing, a Garden District No. 2, building 2, 239 Patentee before: DIMENSION MAPPING HIGH TECH. CO.,LTD. |
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| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130220 |
|
| CX01 | Expiry of patent term |