CN206413079U - Head stability augmentation system - Google Patents
Head stability augmentation system Download PDFInfo
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- CN206413079U CN206413079U CN201621469841.8U CN201621469841U CN206413079U CN 206413079 U CN206413079 U CN 206413079U CN 201621469841 U CN201621469841 U CN 201621469841U CN 206413079 U CN206413079 U CN 206413079U
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Abstract
The utility model is related to aircraft field, discloses a kind of head stability augmentation system.In the utility model, it is arranged in head, including：Mechanical tranquilizer and electronic stability augmentation device；Mechanical tranquilizer and electronic stability augmentation device are electrically connected with same group of vibrating sensor, and the vibrating sensor is fixed in head, and this group of vibrating sensor sends the electric signal for representing vibration to mechanical tranquilizer and electronic stability augmentation device simultaneously；Mechanical tranquilizer, for the output signal according to vibrating sensor, controls head to carry out the mechanical movement opposite with the direction of vibration detected to offset the shake of head by electronically controlled mechanical structure；Electronic stability augmentation device, for the output signal according to vibrating sensor, the image shot by the camera to head carries out image procossing to eliminate the various shakes of image.In same head, machinery is increased into steady technology and is used in conjunction with electronic stability augmentation technology, dual increasing is formed surely, so as to provide high-quality picture rich in detail.
Description
Technical field
The utility model is related to aircraft field, and more particularly to head increases steady technology.
Background technology
It is more and more extensive with the application of unmanned plane, and moving camera shooting popularization, people to image stability augmentation technology will
Seek more and more higher.Because unmanned plane is typically in motion state, therefore, randomized jitter can be had by shooting the image sequence of output,
In order to eliminate the shake of image, the steady technology of increasing is occurred in that.
The steady technology of increasing of current main flow is divided into mechanical increasing surely and electronic type increasing is steady.It is flat using damping that machinery, which increases steady technology,
The various shakes of counteracting of platform or mechanical head passively, from the filtering physically realized to shake, its advantage lies in being able to compared with
Good counteracting is largely shaken, with outstanding steady picture effect.Electronic type increase be surely by application digital image processing techniques come
Line translation is entered to picture frame, so as to reach the purpose of steady picture.
Inventor of the present utility model is had found, in same head, and machinery is increased into steady technology and electronic stability augmentation technology knot
It is combined and uses, forms dual increasing surely, increase steady effect more preferable.
The content of the invention
The purpose of this utility model is to provide a kind of head stability augmentation system, in same head, and machinery is increased into steady skill
Art is used in conjunction with electronic stability augmentation technology, dual increasing is formed surely, so as to provide high-quality picture rich in detail.
In order to solve the above technical problems, embodiment of the present utility model discloses a kind of head stability augmentation system, it is arranged on
In head, including：Mechanical tranquilizer and electronic stability augmentation device；
Mechanical tranquilizer and electronic stability augmentation device are electrically connected with same group of vibrating sensor, and the vibrating sensor is fixed on
In head, this group of vibrating sensor sends the electric signal for representing vibration to mechanical tranquilizer and electronic stability augmentation device simultaneously；
Mechanical tranquilizer, for the output signal according to vibrating sensor, is controlled by electronically controlled mechanical structure
Head carries out the mechanical movement opposite with the direction of vibration detected to offset the shake of head；
Electronic stability augmentation device, for the output signal according to vibrating sensor, the figure shot by the camera to head
The various shakes of image are eliminated as carrying out image procossing.
Compared with prior art, the main distinction and its effect are the utility model embodiment：
In same head, machinery is increased into steady technology and is used in conjunction with electronic stability augmentation technology, dual increasing is formed
Surely, so as to provide high-quality picture rich in detail.
Further, mechanical tranquilizer can eliminate most high dither and significantly shake, electronic stability augmentation dress
The shake of some low frequency and amplitudes can be eliminated by putting, and both combine, with the outstanding steady effect of increasing.
Further, mechanical tranquilizer is realized by three-axis stability augmentation head, and the fortune of three motors is controlled by controller
The dynamic shake for offsetting head, realizes to the orthogonal X-axis of head, the control of three axial directions of Y-axis and Z axis, reaches in ideal
Balance, stable effect is played in flight is shot.
Brief description of the drawings
Fig. 1 is a kind of structural representation of head stability augmentation system in the utility model first embodiment.
Embodiment
In the following description, in order that reader more fully understands the application and proposes many ins and outs.But, this
Even if the those of ordinary skill in field is appreciated that many variations without these ins and outs and based on following embodiment
And modification, each claim of the application technical scheme claimed can also be realized.
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
The embodiment of type is described in further detail.
The utility model first embodiment is related to a kind of head stability augmentation system.Fig. 1 is the structure of the head stability augmentation system
Schematic diagram.
The head stability augmentation system is arranged in head.
Head is installation, the support equipment of dead load equipment.
In certain embodiments, load equipment include imaging device (include but is not limited to video camera or camera) and it is non-into
As equipment (including but is not limited to microphone, particle detector or sampler).
In certain embodiments, the steady head of increasing may be adapted to be mounted or connected to a loose impediment, such as motor-driven and non-
The analog such as motor vehicles or ship, robot, human body or animal body.For example, the steady head of increasing can pass through an installation pedestal
Be installed to that one is manned or unmanned vehicle (Unmanned Aerial Vehicle, referred to as " UAV ") on.
Specifically, as shown in figure 1, the head stability augmentation system includes：Mechanical tranquilizer and electronic stability augmentation device.
Mechanical tranquilizer and electronic stability augmentation device are electrically connected with same group of vibrating sensor, and the vibrating sensor is fixed on
In head, this group of vibrating sensor sends the electric signal for representing vibration to mechanical tranquilizer and electronic stability augmentation device simultaneously.
Mechanical tranquilizer, for the output signal according to vibrating sensor, is controlled by electronically controlled mechanical structure
Head carries out the mechanical movement opposite with the direction of vibration detected to offset the shake of head.
Electronic stability augmentation device, for the output signal according to vibrating sensor, the figure shot by the camera to head
The various shakes of image are eliminated as carrying out image procossing.
Mechanical tranquilizer can eliminate most high dither and significantly shake, and electronic stability augmentation device can eliminate one
The shake of a little low frequency and amplitudes, both is used in combination in same head, with the outstanding steady effect of increasing.
In the present embodiment, it is preferable that a video camera is mounted with head.
It should be noted that in each embodiment of the present utility model, vibrating sensor passes for one or more inertia
Sensor.
Inertial sensor, also as Inertial Measurement Unit (Inertial Measurement Unit, referred to as " IMU "), be
Measure the device of object three-axis attitude angle (or angular speed) and acceleration.Gyroscope, velocity sensor, accelerometer and magnetic force
Meter etc. is IMU main element.
In the present embodiment, it is preferable that inertial sensor includes three-axis gyroscope and 3-axis acceleration sensor.
Certainly, in some other embodiments of the present utility model, inertial sensor can also include other devices,
It is not limited thereto.
In some embodiments of the present utility model, vibrating sensor is arranged in mechanical tranquilizer.
In other embodiments of the present utility model, vibrating sensor is arranged in electronic stability augmentation device.
Shaken it should be noted that being generally all built-in with the prior art, in mechanical tranquilizer and electronic stability augmentation device
Dynamic sensor.
In the present embodiment, the vibrating sensor that mechanical tranquilizer and electronic stability augmentation device are shared can be fitting machine
It is in tool tranquilizer or in electronic stability augmentation device, it can also be and be individually located in head.
Further, in the present embodiment, it is preferable that
The Inertial Measurement Unit that mechanical tranquilizer includes being made up of three-axis gyroscope and 3-axis acceleration sensor feeds back
System and servomotor two parts.
Three servomotors are distributed with the supporting construction of head, the rotation of three mutually orthogonal directions is each responsible for
Turn.
Mechanical tranquilizer is realized by three-axis stability augmentation head, and the balancing out motions head of three motors is controlled by controller
Shake, realize to the orthogonal X-axis of head, the control of three axial directions of Y-axis and Z axis, reach the balance in ideal, flight
Stable effect is played in shooting.
At present, three-axis stability augmentation head technology is common technology on unmanned plane, how how to reduce the resistance between axle and axle
The stability that the problems such as torque generation efficiency for keeping miniature motor constrains three-axis stability augmentation head is improved.It is especially small in head
During type, the picture after increasing surely still has more shake, therefore, and three-axis stability augmentation skill is used alone in the prior art
Art, it is impossible to the expection of user is fully achieved.In the utility model, three-axis stability augmentation head is combined with electronic stability augmentation device to be made
With can export and reach image expected from user.
Electronic stability augmentation, is the stabilization that video image is realized by electronic image stabilizing, is disappeared by image processing algorithm
Except the various shakes of image.Electronic stability augmentation has easily operated, more accurate, more flexible, small volume and price are low, energy consumption is small etc.
Feature, simultaneously because the continuous improvement of large scale integrated circuit technology, is easy to implement the miniaturization of equipment again.Electronic image stabilizing
It is integrated electronicses, computer, a new generation that the technology such as Digital Signal Processing is integrated realizes the stable technology of image sequence.
It should be noted that electronic stability augmentation technology is highly developed prior art, in electronic stability augmentation of the present utility model
In device, the software algorithm to electronic stability augmentation does not make any type of modification, is only simply to utilize prior art,
Any restriction is not done to it at this.
Electronic stability augmentation algorithm mainly includes three below step：1) shake estimation, estimates present frame and previous interframe
Kinematic parameter, obtains globe motion parameter；2) shake filtering, is filtered to globe motion parameter, draws intended motion vector
Random motion vector unintentionally；3) jitter compensation, the compensating parameter obtained using filtering is mended frame by frame to sequence of video images
Repay.
According to the difference of shake estimation mode, electronic stability augmentation algorithm can also be further subdivided into pure image electronic and increase steady side
Method and the electronic stability augmentation method based on gyro.
Pure image electronic increases the amount of jitter that steady method estimates camera merely with image unique characteristics information, although with nothing
The advantage of other any extras is needed, but just because of it estimates motion merely with image unique characteristics, so on the one hand right
Image imaging is required, i.e., image will possess abundant characteristic information, and the uniform background such as sky or sea then can
Failure；On the other hand due to needing to carry out the work such as substantial amounts of feature extraction, characteristic matching to image constantly, so calculating multiple
Miscellaneous, energy consumption is higher, and general higher to power requirement for head.
Electronic stability augmentation method based on gyro then estimates camera amount of jitter, this kind of electronic stability augmentation side using gyrosensor
Method is more suitable for the digital image acquisition task of head.
In electronic stability augmentation device of the present utility model, also with the electronic stability augmentation method for being based on gyro.
Common electronic image stabilization method has：BMA, Gray Projection method and characteristic matching method.
BMA is most common method for estimating motion vector, by suitable searching route, is quick and precisely searched for most
Good match block obtains motion vector.
Gray Projection method image processing speed is very fast, but higher to the quality requirement of handled image, and this is primarily due to
If handled picture quality is relatively low, Gray scale projection curve change is not obvious, it is difficult to accurately obtain motion vector.
Characteristic matching method is to choose the characteristic feature in image, and such as edge, profile and angle point feature pass through characteristic matching
To carry out estimation.Key technology therein is how to extract feature and the correct feature of matching.Because this method is preferable
Close to the mankind visual characteristic and largely use image useful information, can provide preferably surely picture result.
In the present embodiment, it is preferable that head is arranged on unmanned plane.
Further, it is preferable that the unmanned plane includes four rotors, two undercarriages, and can also be foldable
Formula unmanned plane.
In summary, in the utility model, in same head, machinery is increased into steady technology and electronic stability augmentation technology knot
It is combined and uses, dual increasing is formed surely, so as to provide high-quality picture rich in detail.
It should be noted that each device mentioned in the utility model embodiment is all logic unit, physically, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member realizes that the Physical realization of these logic units in itself is not most important, and these logic units are realized
The combination of function be only and solve the key of technical problem that the utility model is proposed.In addition, in order to protrude the utility model
Innovative part, the above-mentioned embodiment of the utility model will not be with solving the technical problem relation that is proposed of the utility model
Less close unit is introduced, and this is not intended that the said equipment embodiment and in the absence of other units.
It should be noted that in the claim and specification of this patent, such as first and second or the like relation
Term is used merely to make a distinction an entity or operation with another entity or operation, and not necessarily requires or imply
There is any this actual relation or order between these entities or operation.Moreover, term " comprising ", "comprising" or its
Any other variant is intended to including for nonexcludability so that process, method, article including a series of key elements or
Equipment not only includes those key elements, but also other key elements including being not expressly set out, or also include be this process,
Method, article or the intrinsic key element of equipment.In the absence of more restrictions, by wanting that sentence " including one " is limited
Element, it is not excluded that also there is other identical element in the process including the key element, method, article or equipment.
Although by referring to some preferred embodiments of the present utility model, the utility model is shown and
Description, but it will be understood by those skilled in the art that can to it, various changes can be made in the form and details, without inclined
From spirit and scope of the present utility model.
Claims (10)
1. a kind of head stability augmentation system, is arranged in head, it is characterised in that including：Mechanical tranquilizer and electronic stability augmentation dress
Put；
The mechanical tranquilizer and the electronic stability augmentation device are electrically connected with same group of vibrating sensor, and the vibrating sensor is consolidated
It is scheduled in the head, this group of vibrating sensor sends to the mechanical tranquilizer and the electronic stability augmentation device and represented simultaneously
The electric signal of vibration；
The mechanical tranquilizer, for the output signal according to the vibrating sensor, passes through electronically controlled mechanical structure
The head is controlled to carry out the mechanical movement opposite with the direction of vibration detected to offset the shake of the head；
The electronic stability augmentation device, for the output signal according to the vibrating sensor, passes through the camera to the head
The image of shooting carries out image procossing to eliminate the various shakes of image.
2. head stability augmentation system according to claim 1, it is characterised in that the vibrating sensor is one or more used
Property sensor.
3. head stability augmentation system according to claim 2, it is characterised in that the inertial sensor includes three-axis gyroscope
And 3-axis acceleration sensor.
4. head stability augmentation system according to claim 1, it is characterised in that the vibrating sensor is arranged on the machinery
In tranquilizer.
5. head stability augmentation system according to claim 1, it is characterised in that the vibrating sensor is arranged on the electronics
In tranquilizer.
6. head stability augmentation system according to claim 1, it is characterised in that the mechanical tranquilizer is included by three axle tops
Inertial Measurement Unit reponse system and servomotor two parts that spiral shell instrument and 3-axis acceleration sensor are constituted；
Three servomotors are distributed with the supporting construction of the head, the rotation of three mutually orthogonal directions is each responsible for
Turn.
7. head stability augmentation system according to claim 1 a, it is characterised in that shooting is mounted with the head
Machine.
8. head stability augmentation system according to any one of claim 1 to 7, it is characterised in that the head is arranged on nothing
On man-machine.
9. head stability augmentation system according to claim 8, it is characterised in that the unmanned plane includes four rotors, two
Undercarriage.
10. head stability augmentation system according to claim 9, it is characterised in that the unmanned plane is folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621469841.8U CN206413079U (en) | 2016-12-29 | 2016-12-29 | Head stability augmentation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621469841.8U CN206413079U (en) | 2016-12-29 | 2016-12-29 | Head stability augmentation system |
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| CN206413079U true CN206413079U (en) | 2017-08-15 |
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| CN201621469841.8U Active CN206413079U (en) | 2016-12-29 | 2016-12-29 | Head stability augmentation system |
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| CN108361513A (en) * | 2018-01-08 | 2018-08-03 | 深圳市道通智能航空技术有限公司 | Clouds terrace system and its control method |
| CN108513106A (en) * | 2018-06-07 | 2018-09-07 | 广州鼎飞科技有限公司 | A kind of animal video frequency tracking instrument and system |
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| WO2019062140A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
| WO2019062139A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
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| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| CN110337622A (en) * | 2018-08-31 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Vertical tranquilizer control method, vertical tranquilizer and image acquisition equipment |
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| WO2019062140A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
| WO2019062139A1 (en) * | 2017-09-30 | 2019-04-04 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle |
| CN108361513A (en) * | 2018-01-08 | 2018-08-03 | 深圳市道通智能航空技术有限公司 | Clouds terrace system and its control method |
| CN110312887A (en) * | 2018-03-23 | 2019-10-08 | 深圳市大疆创新科技有限公司 | Vertical Zeng Wen mechanism and vertical tranquilizer |
| CN113418106A (en) * | 2018-03-23 | 2021-09-21 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism and holder device |
| CN110312887B (en) * | 2018-03-23 | 2022-01-18 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism and vertical stability augmentation device |
| US11603959B2 (en) | 2018-03-23 | 2023-03-14 | SZ DJI Technology Co., Ltd. | Load-stabilizing apparatus |
| CN108513106A (en) * | 2018-06-07 | 2018-09-07 | 广州鼎飞科技有限公司 | A kind of animal video frequency tracking instrument and system |
| CN108668081A (en) * | 2018-06-25 | 2018-10-16 | 深圳市固胜智能科技有限公司 | A kind of time-lapse photography device and time-lapse photography method |
| CN110337622A (en) * | 2018-08-31 | 2019-10-15 | 深圳市大疆创新科技有限公司 | Vertical tranquilizer control method, vertical tranquilizer and image acquisition equipment |
| CN110092006A (en) * | 2019-04-04 | 2019-08-06 | 深圳市斯贝达电子有限公司 | A kind of system and method improving photoelectric nacelle optic central extract precision |
| CN110794877A (en) * | 2019-11-22 | 2020-02-14 | 北京理工大学 | Vehicle-mounted camera holder servo system and control method |
| CN110794877B (en) * | 2019-11-22 | 2020-10-13 | 北京理工大学 | Vehicle-mounted camera holder servo system and control method |
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