CN203567947U - Self stabilizing holder for unmanned plane - Google Patents
Self stabilizing holder for unmanned plane Download PDFInfo
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- CN203567947U CN203567947U CN201320318648.4U CN201320318648U CN203567947U CN 203567947 U CN203567947 U CN 203567947U CN 201320318648 U CN201320318648 U CN 201320318648U CN 203567947 U CN203567947 U CN 203567947U
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- angular adjustment
- axis angular
- adjustment apparatus
- unmanned plane
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Abstract
The utility model discloses a self stabilizing holder for an unmanned plane, and belongs to the technical field of unmanned planes. The self stabilizing holder comprises a pedestal, a shooting device, a tracking means, an X-axis angular adjusting device, an Y-axis angular adjusting device, a Z-axis angular adjusting device, a single-chip microcomputer and a servo drive unit, wherein the X-axis angular adjusting device, the Y-axis angular adjusting device and the Z-axis angular adjusting device are respectively arranged on the X, Y, and Z axes, the single-chip microcomputer is respectively and electrically connected with the tracking means and the servo drive unit, and the servo drive unit are electrically connected with the X-axis angular adjusting device, the Y-axis angular adjusting device and the Z-axis angular adjusting device. In such a structure, the self stabilizing holder is capable of obtaining clearer photos, which simplifies the subsequent processing operation.
Description
Technical field
The utility model relates to unmanned plane technical field, particularly a kind of unmanned plane Self-stabilization holder.
Background technology
Robot airplane, is called for short unmanned plane (UAV, Unmanned Aerial Vehicle), is a kind of new ideas aircraft being in developing rapidly, and it has advantages of maneuverability, reaction is quick, nobody flies, operation requirements is low.Unmanned plane, by carrying multiclass sensor, can be realized the functions such as image real-time Transmission, high-risk area detection, is that the strong of satellite remote sensing and traditional air remote sensing supplements.
Existing unmanned plane, when realizing image real-time Transmission, is installed a The Cloud Terrace by the bottom at unmanned plane, and picture pick-up device is arranged on the base of The Cloud Terrace.
Realizing in process of the present utility model, utility model people finds that prior art at least exists following problem:
In unmanned plane during flying operation process, the orientation of photographic subjects thing can change with respect to base, while causing picture pick-up device on unmanned plane The Cloud Terrace to be taken photographic subjects thing, takes pictures of poor quality, has strengthened the complexity of photo post-processed.
Utility model content
The purpose of this utility model is to provide a kind of unmanned plane Self-stabilization holder, can improve the effect that the picture pick-up device on The Cloud Terrace is taken photographic subjects thing, can simplify the processing operation in photo later stage.
To achieve these goals, the utility model embodiment provides a kind of unmanned plane Self-stabilization holder, comprise the base that is arranged on unmanned plane bottom, be positioned at the picture pick-up device on this base, survey the tracking apparatus in the orientation of photographic subjects thing, X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus, the data of surveying according to this tracking apparatus are determined the X-axis of this base, micro controller system and the servo drive of the adjustment angle of Y-axis and Z axis, this X-axis angular adjustment apparatus, this Y-axis angular adjustment apparatus and this Z axis angular adjustment apparatus lay respectively at the X-axis of this base, on Y-axis and Z axis, this micro controller system is electrically connected with this tracking apparatus and this servo drive respectively, this servo drive respectively with this X-axis angular adjustment apparatus, this Y-axis angular adjustment apparatus and the electrical connection of this Z axis angular adjustment apparatus.
Further, this tracking apparatus is positioned at this picture pick-up device place of closing on of this base.
Preferably, the adjusting range of this X-axis angular adjustment apparatus is 0～180 degree.
Preferably, the adjusting range of this Y-axis angular adjustment apparatus is 0～180 degree.
Preferably, the adjusting range of this Z axis angular adjustment apparatus is 0～360 degree.
Further, this X-axis angular adjustment apparatus and/or Y-axis angular adjustment apparatus and/or Z axis angular adjustment apparatus are hollow-cup motor.
In an embodiment of the present utility model, this unmanned plane Self-stabilization holder also comprises the attitude detector device of the attitude of surveying this base, and this attitude detector device is positioned at the center of this base, and this attitude detector device is electrically connected with this micro controller system.
Further, this attitude detector device is three-axis gyroscope.
Further, this attitude detector device is piezoelectricity gyro.
The beneficial effect that the technical scheme that the utility model embodiment provides is brought is:
By the orientation of tracking apparatus real-time detection photographic subjects thing, the data that micro controller system is surveyed according to tracking apparatus are determined the X-axis of base, the adjustment angle of Y-axis and Z axis, the X-axis that servo drive is definite according to micro controller system, the corresponding X-axis angular adjustment apparatus that drives of adjustment angle of Y-axis and Z axis, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus, X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus is by the X-axis of base, Y-axis, Z axis is adjusted to corresponding angle, to guarantee that the attitude of base and the orientation of photographic subjects thing adapt, when picture pick-up device on base is taken photographic subjects thing, photographic images is more clear, photographed data is more accurate, therefore can simplify the processing operation in photo later stage.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the circuit diagram of the unmanned plane Self-stabilization holder that provides of the utility model embodiment.
The specific embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the utility model embodiment is described in further detail.
With reference to figure 1, the utility model embodiment provides a kind of unmanned plane Self-stabilization holder, comprises base, picture pick-up device, tracking apparatus 110, micro controller system 120, servo drive 130 and X-axis angular adjustment apparatus 140, Y-axis angular adjustment apparatus 150 and Z axis angular adjustment apparatus 160.This floor installation is in unmanned plane bottom, this picture pick-up device is positioned on this base, this X-axis angular adjustment apparatus 140, this Y-axis angular adjustment apparatus 150 and this Z axis angular adjustment apparatus 160 lay respectively on X-axis, Y-axis and the Z axis of this base, this micro controller system 120 is electrically connected with this tracking apparatus 110 and this servo drive 130 respectively, and this servo drive 130 is electrically connected with this X-axis angular adjustment apparatus 140, this Y-axis angular adjustment apparatus 150 and this Z axis angular adjustment apparatus 160 respectively.
The principle of work of the present embodiment unmanned plane Self-stabilization holder is: tracking apparatus 110 is surveyed the orientation of photographic subjects thing, the data that micro controller system 120 is surveyed according to this tracking apparatus 110 are determined the X-axis of base, the adjustment angle of Y-axis and Z axis, the X-axis that servo drive 130 is definite according to this micro controller system 120, corresponding this X-axis angular adjustment apparatus 140 that drives of adjustment angle of Y-axis and Z axis, Y-axis angular adjustment apparatus 150, Z axis angular adjustment apparatus 160, this X-axis angular adjustment apparatus 140, this Y-axis angular adjustment apparatus 150, this Z axis angular adjustment apparatus 160 is by the X-axis of base, Y-axis, Z axis is adjusted to corresponding angle.
In an embodiment of the present utility model, this tracking apparatus 110 is positioned at this picture pick-up device place of closing on of this base.Due to tracking apparatus 110 and picture pick-up device close together, therefore tracking apparatus 110 can be surveyed from the shooting angle of picture pick-up device the orientation of photographic subjects thing, X-axis angular adjustment apparatus 140, Y-axis angular adjustment apparatus 150, Z axis angular adjustment apparatus 160 are adjusted after base according to the detection data of tracking apparatus 110, and the picture pick-up device on base is more true to nature to the shooting effect of photographic subjects thing.
In another embodiment of the present utility model, the adjusting range of this X-axis angular adjustment apparatus 140 is 0～180 degree.Therefore, the no matter optional position of the orientation of photographic subjects thing in X-direction, X-axis angular adjustment apparatus 140 can guarantee that the attitude of base and the orientation of photographic subjects thing adapt.
In an embodiment more of the present utility model, the adjusting range of this Y-axis angular adjustment apparatus 150 is 0～180 degree.Therefore, the no matter optional position of the orientation of photographic subjects thing in Y direction, Y-axis angular adjustment apparatus 150 can guarantee that the attitude of base and the orientation of photographic subjects thing adapt.
In another embodiment of the present utility model, the adjusting range of this Z axis angular adjustment apparatus 160 is 0～360 degree.Therefore, the no matter optional position of the orientation of photographic subjects thing in Z-direction, Z angular adjustment apparatus 160 can guarantee that the attitude of base and the orientation of photographic subjects thing adapt.
Further, X-axis angular adjustment apparatus 140 and/or Y-axis angular adjustment apparatus 150 and/or Z axis angular adjustment apparatus 160 are servomotor.The d-axis of this servomotor does not have the return difference impact of retarder, and precision is high.This servomotor is preferably hollow-cup motor.The magnetic resistance that this hollow-cup motor produces in cold situation is little, little on the center of gravity impact of camera head.
In another embodiment of the present utility model, this unmanned plane Self-stabilization holder also comprises the attitude detector device 170 of the attitude of surveying this base, and this attitude detector device 170 is positioned at the center of this base, and this attitude detector device 170 is electrically connected with this micro controller system 120.
The present embodiment unmanned plane Self-stabilization holder principle of work is: when enabling tracking apparatus 110, the X-axis of base is determined in the orientation of the photographic subjects thing that micro controller system 120 is surveyed according to tracking apparatus 110, the adjustment angle of Y-axis and Z axis, when not enabling tracking apparatus 110, the attitude data of the base that micro controller system 120 is surveyed according to attitude detector device 170 is determined the X-axis adjustment angle of base, Y-axis adjusts angle and Z axis is adjusted angle, servo drive 130 is adjusted angle according to the definite X-axis of micro controller system 120, Y-axis adjusts angle and Z axis is adjusted the corresponding X-axis angular adjustment apparatus 140 that drives of angle, Y-axis angular adjustment apparatus 150, Z axis angular adjustment apparatus 160, X-axis angular adjustment apparatus 140 is adjusted the X-axis angle of base, Y-axis angular adjustment apparatus 150 is adjusted the Y-axis angle of base, Z axis angular adjustment apparatus 160 is adjusted the Z axis angle of base.
As shown from the above technical solution, when enabling tracking apparatus 110, the present embodiment is surveyed the orientation of photographic subjects thing by tracking apparatus 110, servo drive 130 drives X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus is by the X-axis of base, Y-axis, Z axis is adjusted to the angle adapting with the orientation of photographic subjects thing, when not enabling tracking apparatus 110, the present embodiment is surveyed the attitude of base by attitude detector device 170, servo drive 130 drives X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus is adjusted the X-axis of base, Y-axis, Z axis, so that base is adjusted to horizontal attitude, thereby guarantee the shooting quality of the picture pick-up device on base, make the photographed data of picture pick-up device accurate, can improve precision and the efficiency of post-processed.
It should be noted that, this attitude detector device 170 is arranged on to the center of base, attitude detector device 170 can detect X-axis, Y-axis, the Z axis attitude of base more accurately like this.
In an embodiment of the present utility model,, this attitude detector device 170 is three-axis gyroscope.This three-axis gyroscope volume is little, lightweight, the good reliability of detection.
Further, this attitude detector device 170 is piezoelectricity gyro.The reaction when surveying of this piezoelectricity gyro is fast, accuracy is high.Understandably, this attitude detector device can be also micro-mechanical gyroscope or fiber optic gyro or laser gyro.
As from the foregoing, the present embodiment unmanned plane Self-stabilization holder is surveyed the orientation of photographic subjects thing by tracking apparatus, servo drive drives X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus the X-axis of base, Y-axis, Z axis to be adjusted to the angle adapting with the orientation of photographic subjects thing, thereby guarantee the shooting quality of the picture pick-up device on base, make the photographed data of picture pick-up device accurate, can improve precision and the efficiency of post-processed.
This is only preferred embodiment of the present utility model above, not in order to limit the utility model, all within spirit of the present utility model and principle, any modification of doing, is equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (9)
1. a unmanned plane Self-stabilization holder, comprise the base that is arranged on unmanned plane bottom, be positioned at the picture pick-up device on described base, it is characterized in that, also comprise the tracking apparatus in the orientation of surveying photographic subjects thing, X-axis angular adjustment apparatus, Y-axis angular adjustment apparatus, Z axis angular adjustment apparatus, the data of surveying according to described tracking apparatus are determined the X-axis of described base, micro controller system and the servo drive of the adjustment angle of Y-axis and Z axis, described X-axis angular adjustment apparatus, described Y-axis angular adjustment apparatus and described Z axis angular adjustment apparatus lay respectively at the X-axis of described base, on Y-axis and Z axis, described micro controller system is electrically connected with described tracking apparatus and described servo drive respectively, described servo drive respectively with described X-axis angular adjustment apparatus, described Y-axis angular adjustment apparatus and the electrical connection of described Z axis angular adjustment apparatus.
2. unmanned plane Self-stabilization holder as claimed in claim 1, is characterized in that, described tracking apparatus is positioned at the described picture pick-up device of closing on of described base place.
3. unmanned plane Self-stabilization holder as claimed in claim 2, is characterized in that, the adjusting range of described X-axis angular adjustment apparatus is 0～180 degree.
4. unmanned plane Self-stabilization holder as claimed in claim 2, is characterized in that, the adjusting range of described Y-axis angular adjustment apparatus is 0～180 degree.
5. unmanned plane Self-stabilization holder as claimed in claim 2, is characterized in that, the adjusting range of described Z axis angular adjustment apparatus is 0～360 degree.
6. unmanned plane Self-stabilization holder as claimed in claim 1, is characterized in that, described X-axis angular adjustment apparatus and/or Y-axis angular adjustment apparatus and/or Z axis angular adjustment apparatus are hollow-cup motor.
7. the unmanned plane Self-stabilization holder as described in above-mentioned arbitrary claim, it is characterized in that, the attitude detector device that also comprises the attitude of surveying described base, described attitude detector device is positioned at the center of described base, and described attitude detector device is electrically connected with described micro controller system.
8. unmanned plane Self-stabilization holder as claimed in claim 7, is characterized in that, described attitude detector device is three-axis gyroscope.
9. unmanned plane Self-stabilization holder as claimed in claim 7, is characterized in that, described attitude detector device is piezoelectricity gyro.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320318648.4U CN203567947U (en) | 2013-06-04 | 2013-06-04 | Self stabilizing holder for unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320318648.4U CN203567947U (en) | 2013-06-04 | 2013-06-04 | Self stabilizing holder for unmanned plane |
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| Publication Number | Publication Date |
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| CN203567947U true CN203567947U (en) | 2014-04-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320318648.4U Expired - Lifetime CN203567947U (en) | 2013-06-04 | 2013-06-04 | Self stabilizing holder for unmanned plane |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017177369A1 (en) * | 2016-04-12 | 2017-10-19 | 深圳市浩瀚卓越科技有限公司 | Tracking shooting control method and system for stabilizer |
| CN109835495A (en) * | 2017-11-29 | 2019-06-04 | 云南电网有限责任公司玉溪供电局 | A kind of aircraft inclination flight Self-stabilization holder |
| CN109885103A (en) * | 2017-12-06 | 2019-06-14 | 智飞智能装备科技东台有限公司 | A kind of holder having following function for unmanned plane |
| WO2020000423A1 (en) * | 2018-06-29 | 2020-01-02 | 深圳市大疆创新科技有限公司 | Control method for gimbal, gimbal, aerial vehicle, and computer-readable storage medium |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
-
2013
- 2013-06-04 CN CN201320318648.4U patent/CN203567947U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017177369A1 (en) * | 2016-04-12 | 2017-10-19 | 深圳市浩瀚卓越科技有限公司 | Tracking shooting control method and system for stabilizer |
| US10866492B2 (en) | 2016-04-12 | 2020-12-15 | Hohem Technology Co., Ltd | Method and system for controlling tracking photographing of stabilizer |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN109835495A (en) * | 2017-11-29 | 2019-06-04 | 云南电网有限责任公司玉溪供电局 | A kind of aircraft inclination flight Self-stabilization holder |
| CN109885103A (en) * | 2017-12-06 | 2019-06-14 | 智飞智能装备科技东台有限公司 | A kind of holder having following function for unmanned plane |
| WO2020000423A1 (en) * | 2018-06-29 | 2020-01-02 | 深圳市大疆创新科技有限公司 | Control method for gimbal, gimbal, aerial vehicle, and computer-readable storage medium |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20140430 |
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| CX01 | Expiry of patent term |