CN205353771U - Unmanned aerial vehicle take photo by plane device and equipment of taking photo by plane - Google Patents
Unmanned aerial vehicle take photo by plane device and equipment of taking photo by plane Download PDFInfo
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- CN205353771U CN205353771U CN201620013854.8U CN201620013854U CN205353771U CN 205353771 U CN205353771 U CN 205353771U CN 201620013854 U CN201620013854 U CN 201620013854U CN 205353771 U CN205353771 U CN 205353771U
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Abstract
The utility model discloses an unmanned aerial vehicle take photo by plane device and equipment of taking photo by plane belongs to the unmanned aerial vehicle application. The device includes unmanned aerial vehicle and the equipment of taking photo by plane, the equipment of taking photo by plane set up in unmanned aerial vehicle is last, and it can carry out the lower bat mode of facing upward up of follow at least. Lift unit and/or front -and -back reversal unit can also be included, control is used for respectively the reciprocating and/or overturning of the equipment of taking photo by plane. The utility model discloses a design the device of the cloud platform that can reciprocate and overturn for the cloud platform can appear carrying out free shooting in unmanned aerial vehicle's top or below according to the demand.
Description
Technical field
The utility model relates to unmanned plane applied technical field, is specifically related to a kind of unmanned plane aerial device and unmanned plane, equipment of taking photo by plane.
Background technology
Along with the development of unmanned air vehicle technique, owing to many rotary wind types SUAV flare maneuver is flexible, it is possible to aloft hovering, therefore it is widely used in the field of taking photo by plane.The technology of taking photo by plane can be widely applied to the fields such as the condition of a disaster assessment, rescue and relief work, on-the-spot scouting, military exercise.Having begun to enter consumer level market widely especially with little MAV, such as four-axle aircraft etc., domestic consumer starts more and more to touch market of taking photo by plane, and understands technology of taking photo by plane.
The subject of these work of taking photo by plane, it is all generally people movable in ground areas or object, therefore, SUAV designed in prior art, have selected from the beginning and production equipment is arranged on below many rotor wing unmanned aerial vehicles, then control the mode of this production device action with The Cloud Terrace.So, it is possible the pattern of taking a crane shot realized easily from top to bottom, and along with the flight of many rotor wing unmanned aerial vehicles, the angle of this shooting is the most unrestricted.
Such as: Application No. 201410431998.0, the Chinese invention patent application of invention entitled " camera system based on unmanned plane " disclose camera system based on unmanned plane, the present invention includes the The Cloud Terrace being fixed on below unmanned aerial vehicle body, it is fixedly mounted on the camera on described The Cloud Terrace, also include picture processing chip, the camera interface being connected with described picture processing chip, the control equipment being connected with described picture processing chip, The Cloud Terrace interface, GPS, wireless network and the ground control station being connected with described control equipment respectively.
The most such as, Application No. 201420496319.3, the open a kind of unmanned plane full angle image aerial device of Chinese utility model patent of invention entitled " a kind of unmanned plane full angle image aerial device ", it includes unmanned plane body, this unmanned plane full angle image aerial device farther includes a full angle image instrument, described full angle image instrument is fixedly installed in the downside of unmanned plane body fuselage, described full angle image instrument includes pick-up head mounting structure and multiple camera, and the side of pick-up head mounting structure is installed and be uniformly distributed in the plurality of camera.The utility model uses the structure of taking photo by plane of annular camera group, it is achieved to taking photo by plane, region carries out full angle image collection.
But, existing carry The Cloud Terrace on unmanned plane is usually fixed the bottom being arranged on unmanned plane, although function device can rely on The Cloud Terrace and drive apparatus, carry out rotation both horizontally and vertically, but can be only in the lower section of unmanned plane all the time, under such mode of operation, if need the target above unmanned plane is operated, such as check situation bottom bridge floor by unmanned plane, the biggest difficulty can be faced.
It is limited to intrinsic idea, it has been generally acknowledged that takes photo by plane is exactly a kind of style of shooting from the top down, actually, as one can be freely movable in spatial dimension the vehicles, unmanned plane can realize acting on the most widely completely, as it has been described above, checked the lower surface situation of high-altitude object by unmanned plane, such as, shoot at the bottom of bridge with unmanned plane, implement maintenance；For another example, with unmanned plane, control tower is carried out omnidirectional shooting, safeguard；For another example, pass through a broad pipeline with unmanned plane, pipe interior is carried out omnibearing monitoring etc..Under these environment, camera is only arranged on below unmanned plane by prior art, it is achieved style of shooting from the top down can not meet demand.
Utility model content
Goal of the invention of the present utility model is to provide a kind of unmanned plane aerial device and unmanned plane, equipment of taking photo by plane, video camera in order to solve being carried due to The Cloud Terrace in prior art is arranged at immediately below unmanned plane, image directly over unmanned plane cannot be absorbed, cause the problem that Aerial Images angle is sufficiently complete.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is as follows:
A kind of unmanned plane aerial device, including unmanned plane and equipment of taking photo by plane, described in the equipment of taking photo by plane can be arranged at the top of described unmanned plane.
Further, also include at least one fixed component or detachable block, described in equipment of taking photo by plane either permanently or detachably be installed on the top of described unmanned plane by described fixed component or described detachable block.
Further, described in the equipment of taking photo by plane include elevating function box, at least include in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
Further, also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
Further, also including The Cloud Terrace, support the flat board of described function device in described elevating function box, described The Cloud Terrace is arranged between described flat board and described function device, wherein,
Described The Cloud Terrace is applicable to control the rotation of described function device；
Described lifting unit includes the first fluctuating orbit, the first lifting unit, the second fluctuating orbit and the second lifting unit, described first lifting unit and described second lifting unit are respectively arranged in described first fluctuating orbit and described second fluctuating orbit, and described in Synchronization Control, flat board moves up along described first fluctuating orbit and described second fluctuating orbit or moves down；
Described roll-over unit includes the first power transmission shaft, first rotary drive unit, second driving shaft and the second rotary drive unit, described first rotary drive unit and described second rotary drive unit connect described first power transmission shaft and described second driving shaft respectively, one end of described first power transmission shaft connects described first lifting unit, the other end connects described flat board, one end of described second driving shaft connects described second lifting unit, the other end connects described flat board, described first rotary drive unit and described second rotary drive unit drive described first power transmission shaft and described second driving shaft rotating Vortex respectively, it is flipped up described flat board or downwardly turns over described flat board.
Further, also including that extensible member, described extensible member are arranged between described The Cloud Terrace and described function device, it is applicable to regulate the distance between described The Cloud Terrace and described function device.
According to another aspect of the present utility model, it is provided that one is taken photo by plane equipment, described in the equipment of taking photo by plane can be arranged at the top of unmanned plane..
Further, described in the equipment of taking photo by plane include elevating function box, at least include in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
Further, also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
According to another aspect of the present utility model, additionally provide a kind of unmanned plane, described unmanned plane include any of the above-described described in take photo by plane equipment.
The utility model discloses a kind of unmanned plane aerial device and unmanned plane, equipment of taking photo by plane, by being directly arranged on above unmanned plane by described The Cloud Terrace and/or camera head, it is achieved specially take photo by plane equipment diverse with prior art purposes；Can also be by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.
Described above is only the general introduction of technical solutions of the utility model, in order to make technological means of the present utility model clearer, reach the degree that those skilled in the art can be practiced according to the content of specification, and in order to above and other objects, features and advantages of the present utility model can be become apparent, it is illustrated with detailed description of the invention of the present utility model below.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the utility model various other advantage and benefit those of ordinary skill in the art be will be clear from understanding.Figure of description is only used for illustrating the purpose of preferred embodiment, and is not considered as restriction of the present utility model.It should be evident that drawings discussed below is only embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, it is presented with like reference characters identical parts.In the accompanying drawings:
Fig. 1 shows the unmanned plane aerial device structural representation according to the utility model embodiment one；
Fig. 2 shows the unmanned plane aerial device structural representation according to the utility model embodiment two；
Fig. 3 shows that the unmanned plane according to the utility model embodiment three is taken photo by plane method flow diagram；
Fig. 4 shows that the unmanned plane according to the utility model embodiment four is taken photo by plane method flow diagram.
Detailed description of the invention
It is more fully described specific embodiment of the utility model below with reference to accompanying drawings.Although accompanying drawing showing specific embodiment of the utility model, it being understood, however, that may be realized in various forms the utility model and should not limited by embodiments set forth here.On the contrary, it is provided that these embodiments are able to be best understood from the utility model, and complete for scope of the present utility model can be conveyed to those skilled in the art.
It should be noted that employ some vocabulary in the middle of specification and claim to censure specific components.Those skilled in the art it would be appreciated that, hardware manufacturer may call same assembly with different nouns.In the way of this specification and claims not difference by noun is used as distinguishing assembly, but it is used as the criterion distinguished with assembly difference functionally." comprising " or " including " as mentioned by the middle of specification and claim in the whole text is an open language, therefore should be construed to " comprise but be not limited to ".Specification subsequent descriptions is for implementing better embodiment of the present utility model, and right described description is for the purpose of the rule of specification, is not limited to scope of the present utility model.Protection domain of the present utility model is when being as the criterion depending on the defined person of claims.
For ease of the understanding to the utility model embodiment, as a example by several specific embodiments, it is further explained explanation below in conjunction with accompanying drawing, and each accompanying drawing is not intended that the restriction to the utility model embodiment.
Unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV (unmanned aerial vehicle) ", is the most manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Can be divided into from technical standpoint definition: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc..In recent years, along with raising, the progress of microprocessor technology, the improvement of power set and the increase of battery durable ability of sensor process so that it is the purposes at aspect military, civilian is constantly expanded at a high speed, and unmanned plane market has bright prospects.
In the utility model embodiment, preferred unmanned plane is many rotor unmanned aircrafts (or referred to as multi-rotor aerocraft), can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.Preferably, fuselage is made up of carbon fibre material, on the premise of meeting higher use strength and stiffness, can significantly alleviate the weight of fuselage, thus reduces the power demand of many rotor unmanned aircrafts and improve the mobility of many rotor unmanned aircrafts.Certainly, in other embodiments of the present utility model, fuselage can also be made up of plastics or other arbitrarily used materials.Fuselage is provided with multiple slurry arm being symmetric relative to the symmetrical plane in described fuselage, each slurry arm is provided with paddle components away from one end of described fuselage, described paddle components includes the motor being arranged on described slurry arm and the blade being connected on the output shaft of described motor, and the rotation of every a piece of blade is respectively positioned on the same face of cylinder.
The unmanned plane that technical solutions of the utility model use is primarily referred to as many rotor unmanned aircrafts little, miniature, and this unmanned vehicle volume is little, low cost, flight stability preferable, and flight cost is low.The aircraft that the utility model uses, typically with four axle multi-rotor aerocrafts as representative.
Embodiment one, a kind of unmanned plane aerial device.
Fig. 1 is the unmanned plane aerial device structural representation of the utility model embodiment one, and the utility model embodiment will be specifically described in conjunction with Fig. 1.
As it is shown in figure 1, the utility model embodiment provides a kind of unmanned plane aerial device, including unmanned plane and equipment of taking photo by plane, described in the equipment of taking photo by plane can be arranged at the top of described unmanned plane.
Wherein, described in the equipment of taking photo by plane when being arranged on described unmanned plane, its be at least able to carry out from the bottom up face upward bat pattern.
First " face upward bat pattern " with " pattern of taking a crane shot in the utility model embodiment " is made definitions.
nullWhen bat pattern of facing upward in the utility model embodiment refers to the top that the equipment of taking photo by plane is positioned at described unmanned aerial vehicle body or frame，Perform the viewfinder range shot from the bottom up in described unmanned plane upper-side viewing angle for the earth，The utility model is that the position that arranges of the camera head taken photo by plane in equipment by change is realized，Concrete，Described camera head is to be fixedly installed in above described unmanned aerial vehicle body，Or contractile being installed in described unmanned aerial vehicle body can be moved up and down，Stretch out when taking photo by plane and face upward bat pattern described in the realization of described unmanned aerial vehicle body，This is not constituted limiting the scope of the invention，It is different from prior art，When the equipment of taking photo by plane is arranged at the lower section of unmanned aerial vehicle body or frame，The angle being changed camera head lens by The Cloud Terrace realizes shooting the viewfinder range in described unmanned aerial vehicle body upper-side viewing angle，Although because so can to a certain degree realize facing upward bat，But such bat scope of facing upward can be blocked by rotor or fuselage，Cause finding a view not exclusively，Especially cannot photograph the viewfinder range directly over unmanned aerial vehicle body.
When the pattern of taking a crane shot in the utility model embodiment refers to the lower section that the equipment of taking photo by plane is positioned at described unmanned aerial vehicle body or frame, perform the viewfinder range shot from top to bottom in described unmanned plane lower-side angle for the earth, the utility model is to be overturn and after lifting by equipment of taking photo by plane, stretch out what described unmanned aerial vehicle body realized when taking photo by plane, it is different from prior art, and the equipment of taking photo by plane directly is fixedly installed on the lower section of unmanned aerial vehicle body or frame.Simultaneously, here the pattern of taking a crane shot is not to realize shooting the viewfinder range in described unmanned aerial vehicle body lower-side angle by the angle of The Cloud Terrace change camera head lens, although because so can to a certain degree realize taking a crane shot, but such scope of taking a crane shot can be blocked by rotor or fuselage, cause finding a view not exclusively, especially cannot photograph the viewfinder range immediately below unmanned aerial vehicle body.
In the utility model embodiment preferably, also include at least one fixed component or detachable block, described in equipment of taking photo by plane either permanently or detachably be installed on the top of described unmanned plane by described fixed component or described detachable block.Concrete detaching structure is referred to the component parts being capable of the object of the invention of the prior art, does not repeats them here.
In the utility model embodiment preferably, the described equipment of taking photo by plane can be integrally fixed at the camera head above described unmanned plane, its composition is fixed on unmanned plane aerial devices different immediately below unmanned plane from the existing equipment of taking photo by plane, can realize from top to bottom face upward bat pattern, be used for detecting the multiplex occasion such as situation bottom bridge, above insides of pipes.Preferably, described camera head is panorama camera or annular camera group, can realize region of taking photo by plane is carried out full angle image collection, and can configure motor and cradle head structure, alleviate unmanned plane burden, cost-effective.
In the utility model embodiment preferably, described in the equipment of taking photo by plane can include the The Cloud Terrace being fixed on above described unmanned plane and the described camera head being arranged on described The Cloud Terrace, the rotation of camera head described in described cradle head control.
In the utility model embodiment preferably, described in the equipment of taking photo by plane include elevating function box, at least include in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
In the utility model embodiment preferably, described lifting unit includes the first fluctuating orbit, the first lifting unit, the second fluctuating orbit and the second lifting unit, described first lifting unit and described second lifting unit are respectively arranged in described first fluctuating orbit and described second fluctuating orbit, and described in Synchronization Control, function device moves up along described first fluctuating orbit and described second fluctuating orbit or moves down.
In the utility model embodiment preferably, described elevating function box can be directly as a part for described unmanned aerial vehicle body, described elevating function box at least top has first hole facing described function device, stretch out from described first hole for described function device, carry out operation of taking photo by plane；Perforate on fuselage can also be passed through, described elevating function box is carried out carry as an optional equipment of described unmanned plane.Preferably, described elevating function box is dismountable, when described unmanned plane lands, it is not necessary to the when of using described elevating function box, can be removed.Preferably, described elevating function box at least top has the upper cover coordinating described first hole, and described upper cover can be opened or close.
Concrete, during described unmanned plane during flying, when flight to spot for photography, described elevating function box is from opening described upper cover, by described function device under the control of described lifting unit, rise to the first predetermined position, the described function device the first hole from described unmanned aerial vehicle body stretched out, described in execution from the bottom up face upward bat pattern.When this shooting is complete, first by described function device under the control of described lifting unit, drop to the second predetermined position, the described function device the first hole from described unmanned aerial vehicle body is regained, after including within fuselage completely, closes described upper cover.Preferably, described first predetermined position be the parallel position of described unmanned aerial vehicle body upper horizontal plane or the most described unmanned aerial vehicle body upper horizontal plane or other described function device arbitrarily can be stretched out the position of described unmanned aerial vehicle body from described first hole.Preferably, described second predetermined position be the middle part of described unmanned aerial vehicle body or the bottom of described unmanned aerial vehicle body or other arbitrarily can receive completely described in take photo by plane the position of equipment.Take photo by plane equipment described in protection as such, it is possible to play and reduce the effect of flight resistance.
In the utility model embodiment preferably, also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
In the utility model embodiment preferably, described roll-over unit includes the first power transmission shaft, first rotary drive unit, second driving shaft and the second rotary drive unit, described first rotary drive unit and described second rotary drive unit connect described first power transmission shaft and described second driving shaft respectively, one end of described first power transmission shaft connects described first lifting unit, the other end connects described function device, one end of described second driving shaft connects described second lifting unit, the other end connects described function device, described first rotary drive unit and described second rotary drive unit drive described first power transmission shaft and described second driving shaft rotating Vortex respectively, it is flipped up described function device or downwardly turns over described function device.
In the utility model embodiment preferably, there is above described elevating function box described first hole facing described function device, lower section has second hole facing described function device, described first hole and described second hole are respectively used to described function device and therefrom stretch out described unmanned plane, carry out operation of taking photo by plane.Preferably, described elevating function box also has the upper cover coordinating described first hole and the lower cover coordinating described second hole, and described upper cover and described lower cover all can be opened or close.
In the utility model embodiment preferably, described elevating function box and/or described unmanned plane also include shooting control module, described shooting control module connects described lifting unit and described roll-over unit, described shooting control module includes receiving unit, the shooting instruction that described reception unit sends for receiving unmanned plane, described shooting instruction includes that shooting time, spot for photography and shooting direction, described shooting direction at least include facing upward and clap and taking a crane shot from top to bottom from the bottom up.Described shooting control module also includes detector unit, when described shooting control module receives described shooting instruction, triggers described detector unit and detects described function device relative to the direction of described unmanned plane, and described direction at least includes upwardly-directed and direction down.Described shooting control module also includes judging unit, described judging unit connects described reception unit and described detector unit, judge that described shooting direction is the most consistent with described function device direction, if it is consistent, then perform turning operation, under the control of described roll-over unit, by described function device according to counterclockwise or clockwise overturning, when described shooting direction is consistent with described function device direction, open described upper cover or lower cover, under the control of described lifting unit, perform descending operation again, the direction of described descending operation is consistent with described shooting direction, described function device is risen to described first predetermined position or described function device is dropped to the 3rd predetermined position.Then, described function device is stretched out from described first hole or described second hole, perform to face upward bat pattern or pattern of taking a crane shot.
In the utility model embodiment preferably, described second predetermined position be the middle part of described unmanned aerial vehicle body or other arbitrarily can receive completely described in take photo by plane the position of equipment.Preferably, described 3rd predetermined position be the parallel position of described unmanned aerial vehicle body lower horizontal plane or the most described unmanned aerial vehicle body lower horizontal plane or other described function device arbitrarily can be stretched out the position of described unmanned aerial vehicle body from described second hole.
Such as, when described shooting direction be appointed as from the bottom up when facing upward bat pattern, if the most described function device is directed downward, first by described roll-over unit, described function device is turned into upwardly-directed；Then, open described first hole, described lifting unit control described function device and move up, until described first predetermined position.If the most described function device direction is upward, the most directly perform described descending operation.After Gu Ding, being stretched out from described first hole by described function device, perform to take photo by plane operation.Preferably, at the end of this is taken photo by plane, by described lifting unit, described function device is dropped to described second predetermined position, close described upper cover.The most such as, when described shooting direction is appointed as pattern of taking a crane shot from top to bottom, if the most described function device direction is upward, first by described roll-over unit, described function device is turned into direction down；Then, open described second hole, described lifting unit control described function device and move down, until described 3rd predetermined position.If the most described function device is directed downward, the most directly perform described descending operation.After Gu Ding, being stretched out from described second hole by described function device, perform to take photo by plane operation.Preferably, at the end of this is taken photo by plane, by described lifting unit, described function device is risen to described second predetermined position, close described lower cover.
In the utility model embodiment preferably, also including The Cloud Terrace, support the flat board of described function device in described elevating function box, described The Cloud Terrace is arranged between described flat board and described function device, wherein,
Described The Cloud Terrace is applicable to control the rotation of described function device；
Described lifting unit includes the first fluctuating orbit, the first lifting unit, the second fluctuating orbit and the second lifting unit, described first lifting unit and described second lifting unit are respectively arranged in described first fluctuating orbit and described second fluctuating orbit, and described in Synchronization Control, flat board moves up along described first fluctuating orbit and described second fluctuating orbit or moves down；
Described roll-over unit includes the first power transmission shaft, first rotary drive unit, second driving shaft and the second rotary drive unit, described first rotary drive unit and described second rotary drive unit connect described first power transmission shaft and described second driving shaft respectively, one end of described first power transmission shaft connects described first lifting unit, the other end connects described flat board, one end of described second driving shaft connects described second lifting unit, the other end connects described flat board, described first rotary drive unit and described second rotary drive unit drive described first power transmission shaft and described second driving shaft rotating Vortex respectively, it is flipped up described flat board or downwardly turns over described flat board.
In the utility model embodiment preferably, described first lifting unit, the second lifting unit, the first rotary drive unit, the second rotary drive unit are any one in motor, motor and hydraulic cylinder.Preferably, described motor is stepper motor.Preferably, described stepper motor uses direct current generator.
Certainly, lifting unit described in the utility model embodiment and described roll-over unit are not limited to above-mentioned enumerated structure, and in prior art, other arbitrarily can control the structure of the lifting of described function device and upset all within the scope of the utility model.
In the utility model embodiment preferably, described lifting unit also includes position-limit mechanism, and it is for limiting described flat board along vertical track upwards or the distance that moves upward.
In the utility model embodiment preferably, described lifting unit also includes securing member, and it, for when described flat board determines in a certain position, fixes described flat board.
In the utility model embodiment preferably, also including that extensible member, described extensible member are arranged between described The Cloud Terrace and described function device, it is applicable to regulate the distance between described The Cloud Terrace and described function device.Preferably, described function device is camera head.When described camera head performs to take photo by plane operation, if the physical arrangements such as the rotor of described unmanned plane or frame cause obstruction to shooting angle, can be by drawing high described extensible member, described camera head is stretched out the distance of described unmanned aerial vehicle body the most a little further, in this manner it is possible to evade impact and the restriction that shooting angle is caused by rotor.
Camera head is generally directly anchored on camera head platform by traditional unmanned plane The Cloud Terrace.It is stable that the serious vibrations of unmanned plane can make camera head image be difficult to.Additionally, the The Cloud Terrace that high-speed unmanned aerial vehicle carries is due to strong windblast, the vibrations of camera head can be made to aggravate.
In the utility model embodiment preferably, equipment of taking photo by plane described in also includes that stable unit, the stability of described function device depend primarily on the design of described The Cloud Terrace self.Wherein, described unit of stablizing can be inertial sensor assembly, it is also possible to be air damping damper, it is also possible to be any one or several combination in vibration-absorptive material or shock-absorbing ball.Such as, double tops instrument can be used to configure, simultaneously detection level and the angular speed of vertical angle thus realize automatically controlling.Or, The Cloud Terrace self-stabilization scheme based on accelerometer and gyro sensor can be used, by weighting algorithm, the data of accelerometer and gyroscope are carried out merging the certainty of measurement of raising attitude transducer, obtain optimum attitude angle.Accelerometer has more higher static accuracy than gyroscope, and gyroscope has dynamic accuracy higher to accelerometer, is merged the data of accelerometer and gyroscope by weight coefficient, improves the self-stabilization effect of The Cloud Terrace.Such as, described acceleration transducer selects the MMA8452 accelerometer of Freescale company, described gyroscope to select the L3G4200D gyro sensor of ST Microelectronics.
In the utility model embodiment preferably, described The Cloud Terrace is suspended on the described first first-class mode of flat board by air damping damper and carries out damping.Preferably, can by support frame by The Cloud Terrace integral hanging on 4 air damping dampers so that the vibrations of camera head are decayed further.
In the utility model embodiment preferably, it is also possible to by design ball-type camera head platform, with flexible materials such as sponges, camera head is wrapped in ball-type camera head platform, is substantially reduced air drag and cuts down shake.
In the utility model embodiment preferably, it is also possible to developed by method based on image procossing and stablize The Cloud Terrace, obtain the aerial photography effect of high-quality.
In the utility model embodiment preferably, described unmanned plane aerial device also includes ground control station, described ground control station includes central processing unit and communication module, described communication module is applicable to two-way communication between described unmanned plane and described ground control station, described central processing unit is applicable to send flight control instruction and shooting control instruction to described unmanned plane, operate the state of flight of described unmanned plane and the shooting situation of described equipment of taking photo by plane, such as shooting time, spot for photography, shooting direction and/or style of shooting.
In the utility model embodiment preferably, described unmanned plane aerial device also includes unmanned aerial vehicle flight path planning module, described unmanned aerial vehicle flight path planning module may be located in described ground control station, described unmanned plane can be according to the flight track flight planned in advance, it is also possible to carries out manual hand manipulation according to actual conditions, plans in real time.Preferably, described unmanned aerial vehicle flight path planning module may be located on described unmanned plane, by described unmanned plane independent navigation in monitoring range.
In the utility model embodiment preferably, described unmanned plane and the described equipment of taking photo by plane can also include sensor cluster, and it includes one or more sensor, for providing the state estimation of various aspects for unmanned plane.Such as, sensor cluster can detect the relative positioning of assembly, position change, unmanned plane orientation or the acceleration/deceleration that can also detect unmanned plane or one assembly of unmanned plane and the temperature change of unmanned plane.Sensor cluster can also include optical sensor, such as CMOS or ccd image sensor, is used for using in imaging applications.In certain embodiments, this sensor cluster can also include acceleration transducer, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
In the utility model embodiment preferably, the equipment of taking photo by plane for unmanned plane can include that hero3 etc. focuses moving camera, micro-single, single the most anti-etc., equipment self of taking photo by plane can support that controlled in wireless is to realize the long-range control of equipment of taking photo by plane, its camera used can also support WIFI control or infrared control, to realize the long-range control to camera, carry out taking pictures or recording a video of camera accordingly.Camera remote controllers can include the various functions such as shutter function, camera zoom, pattern.
In the utility model embodiment preferably, described camera remote controllers include control command and perform circuit, wherein, this control command performs circuit and includes single-chip microcomputer and peripheral circuit, its corresponding output end triggering corresponding to camera control panel pin leads connects, this single-chip microcomputer and the input signal of peripheral circuit monitoring unmanned plane, when monitoring camera control commands, change the level signal triggered on pin of the corresponding function of the camera control panel drawn, trigger corresponding camera function, such as remote burnt, near burnt, focusing, take pictures, video recording, operation stopping etc..Corresponding, on the remote controller that unmanned plane is corresponding, can customize command switch, launch camera control commands, such as: Jiao the most burnt, near, focus, take pictures, record a video, operate stopping etc..
In the utility model embodiment preferably, the described equipment of taking photo by plane includes camera and video camera, described camera is used for shooting image, described video camera is used for recorded video, it is installed on a The Cloud Terrace, after unmanned plane hovering, by motor, the direction of The Cloud Terrace is controlled, thus realizes the full angle image collection to this region.
In the utility model embodiment, the wireless network used can use wireless network based on IEEE802.11 agreement and/or 3G wireless network.
The utility model embodiment discloses a kind of unmanned plane aerial device, by being directly arranged on above unmanned plane by described The Cloud Terrace and/or camera head, it is achieved specially take photo by plane equipment diverse with prior art purposes；Can also be by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.At the same time it can also be when without camera head, by whole The Cloud Terrace, camera head income fuselage frame, play defencive function equipment, and reduce the effect of flight resistance.
Embodiment two, a kind of unmanned plane aerial device.
Fig. 2 is the unmanned plane aerial device structural representation of the utility model embodiment 2, and the utility model embodiment will be specifically described in conjunction with Fig. 2.
As shown in Figure 2, the utility model embodiment provides a kind of unmanned plane aerial device, including elevating function box/fuselage 201 and rotor 202, mainly comprise parts to be in elevating function box 201, described elevating function box 201 and function device 205 thereof can realize directly as a part for fuselage 201, it is also possible to by carrying out carry in fuselage 201 perforate as an optional equipment.
In the utility model embodiment preferably, described elevating function box/fuselage 201 is internal mainly is formed by with lower component: control the fluctuating orbit 206 of The Cloud Terrace lifting and lifting motor 207, function device, for controlling the The Cloud Terrace 203 of described function device 205 motion, the first flat board 204 of fixing described The Cloud Terrace and the vertical rotary driving motor 208 driving described first flat board 204 to carry out overturning.Described fuselage and/or described elevating function box 201 carry out perforate in the surface of described function device 205, facilitate described function device to stretch out described fuselage and/or described elevating function box 201.
In the utility model embodiment preferably, it is equipped with fluctuating orbit 206 and lifting motor 207 in the left and right sides of described first flat board, jointly realizes the vertical movement of described first flat board 204 and fix, being allowed to stress balance, reducing shake, increasing stabilization of equipment performance.During vertical rotary, also driven motor 208 to order about power transmission shaft rotating in same direction by the described vertical rotary of both sides, be allowed to stress equalization and tilt-stable.
In flight course, when needs use described function device 205, first determine that described function device 205 is to extend above from described fuselage 201 or stretch out below fuselage, thus operate described vertical rotary and drive motor 208, described first flat board 204 is driven to carry out the rotation of vertical direction so that described function device 205 is towards hole or top hole below described fuselage 201.After fix in position, described lifting motor 207 drives described first flat board 204 downwards or to move upward along described fluctuating orbit 206 so that described function device 205, through described fuselage 201 hole, stretches out from fuselage below or above, completes corresponding function.
If need not use described function device 205; by operating described lifting motor 207; described first flat board 204 is driven to move up and down; it is parked in described elevating function box/fuselage 201 middle part; described function device 205 can be made to take in completely in fuselage or described elevating function box 201, play certain protection and reduce the effect of flight resistance.
In the utility model embodiment preferably, described function device is filming apparatus.Described filming apparatus can be video camera, web video camera, camera, camera or infrared static camera network.Network can be deployed as any kind of network, including cable network and wireless network and in various environment by the LAN being embodied in various ways.
In the utility model embodiment preferably, described unmanned plane also includes flight controller, and described flight controller is for controlling flight and the operation of taking photo by plane of described filming apparatus of described unmanned plane.Wherein, described flight controller can pass through central processing unit (CPU) and/or coprocessor, field programmable gate array (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM), controller, microcontroller, microprocessor or other electronic components realize.Preferably, described flight controller can be server, and including processing assembly, it farther includes one or more processor, and by the memory resource representated by memory, can be by processing the instruction that assembly performs, such as application program for storage.In memory storage application program can include one or more each corresponding to one group instruction module.
In the utility model embodiment preferably, described unmanned plane also includes power module and power plant module.
In the utility model embodiment preferably, described unmanned plane 202 also includes locating module and automatic obstacle-avoiding module.Wherein, described locating module is GPS device, and described automatic obstacle-avoiding module is laser range finder or ultrasonic listening sensor, and described power module is dynamic lithium battery.
The utility model embodiment discloses a kind of unmanned plane aerial device, by being directly arranged on above unmanned plane by described The Cloud Terrace and/or camera head, it is achieved specially take photo by plane equipment diverse with prior art purposes；Can also be by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.At the same time it can also be when without camera head, by whole The Cloud Terrace, camera head income fuselage frame, play defencive function equipment, and reduce the effect of flight resistance.It addition, camera head of the present utility model can also as required, when shooting, the most upward or lower section is stretched out, thus avoid the restriction to shooting angle of the frame physical arrangement of many rotor wing unmanned aerial vehicles.
Content during other content sees above-mentioned utility model embodiment in the utility model embodiment, does not repeats them here.
Embodiment three, a kind of unmanned plane are taken photo by plane method.
Fig. 3 is that the unmanned plane of the utility model embodiment three is taken photo by plane method flow diagram, and the utility model embodiment will be specifically described in conjunction with Fig. 3.
Taking photo by plane method as it is shown on figure 3, the utility model embodiment provides a kind of unmanned plane, the method comprises the following steps:
Step S301: unmanned plane carries equipment of taking photo by plane and flies to specifying position；
Concrete, described unmanned plane can fly described appointment position according to pre-set flight track, then hovers；Or described unmanned plane can fly take photo by plane with independent navigation to the overhead in monitoring region.
Step S302: described in take photo by plane equipment perform from the bottom up face upward bat pattern.
In the utility model embodiment preferably, described in the equipment of taking photo by plane can be fixed on above described unmanned plane, now, described in the equipment of taking photo by plane can only perform described in from the bottom up face upward bat pattern.
In the utility model embodiment preferably, the described equipment of taking photo by plane can be arranged in described unmanned aerial vehicle body, descending operation is performed by a lifting unit, when needs are taken photo by plane, described equipment of taking photo by plane is past in described unmanned aerial vehicle body rises to a predetermined position, then stretching out described unmanned aerial vehicle body, perform to take photo by plane operation.
In the utility model embodiment preferably, the described equipment of taking photo by plane includes The Cloud Terrace and the camera head being arranged on described The Cloud Terrace, the described equipment of taking photo by plane can be arranged in described unmanned aerial vehicle body, descending operation is performed by a lifting unit, when needs are taken photo by plane, described in take photo by plane equipment in described unmanned aerial vehicle body toward rising to a predetermined position, after being stretched by the tensile part between described The Cloud Terrace and described camera head, described camera head stretches out described unmanned aerial vehicle body, and perform to take photo by plane operation.
In the utility model embodiment preferably, described in equipment of taking photo by plane in addition to performing the step facing upward bat pattern from the bottom up, described in the equipment of taking photo by plane can also perform pattern of taking a crane shot from top to bottom.
In the utility model embodiment preferably, described in take photo by plane equipment perform described in face upward bat pattern and/or described in take a crane shot pattern, specifically include following steps:
Receive control information, determine current direction of taking photo by plane；
Take photo by plane described in determining the equipment direction relative to unmanned plane；
Direction of taking photo by plane described in judgement is the most consistent relative to the direction of unmanned plane with described equipment of taking photo by plane；
If it is inconsistent, by described equipment upset of taking photo by plane；
If consistent, then perform described in face upward bat pattern and/or described in take a crane shot pattern.
In the utility model embodiment preferably, face upward described in execution bat pattern and/or described in take a crane shot and also include receiving step after pattern, described equipment of taking photo by plane is taken in described unmanned plane.
Content during other content sees above-mentioned utility model embodiment in the utility model embodiment, does not repeats them here.
The unmanned plane of the utility model embodiment is taken photo by plane method, by being directly arranged on above unmanned plane by described The Cloud Terrace and/or camera head, it is achieved specially take photo by plane equipment diverse with prior art purposes；Can also be by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.At the same time it can also be when without camera head, by whole The Cloud Terrace, camera head income fuselage frame, play defencive function equipment, and reduce the effect of flight resistance.It addition, camera head of the present utility model can also as required, when shooting, the most upward or lower section is stretched out, thus avoid the restriction to shooting angle of the frame physical arrangement of many rotor wing unmanned aerial vehicles.
Embodiment four, a kind of unmanned plane are taken photo by plane method.
Fig. 4 is that the unmanned plane of the utility model embodiment four is taken photo by plane method flow diagram, and the utility model embodiment will be specifically described in conjunction with Fig. 4.
As shown in Figure 4, the utility model embodiment provides a kind of unmanned plane and takes photo by plane method, comprises the following steps；
Step S401: unmanned plane during flying is to specifying position；
Step S402: determine current direction of taking photo by plane；
Step S403: determine the equipment of the taking photo by plane direction relative to unmanned plane；
Step S404: direction of taking photo by plane described in judgement is the most consistent relative to the direction of unmanned plane with described equipment of taking photo by plane？If consistent, then jump to step S406；Otherwise, enter next step；
Step S405: by described equipment upset of taking photo by plane；
Step S406: the described equipment of taking photo by plane is moved up；
Step S407: perform bat pattern of facing upward from the bottom up or pattern of taking a crane shot from top to bottom；
Step S408: judge that this is taken photo by plane the most complete？If it is, enter next step；Otherwise, jump back to step S402；
Step S409: described equipment of taking photo by plane is taken in described unmanned plane.
Content during other content sees above-mentioned utility model embodiment in the utility model embodiment, does not repeats them here.
The utility model embodiment discloses a kind of unmanned plane and takes photo by plane method, by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.At the same time it can also be when without camera head, by whole The Cloud Terrace, camera head income fuselage frame, play defencive function equipment, and reduce the effect of flight resistance.
Embodiment five, one are taken photo by plane equipment.
The utility model embodiment provides one and takes photo by plane equipment, described in the equipment of taking photo by plane can be arranged at the top of unmanned plane.Wherein, when the equipment of taking photo by plane described in is positioned at the top of described unmanned plane, it is possible to perform from the bottom up face upward bat pattern.
In the utility model embodiment preferably, also include at least one fixed component or detachable block, described in equipment of taking photo by plane either permanently or detachably be installed on the top of unmanned plane by described fixed component or described detachable block.
In the utility model embodiment preferably, described in the equipment of taking photo by plane include elevating function box, at least include in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
In the utility model embodiment preferably, described lifting unit includes the first fluctuating orbit, the first lifting unit, the second fluctuating orbit and the second lifting unit, described first lifting unit and described second lifting unit are respectively arranged in described first fluctuating orbit and described second fluctuating orbit, and described in Synchronization Control, function device moves up along described first fluctuating orbit and described second fluctuating orbit or moves down.
In the utility model embodiment preferably, also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
In the utility model embodiment preferably, described roll-over unit includes the first power transmission shaft, first rotary drive unit, second driving shaft and the second rotary drive unit, described first rotary drive unit and described second rotary drive unit connect described first power transmission shaft and described second driving shaft respectively, one end of described first power transmission shaft connects described first lifting unit, the other end connects described function device, one end of described second driving shaft connects described second lifting unit, the other end connects described function device, described first rotary drive unit and described second rotary drive unit drive described first power transmission shaft and described second driving shaft rotating Vortex respectively, it is flipped up described function device or downwardly turns over described function device.
Content during other content sees above-mentioned utility model embodiment in the utility model embodiment, does not repeats them here.
Embodiment six, a kind of unmanned plane.
The utility model embodiment provides a kind of unmanned plane, including equipment of taking photo by plane described in arbitrary in above-mentioned.
Content during other content sees above-mentioned utility model embodiment in the utility model embodiment, does not repeats them here.
The utility model can bring the technique effect that these are useful: unmanned plane aerial device disclosed in the utility model embodiment and unmanned plane, equipment of taking photo by plane, by directly described The Cloud Terrace and/or camera head being arranged on above unmanned plane, it is achieved specially take photo by plane equipment diverse with prior art purposes；Can also be by designing a kind of device moving up and down and overturning The Cloud Terrace so that The Cloud Terrace can occur according to demand and shoot freely above or below unmanned plane.At the same time it can also be when without camera head, by whole The Cloud Terrace, camera head income fuselage frame, play defencive function equipment, and reduce the effect of flight resistance.It addition, camera head of the present utility model can also as required, when shooting, the most upward or lower section is stretched out, thus avoid the restriction to shooting angle of the frame physical arrangement of many rotor wing unmanned aerial vehicles.
Obviously, those skilled in the art can carry out various change and modification without deviating from spirit and scope of the present utility model to the utility model.So, if these amendments of the present utility model and modification belong within the scope of the utility model claim and equivalent technologies thereof, then the utility model is also intended to comprise these change and modification.
Claims (9)
1. a unmanned plane aerial device, it is characterised in that: include unmanned plane and take photo by plane equipment, described in the equipment of taking photo by plane can be arranged at the top of described unmanned plane.
Unmanned plane aerial device the most according to claim 1, it is characterized in that: also include at least one fixed component or detachable block, described in equipment of taking photo by plane either permanently or detachably be installed on the top of described unmanned plane by described fixed component or described detachable block.
Unmanned plane aerial device the most according to claim 1, it is characterized in that: described in the equipment of taking photo by plane include elevating function box, at least include in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
Unmanned plane aerial device the most according to claim 3, it is characterised in that: also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
Unmanned plane aerial device the most according to claim 4, it is characterised in that: also including The Cloud Terrace in described elevating function box, support the flat board of described function device, described The Cloud Terrace is arranged between described flat board and described function device, wherein,
Described The Cloud Terrace is applicable to control the rotation of described function device；
Described lifting unit includes the first fluctuating orbit, the first lifting unit, the second fluctuating orbit and the second lifting unit, described first lifting unit and described second lifting unit are respectively arranged in described first fluctuating orbit and described second fluctuating orbit, and described in Synchronization Control, flat board moves up along described first fluctuating orbit and described second fluctuating orbit or moves down；
Described roll-over unit includes the first power transmission shaft, first rotary drive unit, second driving shaft and the second rotary drive unit, described first rotary drive unit and described second rotary drive unit connect described first power transmission shaft and described second driving shaft respectively, one end of described first power transmission shaft connects described first lifting unit, the other end connects described flat board, one end of described second driving shaft connects described second lifting unit, the other end connects described flat board, described first rotary drive unit and described second rotary drive unit drive described first power transmission shaft and described second driving shaft rotating Vortex respectively, it is flipped up described flat board or downwardly turns over described flat board.
Unmanned plane aerial device the most according to claim 5, it is characterised in that: also including that extensible member, described extensible member are arranged between described The Cloud Terrace and described function device, it is applicable to regulate the distance between described The Cloud Terrace and described function device.
7. an equipment of taking photo by plane, it is characterised in that the equipment of taking photo by plane described in: can be arranged at the top of unmanned plane.
Equipment of taking photo by plane the most according to claim 7, it is characterised in that the equipment of taking photo by plane described in: includes elevating function box, at least includes in described elevating function box that lifting unit and function device, described lifting unit are applicable to control described function device and move up and down.
Equipment of taking photo by plane the most according to claim 8, it is characterised in that: also include in described elevating function box that roll-over unit, described roll-over unit are applicable to control described function device and spin upside down.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2015207424781 | 2015-09-23 | ||
| CN201520742478 | 2015-09-23 |
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| CN205353771U true CN205353771U (en) | 2016-06-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428592A (en) * | 2016-10-14 | 2017-02-22 | 安徽协创物联网技术有限公司 | Turnover unmanned aerial vehicle panorama camera |
| CN106482730A (en) * | 2016-12-07 | 2017-03-08 | 北京桔灯地球物理勘探股份有限公司 | A kind of field information collecting device on the spot being applied in geological informationization work |
| CN112867395A (en) * | 2018-10-30 | 2021-05-28 | 株式会社尼罗沃克 | Travel route generation system, travel route generation method, travel route generation program, and unmanned aerial vehicle |
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2016
- 2016-01-07 CN CN201620013854.8U patent/CN205353771U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106428592A (en) * | 2016-10-14 | 2017-02-22 | 安徽协创物联网技术有限公司 | Turnover unmanned aerial vehicle panorama camera |
| CN106482730A (en) * | 2016-12-07 | 2017-03-08 | 北京桔灯地球物理勘探股份有限公司 | A kind of field information collecting device on the spot being applied in geological informationization work |
| CN112867395A (en) * | 2018-10-30 | 2021-05-28 | 株式会社尼罗沃克 | Travel route generation system, travel route generation method, travel route generation program, and unmanned aerial vehicle |
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Effective date of registration: 20170510 Address after: 100020 Beijing City West Road No. 12 Chaoyang District Building No. 2 (national advertising Industrial Park incubator No. 25978) Patentee after: High domain (Beijing) Intelligent Technology Research Institute Co., Ltd. Address before: 100052 Beijing City, Xicheng District Caishikou Street No. 2 CITIC Qinyuan 3-3-701 Patentee before: Yang Shanshan |