CN206975509U - A kind of airborne three axles clouds terrace system - Google Patents
A kind of airborne three axles clouds terrace system Download PDFInfo
- Publication number
- CN206975509U CN206975509U CN201720842686.8U CN201720842686U CN206975509U CN 206975509 U CN206975509 U CN 206975509U CN 201720842686 U CN201720842686 U CN 201720842686U CN 206975509 U CN206975509 U CN 206975509U
- Authority
- CN
- China
- Prior art keywords
- course
- driver element
- fixedly mounted
- roll
- axles
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Toys (AREA)
Abstract
A kind of airborne three axles clouds terrace system, is related to unmanned aerial vehicle onboard head field；Including cradle head controllor, course driver element, roll driver element, pitch drive unit, time middle position detection unit, posture sensing unit, camera signal docking unit, electronics slip ring, slip ring signal pinboard and frame；Position detection unit, cradle head controllor are fixedly mounted on the upper surface of frame in returning；Course driver element is fixedly mounted on go back to middle position detection unit lower end；On electronics slip ring is fixedly mounted in the driver element of course；Slip ring signal pinboard is fixedly mounted on course driver element bottom surface；Roll driver element is fixedly mounted on the lower end of course driver element；Pitch drive unit is fixedly mounted on horizontal one end of roll driver element；Posture sensing unit is provided with camera signal docking unit on the side away from pitch drive unit.The utility model clouds terrace system stablizing effect is good, and tracking is sensitive, reduces number of sensors while precision is ensured, reduces cost.
Description
Technical field
A kind of unmanned aerial vehicle onboard head field is the utility model is related to, particularly a kind of airborne three axles clouds terrace system.
Background technology
Airborne tripod head carry is used to ensure that video camera regards in flying on unmanned plane and together therewith when task is taken photo by plane in execution
The stabilization of axle, and then ensure the stabilization, clear of shooting picture.In addition, remote control is also may rely on to change the three-axis attitude of head,
So as to change the visual angle of video camera to obtain the image information of multi-angle.
The technical scheme that existing head is taken uses encoder and multi-pose measurement sensor mostly, construction is complicated, into
This costliness, and traditional cabling mode makes the adjustable limited angle of head, the 360 degree difficult to realize unrestricted rotations of course axle.
Utility model content
The purpose of this utility model is the above-mentioned deficiency for overcoming prior art, there is provided a kind of airborne three axles clouds terrace system,
The clouds terrace system stablizing effect is good, and tracking is sensitive, reduces number of sensors while precision is ensured, reduces cost, electronics
The 360 degree of unrestricted rotations of course axle can be achieved in the combination of slip ring and drag cup；Camera signal docking unit regards in transmitting
It can realize that video camera charges online while frequency signal, increase cruising time.
Above-mentioned purpose of the present utility model is achieved by following technical solution：
A kind of airborne three axles clouds terrace system, including cradle head controllor, course driver element, roll driver element, pitching drive
Moving cell, return middle position detection unit, posture sensing unit, camera signal docking unit, electronics slip ring, slip ring signal switching
Plate and frame；Wherein, frame is rectangular plate-like structure, and middle part is provided with through hole；Position detection unit is fixedly mounted on machine in returning
The upper surface of frame, and the through hole of frame is axially passed through straight down；Cradle head controllor is fixedly mounted on the upper surface of frame, and position
The side of position detection unit in returning；Course driver element is fixedly mounted on go back to middle position detection unit lower end；Electronics slip ring
The hollow-cup motor center being fixedly mounted in the driver element of course；Slip ring signal pinboard is fixedly mounted on course driver element
In hollow-cup motor bottom surface；Roll driver element is fixedly mounted on the lower end of course driver element；Pitch drive unit
It is fixedly mounted on horizontal one end of roll driver element；Posture sensing unit is fixedly mounted on bottom of the frame, and posture is sensitive single
Member is provided with camera signal docking unit on the side away from pitch drive unit.
In a kind of above-mentioned airborne three axles clouds terrace system, it is described return in position detection unit include U-shaped photoelectric sensor,
Anti-dazzling screen, support and shock-absorbing ball；Wherein, support is coaxially fixed on course driver element upper surface；U-shaped photoelectric sensor fixes peace
Mounted in one end of support；Shock-absorbing ball is fixedly mounted between support and frame；It is single that anti-dazzling screen is fixedly mounted on course driving vertically
The top of member.
In a kind of above-mentioned airborne three axles clouds terrace system, described support is decussate texture, and support is provided with 4 mutually
Vertical supporting leg；A shock-absorbing ball is fixedly mounted in the end of each supporting leg.
In a kind of above-mentioned airborne three axles clouds terrace system, described anti-dazzling screen is L shape, and long L is 9-11mm；Wide w is 9-
9.5mm；High h is 17-19mm；Anti-dazzling screen uses Metal plate.
In a kind of above-mentioned airborne three axles clouds terrace system, the shore hardness of described shock-absorbing ball is 25HA.
In a kind of above-mentioned airborne three axles clouds terrace system, described course driver element includes course spindle motor, course arm
With course electric motor end cap；Wherein, course spindle motor one end connecting bracket, the other end are fixedly mounted on the electric motor end cap of course；Boat
It is domes to arm, course arm one end is connected with course electric motor end cap, course arm other end one end and roll driver element phase
Even.
In a kind of above-mentioned airborne three axles clouds terrace system, described posture sensing unit is provided with six axle inertia measurements sensing
Device.
In a kind of above-mentioned airborne three axles clouds terrace system, described electronics slip ring shares 12 passages；Wherein 2 passages pass
Pass power supply signal, 6 passages transmit cradle head controllor and transmit cradle head controllor and appearance to driver element control signal, 2 passages
Communication signal, 2 passages between state sensing unit transmit the vision signal of video camera output.
In a kind of above-mentioned airborne three axles clouds terrace system, the roll driver element include roll spindle motor, roll arm and
Roll spindle motor end cap；Wherein, roll spindle motor end cap is fixedly connected with course arm；Roll spindle motor is fixedly mounted on horizontal stroke vertically
The medial surface of roller motor end cap；Roll arm is domes, and one end of roll arm is fixedly connected with roll spindle motor medial surface,
The other end of roll arm is fixedly connected with pitch drive unit.
The utility model has the following advantages that compared with prior art：
(1) the utility model employs posture sensing unit, and six axle inertia measurements sensing is integrated with posture sensing unit
Device, the 3-axis acceleration information and velocity information of video camera can be converted to data signal and send cradle head controllor to, ensure essence
Reduce component number while spending；
(2) position detection unit during the utility model employs back, the rotation for course axle provide position reference, can be achieved
Function during one key returns.Improve controllability；
(3) the utility model employs electronics slip ring, and can avoid the winding of circuit, while increases course axle activity model
Enclose, realize that 360 degree unrestrictedly rotate；
(4) the utility model employs camera signal docking unit, realizes the transmitting of camera video signal,
Charged online to video camera by the power-switching circuit in cradle head controllor simultaneously, add the cruising time of video camera.
Brief description of the drawings
Fig. 1 is the schematic diagram of the airborne three axles clouds terrace system of the utility model；
Fig. 2 is the utility model anti-dazzling screen schematic diagram；
Fig. 3 is the utility model course driver element schematic diagram.
Embodiment
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
The purpose of this utility model is to provide a kind of three axle clouds terrace systems suitable for unmanned aerial vehicle onboard, the utility model
Cost can be reduced, simplifies structure, increases the angle motion scope of head.
It is the schematic diagram of airborne three axles clouds terrace system as shown in Figure 1, as seen from the figure, airborne three axles clouds terrace system includes head
Controller 1, course driver element 2, pitch drive unit 3, roll driver element 4, time middle position detection unit 5, posture are sensitive
Unit 6, camera signal docking unit 7, electronics slip ring 8, slip ring signal pinboard 9, frame 10.In the clouds terrace system frame
A video camera is fixed with, the posture sensing unit 6 is used for the attitude information for detecting video camera, and passes through transmission line real-time delivery
To cradle head controllor 1, cradle head controllor 1 calculates the current three-axis attitude angle of video camera by certain Attitude Algorithm, with target
Angle will provide the control signal of adjustment posture after being contrasted, then control signal is sent into what needs adjusted by transmission line
Driver element, so as to which Step wise approximation object attitude angle reaches stable.The clouds terrace system can also respond remote control signal, pass through
Cradle head controllor 1 connects remote control receiver, controls each axle to make corresponding rotary motion, or by video camera pose adjustment to specifying
Angle simultaneously keeps stable.During clouds terrace system works, cradle head controllor 1 is used to gather the letter from camera Attitude Measuring Unit
Breath, control signal is sent to course driver element 2, pitch drive unit 4, roll driver element 3 and realizes that increasing is steady.The head control
Device processed can also be used to receive remote control command, and video camera current pose is adjusted.
Wherein, frame 10 is rectangular plate-like structure, and middle part is provided with through hole；Position detection unit 5 is fixedly mounted in returning
The upper surface of frame 10, and the through hole of frame 10 is axially passed through straight down；Cradle head controllor 1 is fixedly mounted on the upper of frame 10
Surface, and it is located at go back to the side of middle position detection unit 5；During course driver element 2 is fixedly mounted on back under position detection unit 5
End；Electronics slip ring 8 is fixedly mounted on the hollow-cup motor center in course driver element 2；Electronics slip ring 8 shares 12 passages；
Wherein 2 passages transmit power supply signal, 6 passages transmit cradle head controllor 1 to driver element control signal, 2 passage transmission
Communication signal, 2 passages between cradle head controllor 1 and posture sensing unit 6 transmit the vision signal of video camera output.Slip ring
Signals Transfer Board 9 is fixedly mounted on the bottom surface of the hollow-cup motor in course driver element 2；Roll driver element 3 fixes peace
Mounted in the lower end of course driver element 2；Pitch drive unit 4 is fixedly mounted on horizontal one end of roll driver element 3；Posture is quick
Sense unit 6 is fixedly mounted on the bottom of frame 10, and posture sensing unit 6 is provided with six axle inertia measurement sensors, and posture is sensitive
Unit 6 is provided with camera signal docking unit 7 on the side away from pitch drive unit 4.
Be illustrated in figure 3 course driver element schematic diagram, as seen from the figure, course driver element 2 include course spindle motor 2a,
Course arm 2b and course electric motor end cap 2c；Wherein, course spindle motor 2a one end connecting bracket 5c, the other end are fixedly mounted on course
On electric motor end cap 2c；Course arm 2b is domes, and course arm 2b one end is connected with course electric motor end cap 2c, and course arm 2b is another
End one end is connected with roll driver element 3.
Roll driver element 3 includes roll spindle motor 3a, roll arm 3b and roll spindle motor end cap 3c；Wherein, roll axle
Electric motor end cap 3c is fixedly connected with course arm 2b；Roll spindle motor 3a is fixedly mounted on roll spindle motor end cap 3c inner side vertically
Face；Roll arm 3b is domes, and roll arm 3b one end is fixedly connected with roll spindle motor 3a medial surfaces, and roll arm 3b's is another
One end is fixedly connected with pitch drive unit 4.
Position detection unit 5 includes U-shaped photoelectric sensor 5a, anti-dazzling screen 5b, support 5c and shock-absorbing ball 5d in returning；Wherein,
Support 5c is coaxially fixed on the upper surface of course driver element 2；U-shaped photoelectric sensor 5a is fixedly mounted on support 5c one end；Subtract
Shake ball 5d is fixedly mounted between support 5c and frame 10；Anti-dazzling screen 5b is fixedly mounted on the top of course driver element 2 vertically；
Wherein, support 5c is decussate texture, and support 5c is provided with 4 orthogonal supporting legs；It is illustrated in figure 2 anti-dazzling screen signal
Figure, as seen from the figure, anti-dazzling screen 5b is L shape, and long L is 9-11mm；Wide w is 9-9.5mm；High h is 17-19mm；Anti-dazzling screen 5b is adopted
Use Metal plate；A shock-absorbing ball 5d is fixedly mounted in the end of each supporting leg, and shock-absorbing ball 5d shore hardness is 25HA.
Camera signal docking unit 7 is used to the vision signal of video camera shooting transfer out, transmits to figure and passes transmitting
Device, while power supply signal is transmitted to video camera, realize online charging.
The lead of the one end of slip ring signal pinboard 9 connection electronics slip ring 8, one end connection pitch drive unit 4, roll driving are single
The signal wire of member 3, posture sensing unit 6 and camera signal docking unit.
Position detection unit 5 is used to provide reference position when head course axle is performed during a key returns in returning.
Cradle head controllor 1 is integrated with electricity and adjusts circuit, remote-control receiver signaling conversion circuit.
Course driver element 2 includes a drag cup brushless electric machine, a course arm, is entered by three faller gill lines with cradle head controllor
Row electrical connection.
Pitch drive unit 4 includes a drag cup brushless electric machine, a pitch arm；Roll driver element 3 includes a drag cup
Brushless electric machine, a roll arm.
Position detection unit 5 includes a U-shaped photoelectric sensor 5a in returning, a matte light 5b, the multitudinous mating plate 5b are installed on
On the course arm of course driver element.
Posture sensing unit 6 is installed on camera installing plate bottom in frame, including the inertia measurement sensing that one or six axles are integrated
Device, the quantity of attitude transducer is reduced, simplify construction while reducing cost.
The camera signal docking unit 7 includes Signals Transfer Board, signal transmssion line, and described Signals Transfer Board one end connects
The USB interface of video camera is connect, one end passes transmitter by the connection figure of electronics slip ring 8.The signal transmssion line is shielding line, is reduced
Interference of the external environment to vision signal.
Electronics slip ring 8 is for electrically connecting between realizing the load unit and cradle head controllor below all course motors
Connect, so as to realize 360 degree of unrestricted spinfunctions of course axle.
Clouds terrace system stablizing effect provided by the utility model is good, and tracking is sensitive, and sensing is reduced while precision is ensured
Device quantity, cost being reduced, the combination of hollow-cup motor and electronics slip ring makes the winding that line is avoided while signal reliable delivery,
Ensure the 360 degree of unrestricted rotations of course axle.
The content not being described in detail in the utility model specification belongs to the known technology of those skilled in the art.
Claims (9)
- A kind of 1. airborne three axles clouds terrace system, it is characterised in that：Including cradle head controllor (1), course driver element (2), roll Driver element (3), pitch drive unit (4), return middle position detection unit (5), posture sensing unit (6), camera signal pair Order member (7), electronics slip ring (8), slip ring signal pinboard (9) and frame (10)；Wherein, frame (10) is rectangular plate-like knot Structure, middle part are provided with through hole；Position detection unit (5) is fixedly mounted on the upper surfaces of frame (10) in returning, and axially vertically to Under through frame (10) through hole；Cradle head controllor (1) is fixedly mounted on the upper surface of frame (10), and is located at back middle position inspection Survey the side of unit (5)；Course driver element (2) is fixedly mounted on go back to middle position detection unit (5) lower end；Electronics slip ring (8) The hollow-cup motor center being fixedly mounted in course driver element (2)；Slip ring signal pinboard (9) is fixedly mounted on course drive The bottom surface of hollow-cup motor in moving cell (2)；Roll driver element (3) is fixedly mounted under course driver element (2) End；Pitch drive unit (4) is fixedly mounted on horizontal one end of roll driver element (3)；Posture sensing unit (6) is fixedly mounted In frame (10) bottom, and camera signal pair is provided with side of the posture sensing unit (6) away from pitch drive unit (4) Order member (7).
- 2. the airborne three axles clouds terrace system of one kind according to claim 1, it is characterised in that：Described returns middle position testing unit First (5) include U-shaped photoelectric sensor (5a), anti-dazzling screen (5b), support (5c) and shock-absorbing ball (5d)；Wherein, support (5c) is coaxial It is fixed on course driver element (2) upper surface；U-shaped photoelectric sensor (5a) is fixedly mounted on support (5c) one end；Shock-absorbing ball (5d) is fixedly mounted between support (5c) and frame (10)；Anti-dazzling screen (5b) is fixedly mounted on course driver element (2) vertically Top.
- 3. the airborne three axles clouds terrace system of one kind according to claim 2, it is characterised in that：Described support (5c) is cross Shape structure, support (5c) are provided with 4 orthogonal supporting legs；A shock-absorbing ball is fixedly mounted in the end of each supporting leg (5d)。
- 4. the airborne three axles clouds terrace system of one kind according to claim 3, it is characterised in that：Described anti-dazzling screen (5b) is L Shape, long L are 9-11mm；Wide w is 9-9.5mm；High h is 17-19mm；Anti-dazzling screen (5b) uses Metal plate.
- 5. the airborne three axles clouds terrace system of one kind according to claim 3, it is characterised in that：Shao of described shock-absorbing ball (5d) Family name's hardness is 25HA.
- 6. the airborne three axles clouds terrace system of one kind according to claim 2, it is characterised in that：Described course driver element (2) course spindle motor (2a), course arm (2b) and course electric motor end cap (2c) are included；Wherein, course spindle motor (2a) one end connects Support (5c) is connect, the other end is fixedly mounted on course electric motor end cap (2c)；Course arm (2b) is domes, course arm (2b) One end is connected with course electric motor end cap (2c), and arm (2b) other end one end in course is connected with roll driver element (3).
- 7. the airborne three axles clouds terrace system of one kind according to claim 1, it is characterised in that：Described posture sensing unit (6) six axle inertia measurement sensors are provided with.
- 8. the airborne three axles clouds terrace system of one kind according to claim 1, it is characterised in that：Described electronics slip ring (8) is altogether There are 12 passages；Wherein 2 passages transmit power supply signal, 6 passages transmit cradle head controllor (1) and driver element is controlled and believe Number, 2 passages transmit communication signal, 2 passages transmission video cameras between cradle head controllors (1) and posture sensing unit (6) The vision signal of output.
- 9. the airborne three axles clouds terrace system of one kind according to claim 6, it is characterised in that：The roll driver element (3) Including roll spindle motor (3a), roll arm (3b) and roll spindle motor end cap (3c)；Wherein, roll spindle motor end cap (3c) and boat It is fixedly connected to arm (2b)；Roll spindle motor (3a) is fixedly mounted on the medial surface of roll spindle motor end cap (3c) vertically；Roll Arm (3b) is domes, and one end of roll arm (3b) is fixedly connected with roll spindle motor (3a) medial surface, roll arm (3b) The other end is fixedly connected with pitch drive unit (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842686.8U CN206975509U (en) | 2017-07-12 | 2017-07-12 | A kind of airborne three axles clouds terrace system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720842686.8U CN206975509U (en) | 2017-07-12 | 2017-07-12 | A kind of airborne three axles clouds terrace system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206975509U true CN206975509U (en) | 2018-02-06 |
Family
ID=61402223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720842686.8U Expired - Fee Related CN206975509U (en) | 2017-07-12 | 2017-07-12 | A kind of airborne three axles clouds terrace system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206975509U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109373976A (en) * | 2018-11-13 | 2019-02-22 | 深圳市科比特航空科技有限公司 | Unmanned plane plotting board |
| CN110914781A (en) * | 2018-07-27 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Control method and control device of holder, holder and moving trolley |
| CN111161512A (en) * | 2019-12-26 | 2020-05-15 | 北京华通天畅工程监理咨询有限公司 | Communication base station monitoring device |
| CN113748291A (en) * | 2020-06-30 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Cloud platform device and shooting device |
-
2017
- 2017-07-12 CN CN201720842686.8U patent/CN206975509U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110914781A (en) * | 2018-07-27 | 2020-03-24 | 深圳市大疆创新科技有限公司 | Control method and control device of holder, holder and moving trolley |
| CN109373976A (en) * | 2018-11-13 | 2019-02-22 | 深圳市科比特航空科技有限公司 | Unmanned plane plotting board |
| CN111161512A (en) * | 2019-12-26 | 2020-05-15 | 北京华通天畅工程监理咨询有限公司 | Communication base station monitoring device |
| CN113748291A (en) * | 2020-06-30 | 2021-12-03 | 深圳市大疆创新科技有限公司 | Cloud platform device and shooting device |
| WO2022000316A1 (en) * | 2020-06-30 | 2022-01-06 | 深圳市大疆创新科技有限公司 | Gimbal device, and photographing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206975509U (en) | A kind of airborne three axles clouds terrace system | |
| US12038129B2 (en) | Systems and methods for payload stabilization | |
| US11034449B2 (en) | Systems and methods for UAV transport and data acquisition | |
| US10556708B2 (en) | Payload mounting platform | |
| CN204650286U (en) | Control device and the clouds terrace system of The Cloud Terrace | |
| CN109606089B (en) | Fire extinguishing vehicle | |
| CN108235702A (en) | A kind of holder, unmanned plane and its control method | |
| CN106155105A (en) | Control device and the clouds terrace system of The Cloud Terrace | |
| CN108253966B (en) | Three-dimensional simulation display method for flight of unmanned aerial vehicle | |
| CN203705964U (en) | Stable closed-loop control device of airborne 3-DOF pan-tilt | |
| US11076082B2 (en) | Systems and methods for digital video stabilization | |
| US20180084173A1 (en) | Vibration Damping Gimbal Sleeve for an Aerial Vehicle | |
| CN204096095U (en) | A kind of unmanned plane full angle image aerial device | |
| WO2020042159A1 (en) | Rotation control method and apparatus for gimbal, control device, and mobile platform | |
| CN110377058B (en) | Aircraft yaw angle correction method and device and aircraft | |
| CN204810432U (en) | Monitored control system with unmanned aerial vehicle | |
| CN109603050B (en) | Control method for fire extinguishing vehicle | |
| CN105323485B (en) | One camera Oblique images capture device and acquisition method | |
| US20210005079A1 (en) | Uav communication control method and system, and uav | |
| CN213535103U (en) | Unmanned aerial vehicle for power transmission line inspection | |
| US11428362B2 (en) | Two-axis gimbal system for supporting a camera | |
| CN109621260B (en) | Control system of fire extinguishing vehicle | |
| CN207650653U (en) | Gesture control quadrotor based on Leap Motion | |
| CN213906781U (en) | Cloud platform control system | |
| CN207352473U (en) | A kind of unmanned plane automatic tracking antenna system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180206 Termination date: 20200712 |