CN204650290U - Unmanned plane pan-shot The Cloud Terrace in the finite space - Google Patents

Abstract

A kind of unmanned aerial vehicle panorama shooting platform in a limited space, including the fan-shaped fixing bracket used to be fixed on the fuselage of the unmanned multi-rotor aircraft, a rotating arm is installed on the outer edge of the fan-shaped fixing bracket, and the rotating arm and the fan-shaped fixing bracket A pair of orbital movement is formed between the circumference of the outer edge, a steering gear is installed on the fan-shaped fixed bracket through the steering gear mounting bracket, and a rotating arm driving wheel is coaxially installed on the rotating shaft of the steering gear, forming a rotation between the driving wheel and the rotating arm A driving pair, a camera is installed on the rotating arm through a camera seat. The utility model can simultaneously meet: no blind spot shooting at all, satisfying the requirements of short-distance and panoramic shooting of heritage sites and in limited space; good space overlap between each camera position, high accuracy of image splicing; no special limitation on the number of cameras or lenses; It is light in weight, small in size, and easy to fly in limited space; it is suitable for most existing multi-rotor aircraft, and can obtain the same shooting effect (strong universal applicability on multi-rotor aircraft is the characteristic of this solution).

Description

UAV panorama shooting platform in limited space

technical field

The utility model belongs to the technical fields of digitalization of architectural heritage, unmanned aerial vehicle platform design and panoramic photography.

Background technique

360-degree panoramic photography refers to the camera rotating at a fixed point to take panoramic photos of surrounding 360*180-degree (horizontal 360-degree, vertical 180-degree) scenery. Change the viewing angle (direction) to create the feeling of being able to look around and being in the scene.

Panoramic photography has developed rapidly and has gradually become a type of virtual reality technology. Compared with horizontal movement, shooting at a high place has a wider field of vision and can see more scenery. Unmanned helicopters and unmanned multi-rotor aircraft have been used to capture aerial panoramic images.

The most common shooting method of unmanned helicopters is mainly to install a single camera under the gimbal, and rely on the ability of the helicopter to rotate around its own hovering center to continuously rotate and shoot, which is similar to the panoramic shooting method of a ground tripod. However, there are limitations in helicopter panoramic shooting, that is, the camera cannot be lifted up freely to shoot, because it will be severely blocked by the main rotor of the helicopter, and the rotor entering the field of view will cause the so-called "crossing" problem in the shooting field. Therefore, the maximum elevation angle that can generally be seen It is only 10-25 degrees, and the sky with an angle greater than this is a blind spot for shooting. It mainly relies on computer post-processing to fill in the blind spot above the panoramic picture with the purchased sky picture, and wipe it on the helicopter that occasionally appears in the slightly upward shooting. body traces. Since the sky details change less, it is easy to replace and not noticeable, so long as the helicopter is far away from the surrounding terrain, or has a relative altitude advantage, this method is also feasible. It can also be seen from the 201110392818.9 patent "Manufacturing Method of 360-degree Aerial Panorama Interactive Roaming System Based on Unmanned Helicopter Aerial Photography" that helicopters are also suitable for downward shooting. Even if a panoramic shooting device composed of multiple cameras is used, the occlusion of the main rotor of the helicopter is still inevitable. For example, the patent application "360-degree panoramic photo shooting device in the air" (201320135877.2) proposes to use multiple cameras to form a panoramic shooting without blind spots Spherical device, and install it on an unmanned helicopter to take aerial panoramas. Due to the occlusion of the fuselage and rotor, there must be blind spots for shooting. Therefore, this kind of shooting spherical device is generally only suitable for occasions where ground tripods or roof brackets and other occlusions are not serious.

However, when shooting panoramic roaming results in the fields of architecture, cultural heritage, archaeology, etc., it is often necessary to shoot objects at close range to express details, and there are mostly taller buildings, mountains, and cliffs around, such as carvings and painted paintings on architectural beams and columns. , rock paintings on cliffs, caves in Buddhist temples, etc. At this time, the ground objects with a high degree of superiority in the surrounding environment must enter the upper half of the panoramic picture. The image of the rotor and the image of the subject are overlapped together, and it is difficult to use the aforementioned method of replacing and repairing the sky image in the later stage to obtain a complete panoramic image without the blind area.

Multi-rotor aircraft is a new vertical take-off and landing aircraft in recent years. According to the number and layout of rotors, it can be divided into various types as shown in Figure 1. The common point of these types, that is, the characteristic of multi-rotor aircraft compared with helicopters is that The number of rotors of multi-rotor aircraft has increased, the scale of a single blade has been reduced, and the rotation axis has changed from a central position to a scattered layout around. Because of this feature of the multi-rotor aircraft, the placement of the camera and other task loads becomes more flexible and free. Not only can you shoot downwards under the rotor or the fuselage, but you can also shoot horizontally forward between the rotors and at the same height as the rotors. It is possible to shoot above the frame of the fuselage, above the plane of rotation of the rotor.

In patent No. 201210377100.7 "360-degree panorama video shooting equipment without blind spots based on regular polyhedron" and No. 201320135877.2 "aerial 360-degree panoramic photo shooting device", it can be seen that multiple cameras are triggered together, and can simultaneously shoot and obtain panoramic images covered by various angles .

Then, is it possible to divide the cameras into upper and lower groups, and directly install two groups of cameras on the upper and lower sides of the multi-rotor to shoot, so as to obtain unobstructed panoramic images? The condition for this is that the camera must be installed far from the fuselage to avoid the rotor cover, but this will cause several problems:

(a) The position of the camera on the lower side is the lowest, and it will hit the ground first when landing.

(b) The position difference between the upper and lower cameras is too large. In the case of close-range shooting, this difference will make it difficult to accurately splice the upper and lower images. "A ground-air panoramic camera and imaging device for tethered airships" (02294802.3) proposes a panoramic shooting scheme without blind spots up and down is to install a vertical pipe inside the airship, and cameras are placed at the upper and lower ends respectively. However, the height of the airship itself is 3-5 meters, and the difference between the upper and lower positions of the camera is too large, so it is not easy to stitch successfully. Therefore, this solution is only applicable to the field of atmospheric physics, and it is definitely not suitable for shooting details of heritage such as caves. On a multi-rotor aircraft, even if the distance between the upper and lower cameras is reduced to tens of centimeters, since the object distance may be only a few meters, it will also affect the success rate of image stitching. Therefore, for the limited space shooting of heritage, this difference cannot be ignored.

(c) The number of cameras is large, and under the condition of the same image quality, the purchase cost of the overall equipment is high, the weight is heavy, and the airborne time of the rotorcraft of the same size is shortened.

In order to avoid the occlusion of the rotor to the lens, DJI has developed the Inspire multi-rotor aircraft with a liftable cantilever. When the cantilever is raised, the lower camera can be slightly tilted up to shoot without being blocked, and when the cantilever is lowered, it is used to protect the camera from hitting the ground due to landing. This solution is not for panoramic shooting, but mainly for video shooting, so there is no upward-facing camera. Even if the upper camera is installed, the solution still has the following disadvantages for panoramic shooting:

(a) The structure is complex and can only be applied to multi-rotor aircraft with "I"-shaped planes. Most current multicopters cannot take advantage of this design.

(b) The position difference between the upper and lower cameras is still too large, which does not solve the problem that the absolute heights of the upper and lower cameras need to be consistent when shooting.

(c) Compared with the fixed fuselage, the movable design of the main structure of the fuselage greatly increases its own weight. Therefore, compared with other multi-rotor aircraft, the airborne time of this aircraft is significantly shortened, and the effective load is reduced. It is difficult to simultaneously Carry multiple cameras.

(d) The landing gear is placed under the rotor, so that the upper and lower scales of obstacles are greatly increased, and the upper and lower cameras need to be farther apart to avoid all obstacles from the bottom of the landing gear to the rotor.

Utility model content

The purpose of this utility model is to overcome the above-mentioned deficiencies existing in the prior art, and to provide a new type of panoramic shooting platform in the air - a panoramic shooting platform for unmanned aerial vehicles in a limited space, which can completely avoid the unmanned aerial vehicle and the platform equipment itself from photographing. No blind spots can be taken in all directions of 360 degrees (horizontal) * 180 degrees (vertical), and various types of architectural heritage such as petroglyphs, grottoes, tall ancient buildings (groups) and other types of architectural heritage can be displayed at close range at low altitudes and various heights. The advantage of the cloud-tilt device is that it is suitable for most types of multi-rotor unmanned aerial vehicles at present, so that it can shoot the above-mentioned panoramic images.

The UAV panorama shooting platform in the limited space provided by the utility model includes a fan-shaped fixing bracket for fixing on the UAV fuselage. The orbital movement pairs are formed between the outer circumferences of the fixed brackets. A steering gear is installed on the fan-shaped fixed bracket through the steering gear mounting bracket. A rotating arm driving wheel is coaxially installed on the steering gear rotating shaft. A rotating drive pair is formed between them, and a camera is installed on the rotating arm through a camera holder.

The fan-shaped central angle of the fan-shaped fixing bracket is 180 degrees. The rotary drive pair formed between the drive wheel and the rotating arm is a friction wheel drive pair or a gear drive pair. Both ends of the rotating arm are respectively provided with a rotating arm plug. There are two camera mounts on the rotating arm, each of which is equipped with a camera, one end of the two camera mounts is respectively hinged on the rotating arm, and the other end is fixed together by an angle fine-tuning screw to form a hinged camera mount . A balance weight is installed on the other side of the rotating arm opposite to the camera.

Advantage and positive effect of the utility model:

The utility model scheme simultaneously meets the following requirements for panoramic roaming shooting in the limited space of architectural heritage:

(a) There is no blind spot shooting at all, which meets the requirements of close-range and panoramic shooting of heritage sites and limited spaces. In this solution, through the rotation of the rotating arm on the fan-shaped bracket, the camera can reach the highest point and the lowest point successively, and be in the correct upward and downward shooting angles respectively, avoiding the occlusion of the multi-rotor aircraft, and obtaining 360 degrees without blind spots. *180 degree panoramic image. This solution completely solves the problem of the upward shooting restriction existing in the 201110392818.9 patent application.

(b) The spatial overlap between each camera position is good, and the accuracy of image stitching is high. Fix the air vent of the barometric altimeter to the center of the articulated camera base, making it consistent with the height of the camera, so that when the height of the rotating arm changes, the lift force can still be adjusted accordingly through the barometer, and then the height of the fuselage can be adjusted to keep the camera shooting The height remains unchanged, so that the photos taken by the upper and lower groups can be spliced accurately.

(c) There are no particular restrictions on the number of cameras or lenses. The standard practice is to use two cameras facing each other, but multiple cameras can be used to avoid continuous shooting of the aircraft's rotation around the vertical axis. Patents such as "360-degree No-Blind Spot Panoramic Video Shooting Equipment Based on Regular Polyhedron" all use multiple cameras to obtain a no-blind-spot view. Under the condition of the same image quality, this solution uses fewer cameras and saves cost.

(d) The fuselage has the lightest weight and the smallest volume, and it is easy to realize limited space flight. The number of cameras is low. The landing gear is small in size and light in weight, so that a very small multi-rotor aircraft can also carry the gimbal, and can adapt to the limited space environment with narrow airspace.

(e) Applicable to most of the existing multi-rotor aircraft, and the same shooting effect can be obtained. There are mounting holes at the bottom of the fan-shaped bracket, which can be conveniently fixed on the upper surface of the central fuselage of the multi-rotor. Existing multi-rotors such as four-rotors, six-rotors, and octa-rotors can be installed, so it is similar to the one developed by DJI. Compared with the Inspire multi-rotor fuselage deformation solution, the gimbal is not only easier to manufacture and install, but the most important advantage is that the application is more universal. shooting without changing its own structure.

(f) No interference with multirotor flight. During the movement of the gimbal, the center of gravity remains unchanged, which has no effect on the flight attitude and position of the multi-rotor aircraft.

Description of drawings

Fig. 1 is an existing common multi-rotor layout (quoted from the product manual of DJI Company).

Fig. 2 is the elevation view of the pan-tilt platform for panorama shooting of the present invention (the rotating arm is in a horizontal state).

Fig. 3 is an elevation view of a pan-tilt for panorama shooting (one side of the rotating arm rotates, and the lower side of the camera shoots).

Fig. 4 is an elevation view of a pan-tilt for panorama shooting (the other side of the rotating arm is rotating and the camera is shooting from the upper side).

Figure 5 is an axonometric view of the pan-tilt for panoramic shooting (the other side of the rotating arm is rotating and the camera is shooting from the upper side).

Figure 6 is an elevational view of the panoramic shooting platform installed on the multi-rotor aircraft (the camera is far away from the fuselage and avoids the rotor block).

Figure 7 is a top view of the gimbal installed on the multi-rotor aircraft (the swivel arm of the gimbal is in a horizontal state).

Figure 8 is a front view of the adjustable-position landing gear on the multi-rotor aircraft.

Fig. 9 is a side view of the adjustable position landing gear on the multi-rotor aircraft.

Fig. 10 is a sectional view of a panoramic shooting platform.

Fig. 11 is an enlarged view of the articulated camera seat on the panoramic shooting platform.

In the figure, 1 fan-shaped fixed bracket, 2 position adjustable landing gear, 3 steering gear, 4 rotating arm drive wheel, 5 rotating arm plug, 6 articulated camera mount, 7 camera, 8 angle fine-tuning screw, 9 barometer vent pipe, 10 rotating arm, 11 strip rubber layer, 12 balance weight (including battery, etc.), 13 rotorcraft fuselage, 14 rotor, 15 rotor motor, 16 mounting hole, 17 servo mounting frame, 18 barometric altimeter, 19 motor cantilever , 20 landing gear fastening screws.

Detailed ways

Example,

1. UAV panorama shooting platform in limited space

As shown in Fig. 2 to Fig. 7, in the limited space provided by the utility model, the unmanned aerial vehicle panorama shooting platform includes the fan-shaped fixed support 1 for being fixed on the unmanned aerial vehicle fuselage, and the fan-shaped central angle of the fan-shaped fixed support is 180 degree. A rotating arm 10 is installed on the outer edge circumference of the fan-shaped fixed support, and a rotating arm plug 5 is respectively provided at the two ends of the rotating arm, and an orbital movement pair is formed between the rotating arm and the outer edge circumference of the fan-shaped fixed support, and the fan-shaped fixed support A steering gear 3 is installed on the steering gear mounting bracket 17, and a rotating arm driving wheel 4 is coaxially installed on the steering gear rotating shaft. A rotating driving pair is formed between the driving wheel and the rotating arm, and the rotating driving pair can be Be the friction wheel drive pair (as in this example), or adopt the gear drive pair etc. A camera 7 is installed on the swivel arm through a camera holder. There are two camera mounts on the swivel arm, each of which is equipped with a camera, and one end of the two camera mounts is respectively hinged on the swivel arm 10, and the other end is fixed together by an angle fine-tuning screw 8 to form a hinged joint. Camera mount 6.

A balance weight 12 (comprising battery etc.) is installed on the other side opposite to the camera on the described swivel arm.

(1) Panoramic shooting PTZ.

The main body of the panoramic shooting head is a fan-shaped fixed bracket and a rotating arm. There are mounting holes 16 at the bottom of the fan-shaped fixing bracket, which can be used to fix on the fuselage 13 of the multi-rotor (see Figures 6, 7, and 10). There is a large-area lightening hole in the middle of the fan-shaped fixing bracket to reduce its own weight. The top of the bracket is a "T" shaped section to form a semi-circular track. The rotating arm is also a semicircle, and its section is a lying "C" shape, which is hugged on the "T" section track of the semicircle bracket. Grease is applied between the two to ensure that the rotating arm can slide smoothly on the "T" shaped track A strip-shaped rubber layer 11 is provided on one side below the rotating arm, which is in contact with the rubber layer on the driving wheel 4 of the rotating arm to improve friction. The rotating shaft of the rotating arm driving wheel passes through the gap of the fan-shaped fixed bracket, and is connected with the steering gear on the other side, and the steering gear fuselage is installed on the fan-shaped fixing bracket by the steering gear bracket 17, so that the rotation of the rotating arm driving wheel can be Drive the rotating arm to move along the "T" shape semicircle track. The two ends of the rubber layer of the swivel arm have protruding swivel arm plugs 5 as spacers, preventing the left and right push-pull actions of the swivel arm drive wheel from causing the swivel arm to exceed the stroke.

Two opposite hinged camera mounts 6 are arranged on the outside of one end of the semicircular rotating arm, one of which is slightly narrower in width and can be inserted into the slot at the end of the other camera mount, and placed crosswise at an oblique angle of 45 degrees. The intersecting part of the two camera mounts horizontally passes through an elastic angle fine-tuning screw 8, and after the screw is loosened, the two camera mounts can be slightly rotated for fine-tuning the pitch angles of the two cameras (refer to Figure 11). Two cameras 7 are oppositely fixed on the hinged camera base 6, and the angle of view up and down of the common miniature fisheye camera lens should be about 120 degrees. In this way, there is a 30-degree overlapping field of view between the cameras, which meets the needs of the software to automatically stitch images. When necessary, the pitch angle of the camera or the field of view of the lens can also be fine-tuned according to the position of obstacles such as the fuselage rotor. In addition, the end of the barometer vent pipe 9 is fixed in the middle triangular area of the two cameras, and the other end of the barometer vent pipe 9 is suspended at ordinary times. Barometric altimeter 18 links to each other.

A heavy object 12 close to the total weight of the two cameras can be fixed on the outside of the other end of the rotating arm, such as a radio receiver and its power supply battery, camera shutter control circuit and the like. The steering gear and the camera shutter line are all connected to the radio receiver according to methods known in the art.

In this solution, it is suggested that two cameras are opposite, but four or more cameras are also possible. The purpose of preferably two cameras is to ensure the overlap rate in the vertical direction, while the multi-angle overlapping shooting in the horizontal direction mainly depends on the rotation of the multi-rotor aircraft around its own axis, and the camera performs multiple exposures during the rotation process. If you install a lens with a larger horizontal field of view, or install more cameras, such as four or six opposing cameras, you can take all the required photos of half the celestial sphere at one time, the shooting process is shorter, and no multi-rotor is needed Rotation, but the weight of the corresponding equipment is greatly increased. On the contrary, the number or weight of the camera will decrease, and the battery counterweight on the other side will decrease accordingly, so it can adapt to shooting in a small space with a smaller multi-rotor with less load. Therefore, two cameras are the optimal choice for this solution, but if necessary, the number of cameras installed on the rotating arm can also be increased.

(2) Position adjustable landing gear.

The original landing gear of the multi-rotor aircraft may not be suitable for this gimbal, for example, it will block the field of view of the lower camera, or cause mechanical collision when the gimbal moves. Therefore, if necessary, it can be disassembled and replaced by the Special landing gear (seeing Fig. 8, Fig. 9). The undercarriage is equipped with an adjustable undercarriage fastening screw 20, if the screw is loosened, it can be freely moved and placed on the motor arm from the position between the rotor motor and the fuselage, provided that its length will not exceed that from the underside. The line connecting the lens to the outer wingtip of the rotor should not cause additional obstruction to the shooting.

2. Panoramic shooting method:

(1) Prepare before take-off.

Install the panoramic shooting platform on the upper surface of the multi-rotor aircraft fuselage through the fan-shaped fixing bracket, and replace the original landing gear of the multi-rotor aircraft with the landing gear in this plan if necessary. Connect the suspension end of the barometer vent tube to the air vent of the barometric altimeter (Figure 6), so that the barometric altimeter can measure the height change of the camera in real time and compensate it through the original airframe automatic control system. In addition, by fine-tuning the installation angle of the camera, no matter when shooting from the upper side or the lower side, the fuselage parts such as the rotor will not enter the field of view of the lens. After the adjustment, the servo rotates to keep the rotating arm in a basically horizontal state (both ends are at roughly the same height), so that it does not tilt too much and hit the ground.

(2) The shooting process.

After the multi-rotor takes off and arrives at the desired shooting position, the driving wheel of the rotating arm drives the rotating arm until it is stopped by the plug. At this time, the camera reaches the lowest point. While the camera is shooting, the personnel control the multi-rotor to rotate horizontally for half a circle, and the next step is obtained. Unoccluded panoramic image of the hemisphere. Then the driving wheel of the rotating arm drives the rotating arm to rotate 180 degrees in the opposite direction to the other side of the plug to brake, and the camera reaches the highest point of the fan-shaped fixed bracket. Hemisphere shot. Because the air vent of the barometric altimeter is located near the camera, the aircraft will automatically adjust its height to compensate for the camera height change caused by the movement of the rotating arm as the camera moves up and down, and try to keep the absolute height of the camera unchanged during the shooting process.

It does not affect the final result whether the camera shoots from the bottom side or the top side first, so it is also possible to shoot from the top side first.

3) Land after shooting is complete.

After the upper and lower side shots are completed, the rotating arm rotates about 90 degrees from the vertical state and returns to an approximately horizontal state. At this time, the rotorcraft can use the landing gear to touch the ground safely.

Claims (6)

1. Unmanned aerial vehicle panoramic shooting cloud platform in a kind of limited space, it is characterized in that this panoramic shooting cloud platform comprises the fan-shaped fixed support that is used to be fixed on unmanned multi-rotor aircraft fuselage, installs on the outer edge circumference of fan-shaped fixed support There is a rotating arm, and an orbital movement pair is formed between the rotating arm and the outer edge circumference of the fan-shaped fixed bracket. A steering gear is installed on the fan-shaped fixed bracket through the steering gear mounting bracket, and a rotating arm is coaxially installed on the rotating shaft of the steering gear. A rotating drive pair is formed between the driving wheel and the rotating arm, and a camera is installed on the rotating arm through a camera holder. 2. The panoramic shooting platform for drones in a limited space according to claim 1, wherein the fan-shaped central angle of the fan-shaped fixing bracket is 180 degrees. 3. The panoramic shooting platform for drones in a limited space according to claim 1, characterized in that the rotating drive pair formed between the drive wheel and the rotating arm is a friction wheel drive pair or a gear drive pair. 4. According to any one of claims 1 to 3, the UAV panoramic shooting platform in a limited space is characterized in that a rotating arm plug is provided at both ends of the rotating arm. 5. according to any one of claims 1 to 3 in the limited space UAV panorama shooting cloud platform, it is characterized in that there are two camera mounts on the rotating arm, each of the two camera mounts is equipped with One camera, one end of the two camera mounts are respectively hinged on the rotating arm, and the other ends are fixed together by angle fine-tuning screws to form the hinged camera mount. 6. According to any one of claims 1 to 3, the UAV panoramic shooting platform in a limited space is characterized in that a balance weight is installed on the other side of the rotating arm opposite to the camera.