CN204137328U - A kind of Micro Aerial Vehicle takes the cradle head mechanism of compare rule orthogonal projection figure fast - Google Patents
A kind of Micro Aerial Vehicle takes the cradle head mechanism of compare rule orthogonal projection figure fast Download PDFInfo
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- CN204137328U CN204137328U CN201420448214.0U CN201420448214U CN204137328U CN 204137328 U CN204137328 U CN 204137328U CN 201420448214 U CN201420448214 U CN 201420448214U CN 204137328 U CN204137328 U CN 204137328U
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Abstract
The utility model discloses the cradle head mechanism that a kind of Micro Aerial Vehicle takes compare rule orthogonal projection figure fast, belong to Aerial Surveying Technology field.Fixed support of the present utility model is T-type structure, and this support bracket fastened crossbeam offers fixed orifice, and fixed support is connected by the bottom of fixed orifice and body; The bottom of fixed support vertical beam is connected X-axis brushless motor, and X-axis brushless motor controls The Cloud Terrace frame and rotates; One end of The Cloud Terrace frame is fixed with Y-axis brushless motor, and the other end is symmetrically arranged with rotating shaft; One end of camera support is connected with the output shaft of Y-axis brushless motor, and the other end is connected with rotating shaft, and Y-axis brushless motor controls camera support and rotates, and camera is fixed on camera support.The utility model structure is simple, and camera can adjust at any time according to unmanned plane during flying attitude, remains the shooting angle perpendicular to Earth Surface; Meanwhile, rely on unmanned plane standing height to obtain the orthophotoquad of fixed proportion, photographic images nucleus percentage error is lower than 5%.
Description
Technical field
The utility model relates to Aerial Surveying Technology field, more particularly, relates to the cradle head mechanism that a kind of Micro Aerial Vehicle takes compare rule orthogonal projection figure fast.
Background technology
Along with the develop rapidly of Eltec, Micro Aerial Vehicle has had obvious breakthrough in Remote, cruise duration, flight quality, becomes the new air remote sensing means of rising in recent years, is generally believed to have good development prospect by remote sensing circle.But most unmanned planes of at present application are not be Mapping remote sensing technology industry and designing, although simple aeromodelling airplane is also with flight control system, can realize aerial automatic Pilot and serial photograph yet.But, in flight operation process, because aircraft is vulnerable to the impact of air-flow, the random attitudes vibration such as pitching, rolling can be produced, camera optical axis also can change vertical incidence angle over the ground with the change of aspect, cause occurring ensureing the problems such as filmed image exact height, shooting angle, the requirement of Surveying and Mapping Industry application cannot be met.In addition, the image that unmanned aerial vehicle onboard small digital cameras obtains also cannot realize the instant measurability of image.
Through retrieval, Chinese Patent Application No. 200920107879.4, the applying date is on May 1st, 2009, invention and created name is: a kind of orthophoto pan-tilt-zoom of unmanned plane, this application case is controlled camera by the control setup of The Cloud Terrace, make it in flight course, to keep camera optical axis all the time perpendicular to large ground level, thus improve mapping precision, a large amount of minimizing flight production time.Orthophoto pan-tilt-zoom of unmanned plane is assemblied in the bottom of robot airplane, and camera is installed on The Cloud Terrace base, and base connects X-axis control group and the Y-axis control group of The Cloud Terrace; X-axis control group and Y-axis control group comprise the gyroscope, electronic governor and the servomechanism that are connected successively respectively, and gyroscope connects remote control receiver and power supply successively.When unmanned plane during flying, camera optical axis over the ground angle of incidence can produce skew, now gyroscope detection camera deflection rate and export corresponding signal to electronic governor, electronic governor controls servomechanism and does corresponding rotation to export contrary moment, with the generation of this damping camera skew and continuity, and rely on camera center of gravity clear-cutting forestland to state perpendicular to the ground.
And for example China Patent No. ZL201220738050.6, authorized announcement date is on July 17th, 2013, invention and created name is: a kind of aerial photography aircraft, this application case comprises cabin, described cabin is made up of top board and base plate, both sides in described cabin are provided with four horns, and the end of described four horns is respectively arranged with screw propeller; Described screw propeller connects power plant module, described power plant module connects power management module and control module, described control module connects image transmission module, GPS locating module and photographing module respectively, and the front end in described cabin is provided with The Cloud Terrace, and described photographing module is arranged on The Cloud Terrace.Video data is transferred to ground control unit by 3G network by image transmission module by this application case, and signal strength is good.In addition, China Patent No. ZL201220587792.3, authorized announcement date is on April 24th, 2013, and invention and created name is: twin shaft gyrocontrol The Cloud Terrace; This application case also discloses a kind ofly can stablize the twin shaft gyrocontrol The Cloud Terrace that airborne equipment shoots with video-corder angle.
Above-mentioned application case is and improves mapping precision and propose oneself scheme, but above-mentioned application case or complex structure, manufacturing cost are high, poor practicability; Or function is perfect not, result of use is poor, still needs further improvement.
Summary of the invention
1. the utility model technical matters that will solve
The purpose of this utility model is that the photographic images nucleus percentage error solving the existence of existing unmanned plane is high, need the later stage to calculate to correct, the problem wasted time and energy, provide the cradle head mechanism that a kind of Micro Aerial Vehicle takes compare rule orthogonal projection figure fast, the technical scheme that the utility model provides, structure is simple, camera can adjust at any time according to unmanned plane during flying attitude, remain the shooting angle perpendicular to Earth Surface, simultaneously, aircraft standing height is relied on to obtain the orthophotoquad of fixed proportion, through actual measurement, its photographic images nucleus percentage error is lower than 5%, the fields such as good farmland measuring and calculating can be widely used in.
2. technical scheme
For achieving the above object, the technical scheme that the utility model provides is:
A kind of Micro Aerial Vehicle of the present utility model takes the cradle head mechanism of compare rule orthogonal projection figure fast, comprises fixed support, X-axis brushless motor, Y-axis brushless motor, The Cloud Terrace frame, camera support and camera; Described fixed support is T-type structure, and this support bracket fastened crossbeam offers fixed orifice, and described fixed support is connected by the bottom of this fixed orifice and unmanned plane body; The bottom of fixed support vertical beam is connected X-axis brushless motor, and output shaft and the The Cloud Terrace frame of X-axis brushless motor are connected, and X-axis brushless motor controls The Cloud Terrace frame and rotates; Described The Cloud Terrace frame is U-shaped structure, and one end of this The Cloud Terrace frame is fixed with Y-axis brushless motor, and the other end of The Cloud Terrace frame is symmetrically arranged with rotating shaft; Described camera support is also U-shaped structure, and one end of this camera support is connected with the output shaft of Y-axis brushless motor, and the other end of camera support is connected with rotating shaft, and Y-axis brushless motor controls camera support and rotates; Described camera is fixed on camera support.
Further, cradle head mechanism also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, described gyrostatic input end is connected with receiver, this gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively, described X-axis electronic governor connects X-axis brushless motor, and Y-axis electronic governor connects Y-axis brushless motor.
Further, described camera is Canon S120 digital camera.
Further, described fixed support, The Cloud Terrace frame and camera support are carbon fibre materials.
3. beneficial effect
The technical scheme adopting the utility model to provide, compared with existing known technology, has following beneficial effect:
(1) a kind of Micro Aerial Vehicle of the present utility model takes the cradle head mechanism of compare rule orthogonal projection figure fast, by gyroscope feedback unmanned plane during flying attitude, drive X-axis brushless motor and Y-axis brushless motor to control camera to move in X, Y both direction, make camera optical axis all the time perpendicular to Earth Surface, meanwhile, aircraft standing height is relied on to obtain the orthophotoquad of fixed proportion, through actual measurement, photographic images nucleus percentage error, lower than 5%, can be widely used in the fields such as good farmland measuring and calculating;
(2) a kind of Micro Aerial Vehicle of the present utility model takes the cradle head mechanism of compare rule orthogonal projection figure fast, and structure is simple, volume is little, lightweight, and low cost of manufacture is easy to utilize.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the Micro Aerial Vehicle of quick shooting compare rule orthogonal projection figure of the present utility model;
Fig. 2 is the structured flowchart of cradle head mechanism in the utility model;
Fig. 3 is the schematic top plan view of Micro Aerial Vehicle in the utility model;
Fig. 4 is the front elevation of cradle head mechanism in the utility model;
Fig. 5 is the upward view of cradle head mechanism in the utility model;
Fig. 6 is Micro Aerial Vehicle shooting principle schematic in the utility model.
Label declaration in schematic diagram:
1, body; 2, cradle head mechanism; 21, fixed support; 211, fixed orifice; 22, X-axis brushless motor; 23, Y-axis brushless motor; 24, The Cloud Terrace frame; 25, camera support; 26, camera; 3, photographic subjects; 4, electronic governor; 5, motor; 6, screw propeller.
Detailed description of the invention
For understanding content of the present utility model further, in conjunction with the accompanying drawings and embodiments the utility model is described in detail.
Embodiment 1
By reference to the accompanying drawings, the Micro Aerial Vehicle of the quick shooting compare rule orthogonal projection figure of the present embodiment, comprise master controller, power module, GPS module, IMU module, image mechanism and flight lift system, described image mechanism comprises receiver and cradle head mechanism 2.It is inner that master controller, power module, GPS module, IMU module and receiver are arranged at unmanned plane body 1, and cradle head mechanism 2 is arranged at the bottom of body 1.Referring to Fig. 3, described body 1 stretches out four horns, and four horns are arranged at equal intervals around body 1, can ensure the stability of unmanned plane during flying.The end of four horns is provided with flight lift system, and described flight lift system comprises electronic governor 4, motor 5 and screw propeller 6.
Referring to Fig. 1, the flight control mechanism of described master controller, GPS module and IMU module composition Micro Aerial Vehicle, the input end of master controller is connected with the mouth of GPS module, IMU module respectively, and the mouth of master controller connects electronic governor 4 and receiver.Master controller is the core of whole unmanned aerial vehicle control system, and the signal receiving GPS module and IMU module feedback is gone forward side by side row relax, then controls electronic governor 4 and receiver action according to result.Described electronic governor 4 is provided with 4, is arranged on four horns of unmanned plane respectively, and the mouth of electronic governor 4 connects motor 5, and motor 5 controls screw propeller 6 and rotates with different rotating speeds.What deserves to be explained is, the power module of the present embodiment adopts lithium polymer battery, and this power module is used for for each mechanism of unmanned plane is as power supplies such as master controller, IMU module, receivers, and Fig. 1 is only schematic description.
The mouth of described receiver connects cradle head mechanism 2, and referring to Fig. 4 and Fig. 5, the cradle head mechanism 2 of the present embodiment comprises fixed support 21, The Cloud Terrace frame 24 and camera support 25.Fixed support 21, The Cloud Terrace frame 24 and camera support 25 all adopt carbon fibre material to prepare, carbon fibre material is a kind of high-temperature fibre with very high strength and modulus, the main body rack of cradle head mechanism 2 adopts carbon fibre material, can ensure that cradle head mechanism 2 volume is little, lightweight, service life extends greatly.Described fixed support 21 is T-shaped structure, the top of this fixed support 21 offers fixed orifice 211, cradle head mechanism 2 is fixed on the bottom of body 1 by this fixed orifice 211, in the present embodiment, fixed orifice 211 arranges 4 along the length direction interval of fixed support 21 crossbeam, can ensure between cradle head mechanism 2 and body 1 not because the factors such as air-flow shake, guarantee photographic images is clear, not ghost image.The bottom of fixed support 21 vertical beam is fixed with X-axis brushless motor 22, and the output shaft of X-axis brushless motor 22 is connected with The Cloud Terrace frame 24 again, and X-axis brushless motor 22 controls The Cloud Terrace frame 24 and rotates.Described The Cloud Terrace frame 24 is U-shaped structure, and this The Cloud Terrace frame 24 one end is fixed with Y-axis brushless motor 23, and the other end is symmetrically arranged with rotating shaft.Described camera support 25 is also U-shaped structure, one end of this camera support 25 is connected with the output shaft of Y-axis brushless motor 23, the rotating shaft that the other end is arranged with The Cloud Terrace frame 24 is connected, Y-axis brushless motor 23 controls camera support 25 and rotates, described camera support 25 is fixed with camera 26, in the present embodiment, camera 26 adopts Canon S120 digital camera, the large wide-angle that Canon's S120 digital camera has, multiple continuous shooting functions, and unmanned plane can be helped to obtain more high-quality, more fully surveying and mapping data.
The cradle head mechanism 2 of the present embodiment also comprises gyroscope, X-axis electronic governor, Y-axis electronic governor, described gyroscope and The Cloud Terrace frame 24 keep geo-stationary, the present embodiment gyroscope used is highly integrated gyroscope, this gyrostatic input end is connected with receiver, gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively, described X-axis electronic governor connects X-axis brushless motor 22, Y-axis electronic governor connects Y-axis brushless motor 23, X-axis brushless motor 22 and Y-axis brushless motor 23 provide power for regulating camera 26 shooting angle, be specially X-axis brushless motor 22 to control The Cloud Terrace frame 24 and rotate, Y-axis brushless motor 23 controls camera support 25 and rotates, X-axis brushless motor 22, Y-axis brushless motor 23 can simultaneously or single movement, control camera optical axis with unmanned plane during flying attitudes vibration, all the time perpendicular to Earth Surface.
The Micro Aerial Vehicle principle of work of the present embodiment is as follows: IMU module acquires unmanned plane current flight attitude information is transferred to master controller, master controller is according to the output of PID arithmetic adjustment electronic governor, and then adjustment motor 5 drives the moment of screw propeller 6, thus reach stable flight effect.GPS module provides unmanned plane locating information accurately, feeds back to master controller, and master controller hovers to current position stability of specifying according to s operation control unmanned plane during flying.The gyroscope of cradle head mechanism 2 passes through integral operation simultaneously, drive X-axis electronic governor and Y-axis electronic governor simultaneously or single movement, the X-axis brushless motor 22, the Y-axis brushless motor 23 that control cradle head mechanism 2 rotate, make camera 26 optical axis with unmanned plane during flying attitudes vibration, all the time perpendicular to Earth Surface.
In flight course, gyroscope adjusts the angle of camera 26 all the time automatically, does not need manual intervention, as long as unmanned plane arrives the photo that the height of specifying just can shoot corresponding proportion.Referring to Fig. 6, for ground photographic subjects 3, carry the unmanned plane of Canon S120 digital camera, the orthogonal projection image of 1:500 can be taken in the situation of flying height 193 meters, flying height can take the orthogonal projection image of 1:400 when 154 meters, and flying height can take the orthogonal projection image of 1:300 when 116 meters.By a large amount of actual measuring and calculating, in conjunction with the high-quality performance of Canon S120 digital camera and the present embodiment to the optimal design of unmanned plane, unmanned plane photographic images nucleus percentage error, lower than 5%, does not need later stage software to correct and both can be widely used in the fields such as housing demolition cost keeping, good farmland measuring and calculating, earthwork area reckoning.Unmanned plane during flying positioning accurate accuracy and photograph taking precision are all significantly improved.
Schematically above be described the utility model and embodiment thereof, this description does not have restricted, and also just one of the embodiment of the present utility model shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the utility model and creating aim, design the frame mode similar to this technical scheme and embodiment without creationary, protection domain of the present utility model all should be belonged to.
Claims (4)
1. Micro Aerial Vehicle takes a cradle head mechanism of compare rule orthogonal projection figure fast, it is characterized in that: comprise fixed support (21), X-axis brushless motor (22), Y-axis brushless motor (23), The Cloud Terrace frame (24), camera support (25) and camera (26); Described fixed support (21) is T-type structure, the crossbeam of this fixed support (21) offers fixed orifice (211), described fixed support (21) is connected by the bottom of this fixed orifice (211) with unmanned plane body (1); The bottom of fixed support (21) vertical beam is connected X-axis brushless motor (22), output shaft and the The Cloud Terrace frame (24) of X-axis brushless motor (22) are connected, and X-axis brushless motor (22) controls The Cloud Terrace frame (24) and rotates; Described The Cloud Terrace frame (24) is U-shaped structure, and one end of this The Cloud Terrace frame (24) is fixed with Y-axis brushless motor (23), and the other end of The Cloud Terrace frame (24) is symmetrically arranged with rotating shaft; Described camera support (25) is also U-shaped structure, one end of this camera support (25) is connected with the output shaft of Y-axis brushless motor (23), the other end of camera support (25) is connected with rotating shaft, and Y-axis brushless motor (23) controls camera support (25) and rotates; Described camera (26) is fixed on camera support (25).
2. a kind of Micro Aerial Vehicle according to claim 1 takes the cradle head mechanism of compare rule orthogonal projection figure fast, it is characterized in that: cradle head mechanism also comprises gyroscope, X-axis electronic governor and Y-axis electronic governor, described gyrostatic input end is connected with receiver, this gyroscope controls X-axis electronic governor and the action of Y-axis electronic governor respectively, described X-axis electronic governor connects X-axis brushless motor (22), and Y-axis electronic governor connects Y-axis brushless motor (23).
3. a kind of Micro Aerial Vehicle according to claim 2 takes the cradle head mechanism of compare rule orthogonal projection figure fast, it is characterized in that: described camera (26) is Canon S120 digital camera.
4. a kind of Micro Aerial Vehicle according to claim 3 takes the cradle head mechanism of compare rule orthogonal projection figure fast, it is characterized in that: described fixed support (21), The Cloud Terrace frame (24) and camera support (25) are carbon fibre materials.
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| CN201420448214.0U CN204137328U (en) | 2014-08-08 | 2014-08-08 | A kind of Micro Aerial Vehicle takes the cradle head mechanism of compare rule orthogonal projection figure fast |
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| CN201420448214.0U CN204137328U (en) | 2014-08-08 | 2014-08-08 | A kind of Micro Aerial Vehicle takes the cradle head mechanism of compare rule orthogonal projection figure fast |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759535A (en) * | 2016-04-21 | 2016-07-13 | 捷西迪（广州）光学科技有限公司 | Optical axis variation compensation device of lens module group of unmanned aircraft and compensation method thereof |
| CN106428598A (en) * | 2016-12-21 | 2017-02-22 | 陈翔斌 | Unmanned aerial vehicle and pan-tilt thereof |
| CN106485200A (en) * | 2017-01-10 | 2017-03-08 | 瑞邦晟达科技（北京）有限公司 | The water surface object identifying system of environmental protection unmanned plane and its recognition methods |
| CN107314759A (en) * | 2017-06-05 | 2017-11-03 | 江苏大学 | Wheatland yield method of estimation and device based on unmanned plane multi-angled shooting |
| CN107867407A (en) * | 2017-11-24 | 2018-04-03 | 杭州时光坐标影视传媒股份有限公司 | A kind of pan-shot head of taking photo by plane of self-stabilization |
| CN108263630A (en) * | 2018-03-28 | 2018-07-10 | 京杭遥感技术（杭州）有限公司 | Unmanned plane oblique photograph holder and unmanned plane |
| CN109556578A (en) * | 2018-12-06 | 2019-04-02 | 成都天睿特科技有限公司 | A kind of unmanned plane spirally sweeping measurement image pickup method |
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2014
- 2014-08-08 CN CN201420448214.0U patent/CN204137328U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105759535A (en) * | 2016-04-21 | 2016-07-13 | 捷西迪（广州）光学科技有限公司 | Optical axis variation compensation device of lens module group of unmanned aircraft and compensation method thereof |
| CN105759535B (en) * | 2016-04-21 | 2018-12-07 | 捷西迪（广州）光学科技有限公司 | The optical axis of the lens module of unmanned aerial vehicle changes compensation device and its compensation method |
| CN106428598A (en) * | 2016-12-21 | 2017-02-22 | 陈翔斌 | Unmanned aerial vehicle and pan-tilt thereof |
| WO2018113519A1 (en) * | 2016-12-21 | 2018-06-28 | 陈翔斌 | Pan-tilt for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN106428598B (en) * | 2016-12-21 | 2019-05-10 | 深圳市旗客智能技术有限公司 | A kind of unmanned machine head and unmanned plane |
| CN106485200A (en) * | 2017-01-10 | 2017-03-08 | 瑞邦晟达科技（北京）有限公司 | The water surface object identifying system of environmental protection unmanned plane and its recognition methods |
| CN106485200B (en) * | 2017-01-10 | 2019-10-18 | 瑞邦晟达科技（北京）有限公司 | The water surface object identifying system of environmentally friendly unmanned plane and its recognition methods |
| CN107314759A (en) * | 2017-06-05 | 2017-11-03 | 江苏大学 | Wheatland yield method of estimation and device based on unmanned plane multi-angled shooting |
| CN107867407A (en) * | 2017-11-24 | 2018-04-03 | 杭州时光坐标影视传媒股份有限公司 | A kind of pan-shot head of taking photo by plane of self-stabilization |
| CN108263630A (en) * | 2018-03-28 | 2018-07-10 | 京杭遥感技术（杭州）有限公司 | Unmanned plane oblique photograph holder and unmanned plane |
| CN109556578A (en) * | 2018-12-06 | 2019-04-02 | 成都天睿特科技有限公司 | A kind of unmanned plane spirally sweeping measurement image pickup method |
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Granted publication date: 20150204 Termination date: 20160808 |