CN105501454B - A kind of miniature gondola - Google Patents
A kind of miniature gondola Download PDFInfo
- Publication number
- CN105501454B CN105501454B CN201610038909.5A CN201610038909A CN105501454B CN 105501454 B CN105501454 B CN 105501454B CN 201610038909 A CN201610038909 A CN 201610038909A CN 105501454 B CN105501454 B CN 105501454B
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- China
- Prior art keywords
- visible light
- miniature
- pitching
- gondola
- orientation
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- 230000035945 sensitivity Effects 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000002045 lasting effect Effects 0.000 abstract description 4
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- 238000000034 method Methods 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
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- 230000002411 adverse Effects 0.000 description 1
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- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
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- 239000012528 membrane Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000005304 optical glass Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
Abstract
The invention discloses a kind of miniature gondola, including orientation assembly, tilting component, Visible Light Camera, horizontal direction rotary shaft and vertical direction rotary shaft, the orientation assembly rotates axis connection with the vertical direction, the tilting component rotates axis connection with the horizontal direction, the orientation assembly adjusts the rotation of the Visible Light Camera vertical direction, and the tilting component adjusts the rotation of the Visible Light Camera horizontal direction.Miniature gondola of the present invention has the characteristics of compact-sized, in light weight, small volume, high zoom multiple, hi-vision lasting accuracy and high dynamic performance.
Description
Technical field
The invention belongs to mechanical field, and in particular to a kind of miniature gondola.
Background technology
Gondola is the carrier of Airborne Camera, and change, body vibrations, moment of wind resistance for isolating UAV Attitude etc. is disturbed
It is dynamic, ensure the optic central extract of unmanned aerial vehicle onboard camera.
At present, domestic gondola product is more than the bellwether Changchun ray machine of 1kg, 30 times of zooms, such as domestic the sector mostly
Product nearly weigh 30 times of 1.2kg, zoom, big weight is all heavier, and zoom magnification is not high.
The content of the invention
In order to solve above mentioned problem existing for prior art, the invention provides a kind of miniature gondola.
An embodiment provides a kind of miniature gondola, including orientation assembly, tilting component, visible ray phase
Machine, horizontal direction rotary shaft and vertical direction rotary shaft, the orientation assembly rotates axis connection with the vertical direction, described to bow
To face upward component and rotate axis connection with the horizontal direction, the orientation assembly adjusts the rotation of the Visible Light Camera vertical direction,
The tilting component adjusts the rotation of the Visible Light Camera horizontal direction.
Further, the orientation assembly includes orientation torque motor, orientation capacitive encoder, master board and orientation
Sensitive gyro, the orientation torque motor and azimuth encoder rotate axis connection with the vertical direction, and the master board is consolidated
Due on miniature gondola, the azimuth sensitivity gyro installation is in the master board.
Further, the tilting component includes pitching moment motor, pitching capacitive encoder, camera control plate, pitching
Sensitive gyro and pitching frame, the pitching frame are connected with the Visible Light Camera, the pitching moment motor and pitching capacitive
Encoder rotates axis connection with the horizontal direction, and the camera control plate is connected with Visible Light Camera, the pitching sensitivity top
Spiral shell is arranged on camera control plate.
Further, the Visible Light Camera is fixedly mounted on the pitching frame by yielding rubber.
Further, the miniature gondola also includes radome fairing, and the radome fairing is installed on the outside of miniature gondola, described
The centre position of radome fairing is provided with visible light window.
Further, it is separately installed with inertial sensor in the horizontal direction rotary shaft and vertical direction rotary shaft.
Further, the Visible Light Camera has optical zoom, photorefractive crystals, high definition video recording and wirelessly exports work(
Energy.
Beneficial effect：
Miniature gondola of the present invention, gondola is adjusted horizontally and vertically by orientation assembly and tilting component
Rotation, turn error can be reduced, avoid driving error, it is simple and compact for structure；Gyro is installed and strengthens optical axis stable precision；Peace
Dress radome fairing had not only had rectification function but also can be compared with being worked under adverse circumstances；Using with optical zoom, photorefractive crystals, high definition record
The Visible Light Camera of picture and wireless export function, improves zoom magnification and lasting accuracy.
Brief description of the drawings
Fig. 1 is the front view of miniature gondola in one embodiment of the invention.
Fig. 2 is the structural representation of miniature gondola in one embodiment of the invention.
Fig. 3 is the structural representation of radome fairing 301 in one embodiment of the invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.
As illustrated in fig. 1 and 2, a kind of miniature gondola, including orientation assembly, tilting component, level side are present embodiments provided
To rotary shaft, vertical direction rotary shaft and Visible Light Camera 108, orientation assembly rotates axis connection, tilting component with vertical direction
Axis connection is rotated with horizontal direction, orientation assembly is used for the rotation for adjusting the vertical direction of Visible Light Camera 108, and tilting component is used for
Adjust the rotation of the horizontal direction of Visible Light Camera 108.
Selected as one kind, orientation assembly includes orientation torque motor 101, orientation capacitive encoder 102, master board
103 and azimuth sensitivity gyro (not shown).Orientation torque motor 101 and orientation capacitive encoder 102 and vertical direction
Axis connection is rotated, master board 103 is arranged on inside miniature gondola, and azimuth sensitivity gyro installation is in master board 103.Orientation
Torque motor 101 is used to drive rotation of the Visible Light Camera 108 in vertical direction, and orientation capacitive encoder is according to the control of operating side
Signal processed produces coding and is sent to master board 103, and azimuth sensitivity gyro feeds back for angular speed.The pallet of miniature gondola and side
The stator of position torque motor 101 is connected, and orientation torque motor 101 is connected with the base of miniature gondola, the axle of miniature gondola
End is connected with orientation capacitive encoder 102, and this connected mode causes the control electricity that all cables can be introduced above pallet
Road, it is easy to the insertion of miniature gondola control circuit with integrating.Orientation torque motor 101 is directly installed on vertical direction rotary shaft
On, so do no driving error, it is possible to increase lasting accuracy, it is compact-sized, lightweight can be achieved.Vertical direction rotary shaft uses
Symmetrical expression hairspring pattern cabling, its resistance is low, disturbance is low, deviation moment of torsion is low, in light weight.It is respectively provided with vertical direction rotary shaft
There is high-precision MEMS gyroscope to be fed back as angular speed, realize stable inertia.
Selected as one kind, tilting component includes pitching moment motor 105, pitching capacitive encoder 106, camera control plate
107th, pitching sensitivity gyro (not shown) and pitching frame 104.Pitching frame 104 is connected with Visible Light Camera 108, for solid
Determine Visible Light Camera 108；Pitching moment motor 105 and pitching capacitive encoder 106 rotate axis connection with horizontal direction, for driving
The dynamic rotation of Visible Light Camera 108 in the horizontal direction, camera control plate 107 is connected with Visible Light Camera 108, for according to operation
The control signal at end produces coding and is sent to camera control plate 107, and pitching sensitivity gyro installation is used on camera control plate 107
Fed back in angular speed.Pitching moment motor 105 is mounted directly in the horizontal direction in rotary shaft, so does no driving error, is improved
Lasting accuracy；It is compact-sized, realize lightweight.High-precision MEMS gyroscope is provided with rotary shaft in the horizontal direction as angle
Velocity feedback, realize stable inertia.
Selected as one kind, it is seen that light camera 108 is fixedly mounted on pitching frame 104 by yielding rubber.Visible ray phase
Machine 108 is connected by yielding rubber with pitching frame 104, and pitching frame 104 is integrally formed processing with horizontal direction rotary shaft, can
Ensure coaxial precision, direction rotating accuracy of improving the standard.
Selected as one kind, as shown in figure 3, miniature gondola also includes radome fairing 301, radome fairing 301 is installed on miniature hang
The outside in cabin, the centre position of radome fairing 301 are provided with visible light window.Radome fairing 301 is connected with pallet, and in connecting portion
Sub-control fit tolerance realizes static seal, therefore the micro-optical gondola has preferable water proof and dust proof ability.Radome fairing 301 is
Full carbon fibre material, centre position are provided with the arc optical glass of metal-coated membrane as visible light window.
Selected as one kind, inertial sensor is separately installed with horizontal direction rotary shaft and vertical direction rotary shaft.
Each rotary shaft according to inertial sensor, avoids the prompt even resolving coupling of caused inertia when being directly installed on least significant end and missed respectively
Difference, realize stable inertia.
As one kind select, it is seen that light camera 108 have 40 Zoom Lens, photorefractive crystals, 1080 high definitions video recording and
Wireless export function.Visible Light Camera 108 has optical zoom and digital zoom functions, can investigate distant object, Er Qiexiang
Machine camera lens has photorefractive crystals function, may be such that image stabilization, isolated part vibrations.
Miniature stable gondola in the present embodiment, it is main to include miniature Visible Light Camera and reality with high zoom multiple
The rotation axis system of horizontal and vertical two rotational freedoms of existing Visible Light Camera；And part uses aviation duralumin, hard alumin ium alloy hollow out,
The abundant loss of weight of structure design, and can effectively be split, beneficial to the regulation of precision；All control circuits are integrated in gondola
Portion, it is extremely compact；There is IP43 degree of protection, can be used under light rain weather；With a variety of mounting interfaces, you can preceding dress,
It can lift；And with photorefractive crystals in camera lens, the steady picture of framework inertia of gondola two, image processing algorithm electronic steady image；Using
Absolute type capacitive encoder and DC brushless motor coordinate, when upper electric usable absolute position motor phase is judged from
And carry out SERVO CONTROL.
Miniature gondola in the present embodiment has the characteristics that：
1st, miniaturization, lightweight
In terms of structure design, the form of disc type direct drive of torque motor is both horizontally and vertically used, reduces axial dimension,
Save transmission parts so that it is compact-sized, it is in light weight.Each structural member passes through optimization design, skeleton structure is designed as, using height
Intensity aviation duralumin, hard alumin ium alloy, further reduces construction weight.Control circuit takes into full account the two axle rotation spaces and structure of camera
Size, inside embedded equipment, realize compact design.
2nd, image stabilization precision
Supported by high-precision bearing, and the Method of Adjustment of shafting, ensure shafting rotating accuracy；At high frequency arm
Device and high-precision capacitive encoder are managed, ensures control accuracy and positional precision.On the premise of gondola has high rotation precision,
Using multiple hybrid mentioned image stabilization techniques：Photorefractive crystals+camera fixes damping surely as+two axle tops by rubber suspension in camera lens
Steady picture+image processing algorithm the electronic steady image of spiral shell inertia.
3rd, reliability
Using non-photoelectric encoder, suitable for aviation field, there is high reliability, and zero is sought without upper electricity.
By the design of static and dynamic sealing, internal circuit and camera are protected so that the gondola has certain water proof and dust proof ability.Camera exists
Inside uses suspension type mounting means so that this method has certain impact resistance.
The present invention is not limited to above-mentioned preferred forms, and any those skilled in the art may be used under the enlightenment of the present invention
Other various forms of products are drawn, however, make any change in its shape or structure, it is every with same as the present application
Or close technical scheme, it is within the scope of the present invention.
Claims (4)
1. a kind of miniature gondola, it is characterised in that including orientation assembly, tilting component, Visible Light Camera, horizontal direction rotary shaft
With vertical direction rotary shaft,
The orientation assembly rotates axis connection with the vertical direction, and the tilting component connects with the horizontal direction rotary shaft
Connect,
The orientation assembly adjusts the rotation of the Visible Light Camera vertical direction, and the tilting component adjusts the visible ray phase
The rotation of machine horizontal direction；
The orientation assembly includes orientation torque motor, orientation capacitive encoder, master board and azimuth sensitivity gyro, described
Orientation torque motor and orientation capacitive encoder rotate axis connection with the vertical direction, and the master board is installed on miniature hang
Inside cabin, the azimuth sensitivity gyro installation is in the master board；
The tilting component includes pitching moment motor, pitching capacitive encoder, camera control plate, pitching sensitivity gyro and bowed
Frame is faced upward, the pitching frame is connected with the Visible Light Camera, the pitching moment motor and pitching capacitive encoder and the water
Square to axis connection is rotated, the camera control plate is connected with Visible Light Camera, and the pitching sensitivity gyro installation is in camera control
In making sheet；
The Visible Light Camera is fixedly mounted on the pitching frame by yielding rubber.
2. miniature gondola according to claim 1, it is characterised in that be also installed on micro- including radome fairing, the radome fairing
The outside of type gondola, the centre position of the radome fairing are provided with visible light window.
3. miniature gondola according to claim 1, it is characterised in that the horizontal direction rotary shaft and vertical direction rotate
Inertial sensor is separately installed with axle.
4. miniature gondola according to claim 1, it is characterised in that the Visible Light Camera has optical zoom, optics
Steady picture, high definition video recording and wireless export function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038909.5A CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610038909.5A CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105501454A CN105501454A (en) | 2016-04-20 |
| CN105501454B true CN105501454B (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610038909.5A Expired - Fee Related CN105501454B (en) | 2016-01-20 | 2016-01-20 | A kind of miniature gondola |
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| CN (1) | CN105501454B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347693B (en) * | 2016-09-29 | 2019-05-31 | 武汉华中天经通视科技有限公司 | A kind of miniature gondola of changeable type unmanned plane |
| CN109018393A (en) * | 2018-06-28 | 2018-12-18 | 山东建筑大学 | A kind of photogrammetric mounting platform of adjustable unmanned plane |
| CN111157970A (en) * | 2018-10-22 | 2020-05-15 | 哈尔滨工业大学 | Area array Gm-APD laser radar device with miniaturized single photon detection sensitivity |
| CN110174653A (en) * | 2019-05-17 | 2019-08-27 | 南京理工大学 | A kind of millimeter wave test table that portable revolving speed is remote-controlled |
| CN111520599B (en) * | 2020-04-29 | 2022-05-17 | 中国人民解放军国防科技大学 | Light photoelectric pod and equipment |
| JP7432238B2 (en) | 2020-06-30 | 2024-02-16 | 株式会社クエストコーポレーション | Object suspension stabilization device |
| CN111846240B (en) * | 2020-08-03 | 2022-02-22 | 北京环境特性研究所 | Weight-reduction pod pitching package |
| CN112644723A (en) * | 2020-08-06 | 2021-04-13 | 成都道克科技有限公司 | Open type miniature photoelectric pod |
| CN112782123A (en) * | 2020-12-24 | 2021-05-11 | 中国科学院合肥物质科学研究院 | System and method for comprehensively detecting atmospheric optical key parameters based on unmanned aerial vehicle technology |
| CN113086194B (en) * | 2021-04-17 | 2024-02-20 | 合肥市方升信息科技有限公司 | Echo-based airborne laser scanning data smart city data collection system and method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204350179U (en) * | 2014-12-17 | 2015-05-20 | 河南中光学集团有限公司 | A kind of gyro steady picture rotation table device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7000883B2 (en) * | 2003-01-17 | 2006-02-21 | The Insitu Group, Inc. | Method and apparatus for stabilizing payloads, including airborne cameras |
| CN100590748C (en) * | 2007-07-05 | 2010-02-17 | 浙江大学 | Cradle head for aerial photograph with two degrees of freedom by using aeromodelling helicopter as carrier |
| CN201287830Y (en) * | 2008-10-14 | 2009-08-12 | 西安展翼航空科技有限公司 | Stabilising bracket for aerial photography camera |
| CN102556359B (en) * | 2010-12-28 | 2014-11-19 | 中国科学院沈阳自动化研究所 | Airborne air-photo image-stabilizing cloud deck of unmanned aerial vehicle |
| CN202939494U (en) * | 2012-11-28 | 2013-05-15 | 中国航空工业集团公司洛阳电光设备研究所 | Two-axis two-frame gyroscope stabilization device |
| CN203147202U (en) * | 2013-01-31 | 2013-08-21 | 武汉高德技术有限公司 | Novel photoelectric platform with roll stability |
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2016
- 2016-01-20 CN CN201610038909.5A patent/CN105501454B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204350179U (en) * | 2014-12-17 | 2015-05-20 | 河南中光学集团有限公司 | A kind of gyro steady picture rotation table device |
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| CN105501454A (en) | 2016-04-20 |
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