CN201400308Y - Unmanned orthophoto holder - Google Patents
Unmanned orthophoto holder Download PDFInfo
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- CN201400308Y CN201400308Y CN2009201078794U CN200920107879U CN201400308Y CN 201400308 Y CN201400308 Y CN 201400308Y CN 2009201078794 U CN2009201078794 U CN 2009201078794U CN 200920107879 U CN200920107879 U CN 200920107879U CN 201400308 Y CN201400308 Y CN 201400308Y
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- 230000008569 process Effects 0.000 abstract description 7
- 238000013507 mapping Methods 0.000 abstract description 2
- 230000003068 static effect Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 3
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- 238000007906 compression Methods 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
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- Stereoscopic And Panoramic Photography (AREA)
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Abstract
The utility model relates to an unmanned orthophoto holder, which controls a camera through a control device of the holder and keeps an optical axis of the camera always perpendicular to the flat ground during a flying process, thereby increasing surveying and mapping precision and greatly reducing flying operation time. The unmanned orthophoto holder is assembled on the bottom of an unmanned aircraft, the camera is arranged on the base of the holder, the base is connected with an X-axis control group and a Y-axis control group of the holder, the X-axis control group and the Y-axis control group respectively comprise a gyroscope, an electron speed regulator and a server which are sequentially connected, and the gyroscope is sequentially connected with a remote control receiver and a powersource. When the unmanned aircraft flies, an incident angle of the optical axis of the camera to the ground is shifted, then the gyroscope detects shifting speed of the camera and outputs corresponding signals to the electronic speed regulator, the electronic speed regulator controls the server to rotate relatively to output opposite moment so as to damp shifting and continuous shifting of the camera, and then the camera naturally recovers to a state perpendicular to the ground by aid of the center of gravity of the camera.
Description
Technical field
The utility model belongs to the tripod head controlling device field, relates in particular to the control setup of unmanned aerial vehicle onboard orthophoto pan-tilt-zoom.
Background technology
Unmanned plane is used for the aerial survey process, because the unmanned plane load carrying ability is little, propelling power spaces is little, the photographic camera mounting means has two kinds usually: a kind of is directly vertically to be installed on the body, in the flight operation process, aircraft is subjected to the influence of air-flow, can produce pitching, the random variation of attitudes such as lift-over, the camera optical axis also can change vertical incidence angle over the ground with the variation of aspect, causes the irregular distortion of photographed data, and Duplication is difficult to guarantee, strengthen the difficulty of flight operation, had a strong impact on the precision and the efficient of aerial survey post-processed.
Second kind is to adopt the cradle head control technology, is mainly two class modes at present: 1, adopt obliquity sensor, the acceleration/accel of aircraft and vibrations influence greatly obliquity sensor in the flight course, and error is obvious, is difficult to use; 2, adopt gyro and accelerometer, use the moment attitude variable quantity that filtering algorithm calculates The Cloud Terrace, it is constant that the guiding actuating unit is kept initial attitude, this mode complex structure, cost is high, and is bulky, be unfavorable for using SUAV (small unmanned aerial vehicle), and owing to adopted filtering algorithm, the attitude value of reckoning must have error, thereby influences control accuracy.
In addition, the light shaft offset amount that the mounting means of existing camera produces and because installation error in the installation process and flying angle change, makes the camera attitude parameter to assess generally about positive and negative 5 degree, is that the automatic processing of late time data produces greatly influence.
The utility model content
The utility model is to provide a kind of unmanned aerial vehicle onboard orthophoto pan-tilt-zoom, control setup by The Cloud Terrace is controlled camera, make it in flight course, to keep the camera optical axis all the time perpendicular to big ground level, thereby raising mapping precision, a large amount of flight production times that reduce, and simple light and handy, volume is little, cost is low, be convenient to be applied on miniature self-service drives an airplane.
Technical solutions of the utility model are: a kind of orthophoto pan-tilt-zoom of unmanned plane, be assemblied in the bottom of robot airplane by support, camera green phase machine support is installed on the The Cloud Terrace base, and base connects the X-axis control group and the Y-axis control group of The Cloud Terrace, can rotate along X-axis and Y direction individually or simultaneously.Just penetrating the power supply that remote control receiver is housed on the The Cloud Terrace and is attached thereto at unmanned plane.
X-axis control group comprises X-axis gyroscope, X-axis electronic governor and the X-axis servomechanism that links to each other successively.Wherein, the X-axis gyroscope is installed on the The Cloud Terrace base, keeps relative static with camera, and detection camera is at the deviation angle of X-axis at any time.The gyrostatic input end of X-axis connects remote control receiver, and its mouth connects the X-axis electronic governor.The X-axis electronic governor receives the gyrostatic signal of X-axis and controls the rotation direction and the velocity of rotation of X-axis servomechanism.The X-axis servomechanism is installed in an end of X-axis, and the control X-axis is done corresponding the rotation.
Y-axis control group comprises Y-axis gyroscope, Y-axis electronic governor and the Y-axis servomechanism that links to each other successively.Wherein, the Y-axis gyroscope is installed on the The Cloud Terrace base and keeps relative static with camera, and detection camera is at the deviation angle of Y-axis at any time.The gyrostatic input end of Y-axis connects remote control receiver, and its mouth connects the Y-axis electronic governor.The Y-axis electronic governor receives the gyrostatic signal of Y-axis and controls the rotation direction and the velocity of rotation of Y-axis servomechanism.The Y-axis servomechanism is installed in an end of Y-axis, and the control Y-axis is done corresponding the rotation.
The gyroscope of selecting for use is the piezoelectric type gyroscope.Servomechanism is selected the drag cup motor for use, the obvious magnetic resistance phenomenon that can effectively avoid the other types motor to produce under the no power situation, the center of gravity of interference camera.
Principle of work of the present utility model is: by measuring the turn rate of camera optical axis, the adjustable resistance that makes servomechanism produce non-return stroke suppresses the continuation of deflection, and rely on camera gravity to return back to center-of-gravity position voluntarily, this process is different from traditional cradle head control mode fully, promptly controls servomechanism by measurement deflection stroke and produces reverse corresponding stroke to keep original attitude.
Specifically, because rate gyro is behind integration, mid point can produce drift phenomenon, so if adopt directly by the numerical value direct control The Cloud Terrace behind the gyro integration, can make the camera optical axis depart from positive firing angle gradually.Only utilize the gyro detection rates to change in the utility model, servomechanism also is non-being rigidly connected, only produce damping, need not calculate the The Cloud Terrace yaw displacement, the gyro wander phenomenon is revised voluntarily by camera gravity, makeover process is: when the camera optical axis deviation is just being penetrated the position, servomechanism produces its continuation that the departs from generation of magnetic resistance moment damping with the inversely proportional relation of deflection rate, make turn rate level off to zero, this moment, magnetic resistance moment also leveled off to zero gradually, and camera leans on greater than the component of the self gravitation of magnetic resistance moment approaching to the optical axis upright position gradually.The center of gravity of camera nature is perpendicular to ground under the effect of gravity, when unmanned plane during flying, owing to reasons such as inertia, acceleration/accels, camera optical axis angle of incidence over the ground can produce skew, this moment, relative static gyroscope with the camera maintenance can detect the deflection rate of camera, and export corresponding signal to electronic governor, electronic governor is done corresponding the rotation according to the signal control servomechanism that receives and is exported opposite moment, take place and continuity with this damping camera out-of-position, and rely on the camera center of gravity to return to state perpendicular to the ground naturally.
The utility model is at the aerophotogrammetric advantage of unmanned plane:
1. simple in structure, volume is little, cost is low, weight only is about one kilogram, to be easy to be applied in Unmanned Aircraft Systems (UAS).
2. simple to operate.After calibration, be installed on camera on the The Cloud Terrace always perpendicular to big ground level, reduced the resetting check before taking off.
3. little to the aircraft flight attitude influence.Revise the mode of camera attitude if adopt the instrumentation airplane attitude, have not only that weight is big, cost is high, the relative body stagger angle of camera is difficult to problems such as mensuration, also can occur increasing and problem such as the random variation of flight attitude because of housing construction weight that huge torque reaction that actuating unit produces causes.
The basic demand of aerial survey be camera vertically over the ground, in surveying the district, course line and air strips photo will have certain Duplication, are respectively 60% and 30%.Because aircraft is subjected to influence of various factors aloft, the pitch angle of aircraft and roll angle can produce irregular variation, make that the lamination rate is difficult to guarantee, can only remedy by increasing number of pictures and course line density.Nonetheless, because adjacent photo misplaces relatively, when post-processed, the controlling point is difficult to gather, and brings difficulty for the automatic batch processing of boat sheet splicing, can only carry out manual intervention, has not only significantly reduced the efficient of post-processed, has also had a strong impact on the precision of one-tenth figure.The utility model may command camera vertical incidence angle remains on national aerial survey standard, in promptly positive and negative 3 degree, irregular angle of incidence is changed in tolerance band, reduces artificially participating in, and precision significantly improves, and can quantize.Simultaneously, the course line density of flight operation also can significantly reduce, and has improved operating efficiency, reduces the flight risk.
5. the utility model also can be applicable to airphoto, carries pick up camera and corresponding control mechanism thereof as airborne reference platform, can significantly improve the picture stability of unmanned plane shooting, obtains good photographic effect.
Description of drawings
Fig. 1 is orthophoto pan-tilt-zoom of unmanned plane annexation figure described in the utility model;
Fig. 2 is an orthophoto pan-tilt-zoom of unmanned plane upward view described in the utility model;
Fig. 3 is an orthophoto pan-tilt-zoom of unmanned plane front elevation described in the utility model.
Illustrate: 1-power supply, 2-remote control receiver, 3-X axle control group, 4-Y axle control group, 5-X axial compression electric top instrument, 6-X axle electronic governor, 7-X shaft hollow cup motor, 8-Y axial compression electric top instrument, 9-Y axle electronic governor, 10-Y shaft hollow cup motor, 11-The Cloud Terrace support, 12-X axle, 13-Y axle, the 14-camera, the 15-camera support.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
As shown in Figure 1 to Figure 3, orthophoto pan-tilt-zoom of unmanned plane is assemblied in the bottom of unmanned plane by The Cloud Terrace support 11, camera 14 green phase machine supports 15 are installed on the The Cloud Terrace base, and base can be rotated along X-axis 12 and Y-axis 13 directions individually or simultaneously by the X-axis control group 3 and 4 controls of Y-axis control group of The Cloud Terrace.
X-axis control group 3 comprises X-axis piezoelectric gyroscope 5, X-axis electronic governor 6 and the X-axis drag cup motor 7 that links to each other successively.X-axis piezoelectric gyroscope 5 is installed on the The Cloud Terrace base, keeps relative static with camera 14.The input end of X-axis piezoelectric gyroscope 5 connects remote control receiver 2, and its mouth connects X-axis electronic governor 6.X-axis electronic governor 6 receives the signal of X-axis piezoelectric gyroscope 5 and controls the rotation direction and the velocity of rotation of X-axis drag cup motor 7.X-axis drag cup motor 7 is installed in an end of X-axis 12, and control X-axis 12 is done corresponding the rotation.
Y-axis control group 4 comprises Y-axis piezoelectric gyroscope 8, Y-axis electronic governor 9 and the Y-axis drag cup motor 10 that links to each other successively.Y-axis piezoelectric gyroscope 8 is installed on the The Cloud Terrace base, keeps relative static with camera 14.The input end of Y-axis piezoelectric gyroscope 8 connects remote control receiver 2, and its mouth connects Y-axis electronic governor 9.Y-axis electronic governor 9 receives the signal of Y-axis piezoelectric gyroscope 8 and controls the rotation direction and the velocity of rotation of Y-axis drag cup motor 10.Y-axis drag cup motor 10 is installed in an end of Y-axis 13, and control Y-axis 13 is done corresponding the rotation.
Before unmanned plane took off, the X-axis on the plane that device measurings such as use obliquity sensor are vertical with the camera optical axis, the inclination angle of Y-axis made the inclination angle level off to 0 ° by the increase and decrease counterweight, make camera 14 optical axises natural in ground by gravity.In the unmanned plane during flying process, when camera 14 optical axises over the ground angle of incidence when X-axis 12 directions produce skew, relative static X-axis piezoelectric gyroscope 5 with the camera maintenance can detect the deflection rate of camera 14, and to the corresponding signal of X-axis electronic governor 9 outputs, X-axis electronic governor 9 is done corresponding the rotation according to the signal control X-axis drag cup motor 7 that receives and is exported opposite moment, take place and continuity with damping camera 14 out-of-positions, and rely on the center of gravity of camera 14 to return to state perpendicular to the ground naturally.Angle of incidence is when Y-axis 13 directions produce skew over the ground when camera 14 optical axises, and its response control process is identical with X-axis 12.
The utility model is not limited to the foregoing description; to those skilled in the art, any conspicuous improvement that the foregoing description of the present utility model is made or change can not exceed the embodiment of the present utility model that only illustrates by way of example and the protection domain of claims.
Claims (3)
1. orthophoto pan-tilt-zoom of unmanned plane, be assemblied in the bottom of unmanned plane by The Cloud Terrace support (11), camera (14) is installed on the The Cloud Terrace base, base is by the X-axis control group (3) and Y-axis control group (4) control of The Cloud Terrace, and it is characterized in that: described unmanned plane is just being penetrated The Cloud Terrace remote control receiver (2) and the power supply (1) that links to each other with described remote control receiver (2) are housed;
Described X-axis control group (3) comprises X-axis gyroscope (5), X-axis electronic governor (6) and the X-axis servomechanism (7) that links to each other successively; Described X-axis gyroscope (5) is installed on the The Cloud Terrace base and with described remote control receiver (2) and is connected;
Described Y-axis control group (4) comprises Y-axis gyroscope (8), Y-axis electronic governor (9) and the Y-axis servomechanism (10) that links to each other successively; Described Y-axis gyroscope (8) is installed on the The Cloud Terrace base and with described remote control receiver (2) and is connected.
2. orthophoto pan-tilt-zoom of unmanned plane as claimed in claim 1 is characterized in that: described X-axis gyroscope (5) and Y-axis gyroscope (8) are the piezoelectric type gyroscope.
3. orthophoto pan-tilt-zoom of unmanned plane as claimed in claim 1 is characterized in that: described X-axis servomechanism (7) and Y-axis servomechanism (10) are the drag cup motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201078794U CN201400308Y (en) | 2009-05-11 | 2009-05-11 | Unmanned orthophoto holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009201078794U CN201400308Y (en) | 2009-05-11 | 2009-05-11 | Unmanned orthophoto holder |
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| Publication Number | Publication Date |
|---|---|
| CN201400308Y true CN201400308Y (en) | 2010-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009201078794U Expired - Fee Related CN201400308Y (en) | 2009-05-11 | 2009-05-11 | Unmanned orthophoto holder |
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| CN (1) | CN201400308Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101624A (en) * | 2012-07-30 | 2013-05-15 | 北京航空航天大学 | Electroluminescence film visual hiding system and control method thereof |
| CN104914442A (en) * | 2015-05-26 | 2015-09-16 | 芜湖航飞科技股份有限公司 | Airborne laser radar aerial survey technology |
| CN109642701A (en) * | 2018-11-15 | 2019-04-16 | 深圳市大疆创新科技有限公司 | The control method of hand-held holder and hand-held holder |
| CN109915704A (en) * | 2019-03-27 | 2019-06-21 | 南京理工大学 | A kind of automatically controlled holder and its movement technique with electromagnetic damping system |
-
2009
- 2009-05-11 CN CN2009201078794U patent/CN201400308Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101624A (en) * | 2012-07-30 | 2013-05-15 | 北京航空航天大学 | Electroluminescence film visual hiding system and control method thereof |
| CN104914442A (en) * | 2015-05-26 | 2015-09-16 | 芜湖航飞科技股份有限公司 | Airborne laser radar aerial survey technology |
| CN109642701A (en) * | 2018-11-15 | 2019-04-16 | 深圳市大疆创新科技有限公司 | The control method of hand-held holder and hand-held holder |
| CN109915704A (en) * | 2019-03-27 | 2019-06-21 | 南京理工大学 | A kind of automatically controlled holder and its movement technique with electromagnetic damping system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING TIANFUQIN TECHNOLOGY CO., LTD Free format text: FORMER OWNER: DONG TAO Effective date: 20100513 |
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| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100071 ROOM 101, UNIT 6, BUILDING 5, HANZHUANGZI DONGLI, FENGTAI DISTRICT, BEIJING CITY TO: 100085 ROOM 206, TOWER F, JIAHUA BUILDING, SHANGDI, HAIDIAN DISTRICT, BEIJING CITY |
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| TR01 | Transfer of patent right |
Effective date of registration: 20100513 Address after: 100085 room 206, building F, Ka Wah building, Beijing, Haidian District Patentee after: Beijing Tian Fu Qin Technology Co., Ltd. Address before: 100071, 6, building 5, 101 Dong Li, Chuang-tzu, Beijing, Fengtai District Patentee before: Dong Tao |
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| DD01 | Delivery of document by public notice |
Addressee: Beijing Tian Fu Qin Technology Co., Ltd. Chen Lijuan Document name: Notification to Pay the Fees |
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| DD01 | Delivery of document by public notice |
Addressee: Beijing Tian Fu Qin Technology Co., Ltd. Document name: Notification of Termination of Patent Right |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100210 Termination date: 20120511 |