CN204925807U - Do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady - Google Patents
Do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady Download PDFInfo
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- CN204925807U CN204925807U CN201520459593.8U CN201520459593U CN204925807U CN 204925807 U CN204925807 U CN 204925807U CN 201520459593 U CN201520459593 U CN 201520459593U CN 204925807 U CN204925807 U CN 204925807U
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Abstract
The utility model discloses a do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady. Wherein include a camera device to ground location or navigation with the camera, camera device to make a video recording the direction vertical downwards, the camera still includes a cloud platform stability augmentation system, cloud platform stability augmentation system includes a cloud platform main part and a cloud platform control system, cloud platform control system with cloud platform main part is connected, camera device locates in the cloud platform main part. The utility model discloses a cloud platform stability augmentation system's balance control and cushioning effect for camera device's stationarity is better and can keep its direction of making a video recording, even if there is not GPS also can navigate, to have advantages such as degree of accuracy height, application scope guangZhou all the time perpendicularly downwards.
Description
Technical field
The utility model relates to aircraft navigation field, particularly relates to a kind of positioning for ground or navigation camera, aircraft and navigational system thereof.
Background technology
In prior art, some aircraft are provided with the camera for taking ground image, but it is generally arranged aboard by camera.In this case, because aircraft flight attitude in flight course can tilt and rock, the change of this flight attitude easily causes camera lens all the time over the ground, thus can not need imaging compensating.In order to obtain good imaging effect, prior art generally can adopt computer calculate to compensate and the acting in conjunction of sensor viewing angle compensation carrys out compensating image problem, but, adopt such mode repeatedly compensated, image error can be made greatly to increase, be also extremely unfavorable for subsequent applications and the calculating of formed ground image.
In addition, existing aircraft extensively navigates by means of GPS (GPS), but this navigate mode exists certain defect all the time, such as:
1, gps signal intensity is not enough, can not position.What GPS can realize locating mainly dependence is satellite, and the more location of quantity of satellite are more accurate, but some regions are because high building or blocking of high mountain are difficult to be covered by satellite, and this just makes the gps signal intensity when these regions not enough, is difficult to position.
2, need often to upgrade map datum, otherwise the accuracy of navigation can be affected.Existing navigational system can be navigated, except by means of except the precise positioning of GPS, also map datum accurately will will be fixed against, in order to obtain up-to-date map datum, user usually needs to carry out software upgrading, otherwise just occurs the problems such as navigation circuit mistake possibly.
Utility model content
The technical problems to be solved in the utility model is that thus image error is larger in order to the ground image overcome in prior art captured by aircraft needs repeatedly imaging compensating, and be unfavorable for relating to the calculating of ground image and the defect of application, a kind of positioning for ground or navigation camera, aircraft and navigational system thereof are provided.
The utility model solves the problems of the technologies described above by the following technical programs:
The utility model provides a kind of to be had The Cloud Terrace and increases steady positioning for ground or navigation camera, and be characterized in, described camera comprises a camera head, and the shooting direction of described camera head straight down;
Described camera also comprises a The Cloud Terrace stability augmentation system, and described The Cloud Terrace stability augmentation system comprises a The Cloud Terrace main body and a cloud platform control system, and described cloud platform control system is connected with described The Cloud Terrace main body;
Described camera head is located in described The Cloud Terrace main body.
Ground is vertically pointed in the shooting direction that generally can be understood as straight down mentioned here.Described The Cloud Terrace stability augmentation system is for increasing the stability of described The Cloud Terrace main body, and then the shooting direction ensureing described camera head straight down, more clear with the image making described camera head catch.
Preferably, described cloud platform control system comprises one first controller, one first motor, one second motor and a The Cloud Terrace main body, described first controller is electrically connected with described first motor and described second motor respectively, and described first motor, described second motor are also connected with described The Cloud Terrace main body respectively.
Wherein, described first motor, described second motor are respectively used to utilize prior art to control the Pitch axle of described The Cloud Terrace main body at three-dimensional system of coordinate and the rotation axially of Roll axle.The image that described camera head is caught is the image below described aircraft.Described cloud platform control system only can be provided with two spindle motors of Pitch axle and Roll axle, is then fixing in the axis of the 3rd axle Yaw axle, without the need to arranging corresponding motor.Described first controller is only used to two spindle motors and sends CRANK PULSES to make the shooting direction of described camera head forward, ensures stability and the balance of camera head.
Preferably, described cloud platform control system also comprises one the 3rd motor, and described 3rd motor is connected with described The Cloud Terrace main body, is also electrically connected with described first controller.
In this case, more steady by the direction of camera head described in the operational proof of three spindle motors.Those skilled in the art are to be understood that, Yaw axle is course axle, Pitch axle is pitch axis, Roll axle is roll axle, deviate from voyage route to the rotation of axle be left-right rotation relative to aircraft working direction, rotation around pitch axis is the rotation up and down relative to aircraft working direction, the rotation that the rotation around roll axle is is axle with fuselage length direction.
The utility model also provides a kind of navigational system of aircraft, is characterized in, comprises a kind of camera and a second controller of above-mentioned each optimum condition combination in any;
The camera head of described camera is used for catching image when described aircraft flight; Described second controller is electrically connected with described camera head and described first controller respectively, for receiving one group of image of catching for the benchmark image and described camera head that show appointment flight line, and transmits control signal to described first controller.
Because the shooting direction of described camera head straight down, so the image essence that described camera head is caught is exactly the image below described aircraft, namely look down the image that (looking down) obtains from the bottom of aircraft.Described navigational system obtains by above-mentioned annexation the heading that described benchmark image and described camera head change described aircraft, described navigational system is made not need GPS just can fly along described appointment flight line, need not worry the region of flying not in the coverage of satellite or the map datum problem such as not upgrade in time occur that there is the advantages such as accuracy is high, applied widely.
Preferably, described benchmark image is the topomap obtaining described appointment flight line.
The topomap of described appointment flight line refers to and includes but are not limited to landform, building etc. by the image when described aircraft flies along described appointment flight line below described aircraft.Described appointment flight line can comprise the circuit that makes a return voyage of described aircraft, described in the make a return voyage topomap of circuit go to catch and obtain during boat at described aircraft by described camera head.Namely described camera head image of catching when described aircraft goes to navigate is the benchmark image of the circuit that makes a return voyage for showing described aircraft.Described aircraft can independently along going the circuit navigated to make a return voyage, simplify the control of aircraft, especially, aircraft flown out manipulator visual line of sight in time, even if manipulator does not know the position of aircraft, described navigational system also can be utilized to realize automatically making a return voyage of aircraft.Described appointment flight line can also comprise any circuit specifying starting point and terminal, for this appointment flight line, described navigational system can by prestoring or obtaining corresponding benchmark image by web download, to realize described aircraft along the autonomous flight of specifying flight line.
Preferably, also comprise a timer, described timer is electrically connected with described camera head.The time interval that image caught by described camera head can be set by described timer.
The utility model additionally provides a kind of aircraft, is characterized in, comprises a kind of navigational system of above-mentioned each optimum condition combination in any.
On the basis meeting this area general knowledge, above-mentioned each optimum condition, can combination in any, obtains each preferred embodiments of the utility model.
Positive progressive effect of the present utility model is: positioning for ground of the present utility model or navigation camera, aircraft and navigational system thereof are controlled and cushioning effect by the balance of The Cloud Terrace stability augmentation system, make the stationarity of camera head better and its shooting direction can be kept all the time vertically downward, thus ground image accurately can be obtained without the need to carrying out imaging compensating.Meanwhile, can also realize navigating when there is no GPS, need not worry the region of flying not in the coverage of satellite or the map datum problem such as not upgrade in time occur, reach the advantages such as accuracy is high, applied widely.In addition, described navigational system can also realize independently making a return voyage of aircraft, simplifies flight and controls.
Accompanying drawing explanation
Fig. 1 is the system schematic of the navigational system of the aircraft of the utility model embodiment.
Embodiment
Mode below by embodiment further illustrates the utility model, but is not therefore limited among described scope of embodiments by the utility model.
Embodiment
As shown in Figure 1, the The Cloud Terrace that has of the present embodiment increases steady positioning for ground or navigation camera 1 comprises a camera head 15, and the shooting direction of described camera head 15 straight down.
Described camera 1 also comprises a The Cloud Terrace stability augmentation system, and described The Cloud Terrace stability augmentation system comprises a The Cloud Terrace main body and a cloud platform control system, and described cloud platform control system is connected with described The Cloud Terrace main body; Described camera head 15 is located in described The Cloud Terrace main body.
Described cloud platform control system comprises one first controller 14,1 first motor 11,1 second motor 12 and one the 3rd motor 13, described first motor 11, described second motor 12 and described 3rd motor 13 are connected with described The Cloud Terrace main body respectively, also be electrically connected with described first controller 14 respectively, for controlling described The Cloud Terrace main body respectively three of three-dimensional system of coordinate rotations axially.First motor 11 described in the present embodiment, described second motor 12 and described 3rd motor 13 are for controlling the rotation of described The Cloud Terrace main body on Yaw axle, Pitch axle and Roll axle respectively.
The navigational system of the aircraft of the present embodiment comprises described camera 1, second controller 2 and a timer 3.
The camera head 15 of described camera is for catching image when described aircraft flight.
Described timer 3 is electrically connected with described camera head 15, catches the time interval of image for setting camera head 15.Such as, setting-up time is spaced apart 1 minute, namely when described aircraft flight, catches an image every 1 minute camera head 15.The image of catching directly can demonstrate landform, building etc. below aircraft.
Described second controller 2 is electrically connected with described camera head 15 and described first controller 14 respectively, for receiving one group of image of catching for the benchmark image and described camera head 15 that show appointment flight line, and transmit control signal to described first controller 14.
Wherein, described benchmark image can be the topomap of described appointment flight line.Described appointment flight line comprises the circuit that makes a return voyage of described aircraft, described in the make a return voyage topomap of circuit go to catch and obtain during boat at described aircraft to ground camera 15 by described.Described appointment flight line can also comprise any circuit specifying starting point and terminal, and for this appointment flight line, described navigational system can by prestoring or obtaining corresponding benchmark image by web download.
Described second controller 2 by the up-to-date image that captures and this group benchmark image being compared, can correct the flight line that described aircraft is current, can realize the addressing of aircraft quickly and accurately and make a return voyage.Such as, an object offsets to the right in the position of the position of the up-to-date image captured relative to described comparison chart picture, and the heading of so described aircraft just should be moved to the left.
The aircraft of the present embodiment, comprises other assembly of described navigational system and existing aircraft.
Although the foregoing describe embodiment of the present utility model, it will be understood by those of skill in the art that these only illustrate, protection domain of the present utility model is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present utility model and essence, can make numerous variations to these embodiments, but these change and amendment all falls into protection domain of the present utility model.
Claims (7)
1. have The Cloud Terrace and increase steady positioning for ground or a navigation camera, it is characterized in that, described camera comprises a camera head, and the shooting direction of described camera head straight down;
Described camera also comprises a The Cloud Terrace stability augmentation system, and described The Cloud Terrace stability augmentation system comprises a The Cloud Terrace main body and a cloud platform control system, and described cloud platform control system is connected with described The Cloud Terrace main body;
Described camera head is located in described The Cloud Terrace main body.
2. camera as claimed in claim 1, it is characterized in that, described cloud platform control system comprises one first controller, one first motor and one second motor, described first controller is electrically connected with described first motor and described second motor respectively, and described first motor, described second motor are also connected with described The Cloud Terrace main body respectively.
3. camera as claimed in claim 2, it is characterized in that, described cloud platform control system also comprises one the 3rd motor, and described 3rd motor is connected with described The Cloud Terrace main body, is also electrically connected with described first controller.
4. a navigational system for aircraft, is characterized in that, comprises the camera described in Claims 2 or 3 and a second controller;
The camera head of described camera is used for catching image when described aircraft flight; Described second controller is electrically connected with described camera head and described first controller respectively, for receiving one group of image of catching for the benchmark image and described camera head that show appointment flight line, and transmits control signal to described first controller.
5. navigational system as claimed in claim 4, it is characterized in that, described benchmark image is the topomap obtaining described appointment flight line.
6. navigational system as claimed in claim 4, it is characterized in that, also comprise a timer, described timer is electrically connected with described camera head.
7. an aircraft, is characterized in that, comprises as the navigational system in claim 4-6 as described in any one.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520459593.8U CN204925807U (en) | 2015-06-29 | 2015-06-29 | Do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady |
| PCT/CN2016/087571 WO2017000876A1 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| EP16817239.3A EP3276374A4 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
| PCT/CN2016/087570 WO2017000875A1 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
| US15/577,303 US10386188B2 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| EP16817240.1A EP3315414B1 (en) | 2015-06-29 | 2016-06-29 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| US15/572,426 US10634500B2 (en) | 2015-06-29 | 2016-06-29 | Aircraft and obstacle avoidance method and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520459593.8U CN204925807U (en) | 2015-06-29 | 2015-06-29 | Do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady |
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| Publication Number | Publication Date |
|---|---|
| CN204925807U true CN204925807U (en) | 2015-12-30 |
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| CN201520459593.8U Active CN204925807U (en) | 2015-06-29 | 2015-06-29 | Do not fix a position or navigate with camera, aircraft and navigation ground with yun taizeng is steady |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017000876A1 (en) * | 2015-06-29 | 2017-01-05 | 优利科技有限公司 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| CN106325305A (en) * | 2015-06-29 | 2017-01-11 | 优利科技有限公司 | Geo-location or navigation type camera, aircraft, and navigation method and system thereof |
| CN107077154A (en) * | 2016-08-17 | 2017-08-18 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method, device, storage medium and unmanned plane |
| CN108255201A (en) * | 2016-12-29 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Unmanned machine head attitude adjusting method and its system |
| CN109542125A (en) * | 2018-11-21 | 2019-03-29 | 东南大学 | A kind of laser aid measuring unmanned aerial vehicle onboard camera vibration |
-
2015
- 2015-06-29 CN CN201520459593.8U patent/CN204925807U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017000876A1 (en) * | 2015-06-29 | 2017-01-05 | 优利科技有限公司 | Geo-location or navigation camera, and aircraft and navigation method therefor |
| WO2017000875A1 (en) * | 2015-06-29 | 2017-01-05 | 优利科技有限公司 | Aircraft and obstacle avoidance method and system thereof |
| CN106325305A (en) * | 2015-06-29 | 2017-01-11 | 优利科技有限公司 | Geo-location or navigation type camera, aircraft, and navigation method and system thereof |
| US10386188B2 (en) | 2015-06-29 | 2019-08-20 | Yuneec Technology Co., Limited | Geo-location or navigation camera, and aircraft and navigation method therefor |
| CN106325305B (en) * | 2015-06-29 | 2020-03-20 | 优利科技有限公司 | Camera for ground positioning or navigation, aircraft and navigation method and system thereof |
| US10634500B2 (en) | 2015-06-29 | 2020-04-28 | Yuneec Technology Co., Limited | Aircraft and obstacle avoidance method and system thereof |
| CN107077154A (en) * | 2016-08-17 | 2017-08-18 | 深圳市大疆灵眸科技有限公司 | Cloud platform control method, device, storage medium and unmanned plane |
| US10656503B2 (en) | 2016-08-17 | 2020-05-19 | Sz Dji Osmo Technology Co., Ltd. | Gimbal control |
| US11175569B2 (en) | 2016-08-17 | 2021-11-16 | Sz Dji Osmo Technology Co., Ltd. | Gimbal control |
| CN108255201A (en) * | 2016-12-29 | 2018-07-06 | 昊翔电能运动科技(昆山)有限公司 | Unmanned machine head attitude adjusting method and its system |
| CN109542125A (en) * | 2018-11-21 | 2019-03-29 | 东南大学 | A kind of laser aid measuring unmanned aerial vehicle onboard camera vibration |
| CN109542125B (en) * | 2018-11-21 | 2021-06-25 | 东南大学 | Laser device for measuring vibration of airborne camera of unmanned aerial vehicle |
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