CN201907655U - Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle - Google Patents
Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle Download PDFInfo
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- CN201907655U CN201907655U CN 201020684955 CN201020684955U CN201907655U CN 201907655 U CN201907655 U CN 201907655U CN 201020684955 CN201020684955 CN 201020684955 CN 201020684955 U CN201020684955 U CN 201020684955U CN 201907655 U CN201907655 U CN 201907655U
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Abstract
The utility model relates to an onboard photographic device of an unmanned aerial vehicle, in particular to an onboard aerial photography image stabilizing cradle head for an unmanned aerial vehicle. A beam is mounted on a fixed rod of the unmanned aerial vehicle and provided with a first flat plate with a hole in the middle; a horizontal rotation drive steering engine is mounted on a first frame and connected with the first flat plate by the aid of a horizontal transmission mechanism; reacting force of the first flat plate drives the first frame to rotate horizontally; a horizontal angle detecting potentiometer relatively rotatably penetrates through the hole in the middle of the first flat plate to be fixedly connected onto the first frame; a second frame is rotatably mounted on the first frame by the aid of horizontal shafts on two sides of the second frame; the horizontal shaft on one side of the second frame is connected with a vertical rotation drive steering engine mounted on the first frame by the aid of a vertical transmission mechanism; the horizontal shaft on the other side of the second frame is connected with a vertical angle detecting potentiometer; and the second frame is driven by the vertical rotation drive steering engine to rotate vertically and also rotates horizontally along with the first frame. The onboard aerial photography image stabilizing cradle head for an unmanned aerial vehicle is fine in shock absorption effect, large in driving torque and stable in rotation speed.
Description
Technical field
The utility model relates to the filming apparatus of unmanned aerial vehicle onboard, and specifically a kind of unmanned aerial vehicle onboard is taken photo by plane steady as The Cloud Terrace.
Background technology
The aerial photography shooting is at topographic mapping, and earthquake is rescued, and many fields such as fire monitoring all have very high using value.Generally, adopt manned helicopter lift-launch personnel and equipment to take, but have a big risk the expense height.In recent years, begin to occur utilizing SUAV (small unmanned aerial vehicle) to carry equipment and take, the staff can take according to the video information Remote The Cloud Terrace of its passback.Because the load capacity of unmanned plane is limited, need the The Cloud Terrace of light weight; Unmanned plane can be shaken by influence of various factors aloft, and shooting quality is produced adverse influence.Existing The Cloud Terrace or employing remote control control The Cloud Terrace, or adopt two gyroscope detection levels and vertical angle to realize automatic guidance, it is bad surely to look like effect, operation inconvenience, cost height.
The utility model content
In flight course, shake photographic images or video quality are caused adverse effect in order to solve unmanned plane, it is steady as The Cloud Terrace that the purpose of this utility model is to provide a kind of unmanned aerial vehicle onboard to take photo by plane, pick up camera is installed on this The Cloud Terrace, has eliminated the phenomenon of take photo by plane image and video generation shake.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises crossbeam, horizontally rotate and drive that steering wheel, first flat board, first framework, vertical rotation drive steering wheel, second framework, level angle detects potential device and vertical angle detects potential device, its center member is installed on the fixed link of unmanned plane, first flat board of perforate in the middle of being provided with on crossbeam; The described driving steering wheel that horizontally rotates is installed on first framework, horizontally rotate drive steering wheel by horizontal transmission device dull and stereotypedly be connected with first, antagonistic force by first flat board drives first framework and horizontally rotates, level angle detection potential device passes, is fixed on first framework by the middle perforate of first flat board rotatably; Described second framework is installed on first framework rotatably by the horizontal shaft of its both sides, wherein the horizontal shaft of a side drives steering wheel by vertical drive mechanism with vertical rotation on being installed in first framework and links to each other, and the horizontal shaft of opposite side is connected with vertical angle detection potential device; Second framework vertically rotates by the driving that vertical rotation drives steering wheel, and second framework horizontally rotates with first framework.
Wherein: described crossbeam has two, is " U " type, and four ends of the crossbeam of two " U " types are fixed on two fixed links of unmanned plane forward directed by bumper respectively; Described first flat board is a rectangle, is fixed between two " U " type crossbeams, the extension of perforate in the middle of the lower surface of first flat board extends downwards, forms; Horizontal transmission device comprises first belt and horizontal power wheel, and wherein horizontal power wheel is fixed in the extension of the first dull and stereotyped below, horizontally rotates the driving steering wheel and links to each other with horizontal power wheel by first belt; Perforate in the middle of the horizontal power wheel, level angle detect potential device by bearing installation in the middle perforate of first dull and stereotyped and the horizontal power wheel, the below of bearing is fixed on first framework, and it is dull and stereotyped rotatable with horizontal power wheel with respect to first that level angle detects potential device; Described first framework has two, is semicircle, links to each other by second flat board and a plurality of supports between two semi-round first frameworks; Second flat board is a rectangle, horizontally rotates driving steering wheel and level angle detection potential device and is fixed in respectively on second flat board; Described vertical drive mechanism comprises second belt and vertical drive wheel, and wherein the vertical drive wheel links to each other with the horizontal shaft of second framework, one side, and is connected by second belt and vertical rotation driving steering wheel; Described second framework is circular, and the left and right sides of the second circular framework is respectively equipped with horizontal shaft, and horizontal shaft is connected with first framework rotationally by bearing; Bottom in second framework of circle is provided with platform by trapezoidal device carrier, and the image collecting device that is used to take is installed on this platform.
Advantage of the present utility model and good effect are:
1. the utility model adopts the crossbeam of " U " type to be installed on the unmanned plane by three-dimensional constant characteristic bumper, can effectively isolate and cushion vibrations that unmanned plane produces in the flight course influence to pick up camera, has eliminated the phenomenon of take photo by plane image and video jitter.
2. first framework of the present utility model can horizontally rotate, second framework both can horizontally rotate with first framework, again can be around the horizontal shaft vertical rotation, detect potential device and vertical angle by level angle and detect potential device and can detect and horizontally rotate angle and vertical rotation angle, can realize Autonomous Control.
3. first framework of the present utility model is semicircle, and second framework is circular, can promote the supporting capacity of The Cloud Terrace, bears heavier capture apparatus.
3. of the present utility modelly horizontally rotate and vertical rotation adopts belt and power wheel to realize, make velocity of rotation more steady, and moment is big, can prevent that steering wheel from starting or stoping the DE Camera Shake phenomenon that causes suddenly.
4. the utility model good damping effect, what can prevent that unmanned plane from producing in flight course rocks the adverse effect that photographic images or video quality are caused, simultaneously in light weight, the hardness height, driving torque is big, and velocity of rotation is steady, can support big weight equipment.
Description of drawings
Fig. 1 is a structural front view of the present utility model;
Fig. 2 is the structure birds-eye view of suspension holdfast among Fig. 1;
Fig. 3 is for horizontally rotating the perspective view of device among Fig. 1;
Fig. 4 is the perspective view of vertical rotation device among Fig. 1;
Wherein: 1 is crossbeam, and 2 is bumper, and 3 is fixed link, 4 for horizontally rotating the driving steering wheel, and 5 is first belt, and 6 is first flat board, 7 is bearing, 8 is horizontal power wheel, and 9 is first framework, and 10 is that vertical rotation drives steering wheel, 11 is second belt, 12 are the vertical drive wheel, and 13 is first horizontal shaft, and 14 is second framework, 15 is platform, 16 is device carrier, and 17 is image collecting device, and 18 is second horizontal shaft, 19 is second flat board, 20 for level angle detects potential device, and 21 is support, and 22 are vertical angle detection potential device.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1～4, the utility model comprises crossbeam 1, bumper 2, horizontally rotate and drive that steering wheel 4, horizontal transmission device, first flat board 6, bearing 7, first framework 9, vertical rotation drive steering wheel 10, vertical drive mechanism, second framework 14, level angle detects potential device 20 and vertical angle detects potential device 22, wherein horizontal transmission device comprises first belt 5 and horizontal power wheel 8, and vertical drive mechanism comprises second belt 11 and vertical drive shaft 12.Crossbeam 1 has two, is " U " type that four ends of the crossbeam 1 of two " U " types are fixed on two fixed links 3 of unmanned plane forward directed with the bumper 2 of four three-dimensional constant characteristics; Between two crossbeams 1, be connected with 6, two crossbeams of first flat board rectangle, middle perforate, 1, first dull and stereotyped 6 and four bumpers 2 and form suspension holdfast, The Cloud Terrace is installed on the unmanned plane.The extension of perforate in the middle of the lower surface of first flat board 6 extends downwards, forms, the middle perforate of extension is coaxial with the middle perforate of rectangle part; The lower surface of extension is connected with horizontal power wheel 8 on first flat board 6, and the centre of this horizontal power wheel 8 also has hole, coaxial with the middle perforate of the middle perforate of extension and rectangle part.First framework 9 has two, is semicircle, and two semi-round first frameworks 9 are fixed on second flat board 19 by screw, connects by a plurality of supports 21 between two semi-round first frameworks 9.Second dull and stereotyped 19 is rectangle, horizontally rotates driving steering wheel 4 and is fixed on second flat board 19, also links to each other with horizontal power wheel 8 by first belt 5.Level angle detects potential device 20 and is installed in the middle perforate of first flat board 6 and horizontal power wheel 8 by bearing 7, the lower end of bearing 7 passes, is fixed on second flat board 19 by horizontal power wheel 8, the end that level angle detects potential device 20 also is fixed on second flat board 19, with second dull and stereotyped 19 co-rotation, the other end that level angle detects potential device 20 is passed by bearing 7, and it is rotatable with respect to first flat board 6 and horizontal power wheel 8 that level angle detects potential device 20.
Principle of work of the present utility model is:
The Cloud Terrace of the present utility model is fixed on the unmanned plane forward directed fixed link 3 by bumper 2, horizontally rotate steering wheel 4 work that drive, by first belt 5 with the transmission of power feedwater driving wheel 8 of flating pass, because the horizontal power wheel 8 and first flat board 6 are affixed, first flat board 6 is fixed on the crossbeam 1, therefore horizontal power wheel 8 can't rotate, be equivalent to by first belt 5 to 4 one antagonistic forces of level rotation driving steering wheel, under the effect of this antagonistic force, make to horizontally rotate to drive steering wheel 4 and drive second dull and stereotyped 19 and first framework 9 and horizontally rotate; Level angle detects potential device 20 and is fixed on second flat board 19, rotates with second flat board 19, can detect the angle that horizontally rotates of second flat board 19, first framework 9.
Vertical rotation drives steering wheel 10 work, driving vertical drive wheel 12 by second belt 11 rotates, and then driving second framework 14 around first horizontal shaft 13 and 18 rotations of second horizontal shaft, vertical angle detects potential device 22 and rotates with second horizontal shaft 18, detects the rotational angle of second framework 14.
The utility model adopts the fine material of carbon, and is in light weight, can alleviate the restriction of unmanned plane to load weight.
Claims (9)
1. a unmanned aerial vehicle onboard is taken photo by plane steady as The Cloud Terrace, it is characterized in that: comprise crossbeam (1), horizontally rotate and drive that steering wheel (4), first flat board (6), first framework (9), vertical rotation drive steering wheel (10), second framework (14), level angle detects potential device (20) and vertical angle detects potential device (22), its center member (1) is installed on the fixed link (3) of unmanned plane, first flat board (6) of perforate in the middle of being provided with on crossbeam (1); The described driving steering wheel (4) that horizontally rotates is installed on first framework (9), horizontally rotate drive steering wheel (4) by horizontal transmission device be connected with first flat board (6), antagonistic force by first flat board (6) drives first framework (9) and horizontally rotates, level angle detection potential device (20) passes, is fixed on first framework (9) by the middle perforate of first flat board (6) rotatably; Described second framework (14) is installed on first framework (9) rotatably by the horizontal shaft of its both sides, wherein the horizontal shaft of a side drives steering wheel (10) by vertical drive mechanism with vertical rotation on being installed in first framework (9) and links to each other, and the horizontal shaft of opposite side is connected with vertical angle detection potential device (22); Second framework (14) vertically rotates by the driving that vertical rotation drives steering wheel (10), and second framework (14) horizontally rotates with first framework (9).
2. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 1, it is characterized in that: described crossbeam (1) has two, be " U " type, four ends of the crossbeam (1) of two " U " types are fixed on two fixed links of unmanned plane forward directed (3) by bumper (2) respectively; Described first flat board (6) is a rectangle, is fixed between two " U " type crossbeams, the extension of perforate in the middle of the lower surface of first flat board (6) extends downwards, forms.
3. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 2, it is characterized in that: described horizontal transmission device comprises first belt (5) and horizontal power wheel (8), wherein horizontal power wheel (8) is fixed in the extension of first flat board (6) below, horizontally rotates driving steering wheel (4) and links to each other with horizontal power wheel (8) by first belt (5).
4. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 3, it is characterized in that: perforate in the middle of the described horizontal power wheel (8), level angle detects potential device (20) and is installed in the middle perforate of first flat board (6) and horizontal power wheel (8) by bearing (7), the below of bearing (7) is fixed on first framework (9), and it is rotatable with respect to first flat board (6) and horizontal power wheel (8) that level angle detects potential device (20).
5. taking photo by plane by the described unmanned aerial vehicle onboard of claim 1 surely looks like The Cloud Terrace, and it is characterized in that: described first framework (9) has two, is semicircle, links to each other by second flat board (19) and a plurality of support (21) between two semi-round first frameworks (9).
6. taking photo by plane by the described unmanned aerial vehicle onboard of claim 5 surely looks like The Cloud Terrace, and it is characterized in that: described second flat board (19) is a rectangle, horizontally rotates driving steering wheel (4) and level angle detection potential device (20) and is fixed in respectively on second flat board (19).
7. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 1, it is characterized in that: described vertical drive mechanism comprises second belt (11) and vertical drive wheel (12), wherein vertical drive wheel (12) links to each other with the horizontal shaft of second framework (14) one sides, and is connected by second belt (11) and vertical rotation driving steering wheel (10).
8. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 1, it is characterized in that: described second framework (14) is for circular, the left and right sides of circular second framework (14) is respectively equipped with horizontal shaft, and horizontal shaft is connected with first framework (9) rotationally by bearing.
9. it is steady as The Cloud Terrace to take photo by plane by the described unmanned aerial vehicle onboard of claim 8, it is characterized in that: the bottom in second framework (14) of circle, be provided with platform (15) by trapezoidal device carrier (16), the image collecting device (17) that is used to take is installed on this platform (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201020684955 CN201907655U (en) | 2010-12-28 | 2010-12-28 | Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle |
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| CN 201020684955 CN201907655U (en) | 2010-12-28 | 2010-12-28 | Onboard aerial photography image stabilizing cradle head of unmanned aerial vehicle |
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| CN201907655U true CN201907655U (en) | 2011-07-27 |
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Cited By (13)
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| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN102556359A (en) * | 2010-12-28 | 2012-07-11 | 中国科学院沈阳自动化研究所 | Airborne air-photo image-stabilizing cloud deck of unmanned aerial vehicle |
| CN102570345A (en) * | 2011-09-19 | 2012-07-11 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
| CN102856840A (en) * | 2012-09-29 | 2013-01-02 | 江苏省电力公司徐州供电公司 | Auxiliary suspension device of power inspection aircraft |
| CN103852959A (en) * | 2012-12-03 | 2014-06-11 | 天津市威风科技发展有限公司 | Triaxial gyroscope stabilizing device |
| CN104149985A (en) * | 2014-04-03 | 2014-11-19 | 储德江 | Self-stabilization aerial photography pan tilt device based on parallel-connection mechanism |
| CN105223967A (en) * | 2014-06-30 | 2016-01-06 | 深圳市大疆创新科技有限公司 | A kind of camera shooting control method, device and tripod head equipment |
| CN105338316A (en) * | 2015-10-30 | 2016-02-17 | 国家电网公司 | Integration device for unmanned aerial vehicle remote controller and image transfer module |
| CN106414237A (en) * | 2014-05-19 | 2017-02-15 | 索尼公司 | Flying device and image-capturing device |
| CN107380472A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of unmanned plane of taking photo by plane that there is shooting to increase steady cradle head device |
| CN108408070A (en) * | 2018-03-15 | 2018-08-17 | 国网山东省电力公司烟台供电公司 | More rotor holders |
| CN108445078A (en) * | 2018-02-09 | 2018-08-24 | 深圳市睿灵创新科技开发有限公司 | Skin hollowing detection device and method |
| CN110077612A (en) * | 2019-05-23 | 2019-08-02 | 广州市高级技工学校(广州市技师学院、广州市高级职业技术培训学院、广州市农业干部学校) | The angle adjustable stabilizing control system that unmanned aerial vehicle is taken photo by plane |
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- 2010-12-28 CN CN 201020684955 patent/CN201907655U/en not_active Expired - Lifetime
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| 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 |
| CN102556359A (en) * | 2010-12-28 | 2012-07-11 | 中国科学院沈阳自动化研究所 | Airborne air-photo image-stabilizing cloud deck of unmanned aerial vehicle |
| CN102353365B (en) * | 2011-09-19 | 2013-06-05 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN102353365A (en) * | 2011-09-19 | 2012-02-15 | 天津全华时代航天科技发展有限公司 | Gyroscope holder of unmanned aerial vehicle |
| CN102570345B (en) * | 2011-09-19 | 2014-05-28 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
| CN102570345A (en) * | 2011-09-19 | 2012-07-11 | 天津全华时代航天科技发展有限公司 | UAV (unmanned aerial vehicle) transmission-line patrolling system |
| CN102856840A (en) * | 2012-09-29 | 2013-01-02 | 江苏省电力公司徐州供电公司 | Auxiliary suspension device of power inspection aircraft |
| CN102856840B (en) * | 2012-09-29 | 2016-03-23 | 江苏省电力公司徐州供电公司 | A kind of auxiliary suspension device of power inspection aircraft |
| CN103852959A (en) * | 2012-12-03 | 2014-06-11 | 天津市威风科技发展有限公司 | Triaxial gyroscope stabilizing device |
| CN104149985A (en) * | 2014-04-03 | 2014-11-19 | 储德江 | Self-stabilization aerial photography pan tilt device based on parallel-connection mechanism |
| CN104149985B (en) * | 2014-04-03 | 2016-02-17 | 浙江智天科技有限公司 | A kind of based on parallel institution from steady holder for aerial photographing |
| CN106414237A (en) * | 2014-05-19 | 2017-02-15 | 索尼公司 | Flying device and image-capturing device |
| CN105223967A (en) * | 2014-06-30 | 2016-01-06 | 深圳市大疆创新科技有限公司 | A kind of camera shooting control method, device and tripod head equipment |
| CN105338316A (en) * | 2015-10-30 | 2016-02-17 | 国家电网公司 | Integration device for unmanned aerial vehicle remote controller and image transfer module |
| CN105338316B (en) * | 2015-10-30 | 2018-03-13 | 国家电网公司 | The integrating device of unmanned controller and image transmission module |
| CN107380472A (en) * | 2017-07-25 | 2017-11-24 | 芜湖超源力工业设计有限公司 | A kind of unmanned plane of taking photo by plane that there is shooting to increase steady cradle head device |
| CN108445078A (en) * | 2018-02-09 | 2018-08-24 | 深圳市睿灵创新科技开发有限公司 | Skin hollowing detection device and method |
| CN108408070A (en) * | 2018-03-15 | 2018-08-17 | 国网山东省电力公司烟台供电公司 | More rotor holders |
| CN110077612A (en) * | 2019-05-23 | 2019-08-02 | 广州市高级技工学校(广州市技师学院、广州市高级职业技术培训学院、广州市农业干部学校) | The angle adjustable stabilizing control system that unmanned aerial vehicle is taken photo by plane |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110727 Effective date of abandoning: 20141119 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20110727 Effective date of abandoning: 20141119 |
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| RGAV | Abandon patent right to avoid regrant |