CN208198848U - A kind of airborne aerial device and the unmanned plane containing it - Google Patents
A kind of airborne aerial device and the unmanned plane containing it Download PDFInfo
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- CN208198848U CN208198848U CN201820616361.2U CN201820616361U CN208198848U CN 208198848 U CN208198848 U CN 208198848U CN 201820616361 U CN201820616361 U CN 201820616361U CN 208198848 U CN208198848 U CN 208198848U
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- rangefinder
- mounting rack
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Abstract
The utility model relates to air vehicle technique fields, more particularly to a kind of airborne aerial device and containing its unmanned plane, including holder and camera, it further include rangefinder, holder includes rotating electric machine, support arm, roll motor, pitching motor and two pitching linking arms being oppositely arranged, the upper end of support arm is rotatablely connected rotating electric machine, bottom end is rotatablely connected roll motor, the both ends of roll motor are respectively fixedly connected with two pitching linking arms being oppositely arranged, wherein the free end of a pitching linking arm connects pitching motor；Camera is rotatably connected between pitching motor and another pitching linking arm；Rangefinder is installed on the wherein side of camera surrounding.Rangefinder integration is fixed on holder, on the one hand reduces body occupied space, take full advantage of holder space by a kind of airborne aerial device provided by the utility model and the unmanned plane containing it, so that space utilization rationalizes；On the other hand can auxiliary camera shooting, effectively obtain in captured image objectives object between unmanned plane at a distance from.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of airborne aerial device and the unmanned plane containing it.
Background technique
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus.With
The rapid development of unmanned plane industry, more and more unmanned planes be applied to take photo by plane, agricultural, forestry, electric power, mapping, telemetering
Etc. industries.
Equipped with aerial device in application field of taking photo by plane, unmanned plane body, aerial device includes holder, and holder is usually used
In carry camera, by increasing stability from steady holder and being remotely controlled the angle for changing and shooting, to guarantee take photo by plane quality and protection
It takes photo by plane equipment；In addition, being usually mounted with rangefinder on unmanned plane body, the distance of object is obtained to realize nothing by rangefinder
Man-machine automatic obstacle avoidance functions.Rangefinder is installed to assist aerial device to be shot however, being not yet present on holder at present
Structure.
Summary of the invention
In order to solve the above technical problems, The present invention provides a kind of airborne aerial device and containing its unmanned plane.
First aspect present invention provides a kind of airborne aerial device, including holder and camera, further includes rangefinder, described
Holder includes rotating electric machine, support arm, roll motor, pitching motor and two pitching linking arms being oppositely arranged, the support
The upper end of arm is rotatablely connected the rotating electric machine, and bottom end is rotatablely connected the roll motor, the both ends difference of the roll motor
Two pitching linking arms being oppositely arranged are fixedly connected with, wherein the free end of a pitching linking arm connects the pitching motor；Institute
Camera is stated to be rotatably connected between the pitching motor and another pitching linking arm；The rangefinder is installed on the camera surrounding
Wherein side.
As the further improvement in structure of the invention, the light of the camera lens in the ranging direction and camera of the rangefinder
Axis direction keeping parallelism.
It further include mounting rack as the further improvement in structure of the invention, the mounting rack includes two be oppositely arranged
A side mounting rack, wherein a side mounting rack and the pitching motor are rotatablely connected, the other side mounting rack by bearing with
Another pitching linking arm rotation connection, the two sides of the camera are fixedly connected with two side mounting racks respectively.
As the further improvement in structure of the invention, the mounting rack further includes bottom mounting rack, the bottom installation
Frame is connected to two sides mounting rack bottom, and the camera is fixed on the bottom mounting rack and is surrounded with two side mounting racks
Accommodating space in.
Preferably, the rangefinder is fixed on side mounting rack bottom.
It further include shield as the further improvement in structure of the invention, the shield is by the camera and ranging
Instrument is accommodated in it, and is offered camera lens mouth corresponding with the camera lens of the camera on shield and emitted with the rangefinder
The corresponding launch hole in hole.
Further, the shield includes the first protecting crust, the second protecting crust and third protecting crust, and described first is anti-
Protective case, the second protecting crust form after being symmetrical arranged and connecting with the third protecting crust camera and rangefinder being enclosed in it
Interior accommodating space.
Preferably, first protecting crust, the second protecting crust are mutually butted and at docking along the camera lens optical axis direction
It is located at same vertical plane with camera lens optical axis.
Preferably, the third protecting crust is connected to the front side bottom of first protecting crust, the second protecting crust diagonally downward
Portion；The third protecting crust is by two two side plates being oppositely arranged, the vertical back plate of two side plates of connection and connection side plates
Top plate integrally connected form, the launch hole is opened in the vertical back plate.
On the other hand, the present invention also provides a kind of unmanned planes, including body, further include above-mentioned airborne aerial device,
The airborne aerial device is installed on the organism bottom.
By adopting the above technical scheme, including it is following the utility model has the advantages that a kind of airborne aerial device provided by the present invention and containing
Rangefinder integration is fixed on holder, on the one hand reduces body occupied space by its unmanned plane, takes full advantage of holder sky
Between, so that space utilization rationalizes；It on the other hand being capable of auxiliary camera shooting, effectively objectives object in the captured image of acquisition
At a distance between unmanned plane, so that ranging data is accurate and reliable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram (not including shield) of airborne aerial device provided by the present invention；
Fig. 2 is the structural schematic diagram (including shield) of airborne aerial device provided by the present invention；
Fig. 3 is the structural schematic diagram (not including the second protecting crust) of airborne aerial device provided by the present invention；
Fig. 4 is the structural schematic diagram (not including shield and camera) of airborne aerial device provided by the present invention.
In figure,
1, rotating electric machine；2, support arm；3, roll motor；4, pitching linking arm；5, camera；5.1 camera lens；6, third is protected
Shell；6.1, top plate；6.2, side plate；6.3, vertical back plate；7, rangefinder；7.1, launch hole；7.2, receiver hole；8, pitching motor；
9, bearing；10, mounting rack；11, bottom mounting rack；12, the first protecting crust；13, the second protecting crust；14, camera lens mouth.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " " socket " shall be understood in a broad sense.For example, can
To be to be fixedly connected, it is detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be directly connected,
It either indirectly connected through an intermediary, or is two connections internal between device, element or component.For
For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Unless otherwise indicated, the meaning of " multiple " is two or more.
The present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Embodiment:
A kind of airborne aerial device is present embodiments provided, refering to fig. 1-4, including holder and camera 5, it further include rangefinder
7, the holder includes rotating electric machine 1, support arm 2, roll motor 3, pitching motor 8 and two pitching linking arms being oppositely arranged
4, the upper end of the support arm 2 is rotatablely connected the rotating electric machine 1, and bottom end is rotatablely connected the roll motor 3, the roll electricity
The both ends of machine 3 are respectively fixedly connected with two pitching linking arms 4 being oppositely arranged, wherein the free end of a pitching linking arm 4 connects
The pitching motor 8；The camera 5 is rotatably connected between the pitching motor 8 and another pitching linking arm 4；The ranging
Instrument 7 is installed on the wherein side of 5 surrounding of camera.
Preferably, the rangefinder 7 is laser range finder, and rangefinder 7 may be mounted at any up and down the one of camera 5
Side can obtain the position of object in image by rangefinder auxiliary camera, so obtain the object between unmanned plane away from
From.
Rangefinder is installed on the holder of unmanned plane, auxiliary camera shooting by airborne aerial device provided in the present embodiment
Image, and by rangefinder obtain in captured image object between unmanned plane at a distance from；In addition, in some industrial applications
In, operator needs to obtain the current distance of a certain specific objective object and unmanned plane in captured image, but due to captured figure
As in contain multiple objects, the rangefinder object being measured of fixed installation be difficult to it is corresponding with required specific objective object, to make
It obtains institute's ranging and separates out existing deviation, it is possible to so that the aerial mission of unmanned plane is difficult to effectively implement.
Therefore, in order to effectively obtaining specific objective object position needed for captured image, the present embodiment
In, when installing rangefinder, the optical axis direction keeping parallelism of the camera lens in the ranging direction and camera of the rangefinder.And
Further, the rangefinder includes symmetrically arranged launch hole and receiver hole, the plane of symmetry of the two and the camera lens optical axis
The plane of the vertical direction at place or the plane of horizontal direction are overlapped.If rangefinder to be fixed on to the top or bottom of camera,
The plane of symmetry of launch hole and receiver hole is overlapped with the plane of the vertical direction where the optical axis of the camera in rangefinder；If will survey
Distance meter is fixed on the left and right sides portion of camera, then launch hole and receiver hole setting symmetrical above and below, the plane of symmetry and camera lens light of the two
Axis plane in the horizontal direction be overlapped.By the way that rangefinder is arranged in any side of camera surrounding and makes the plane of symmetry and mirror
The plane of both direction where head optical axis is overlapped, so that rangefinder is closer with the optical axis position of the camera lens, but also
Rangefinder transmitting light can be made to be overlapped with the luminous point that camera lens optical axis is irradiated in somewhere in image, i.e. optical axis light is irradiated in image
Portion, then rangefinder follows camera lens to be irradiated in same place.Operator can be sent to the phase of ground surface end according to the figure transmission module on holder
Image captured by machine, remote control cradle head control camera angle make the specific objective level in the middle part of captured image, at this point,
Rangefinder object being measured is just the specific objective object, to accurately obtain the specific objective object to the distance between unmanned plane.
Holder provided in the present embodiment is three-axis stability augmentation holder, mainly by cradle head controllor, attitude transducer, rotation
Motor, roll motor and pitching motor composition, three motors are each responsible for the rotation in front and rear, left and right, upper and lower three directions, holder
Controller calculates the pitching, roll and yaw angle of current holder by attitude transducer, thus control three motors so that
Camera keeps posture static during exercise.Known to, rangefinder is equipped with data-interface, and rangefinder is connect data by data line
Mouth is connect with cradle head controllor, and cradle head controllor connect to realize that data are transmitted with UAV Flight Control device, and rangefinder will
Measured data are sent to cradle head controllor, and are transferred to UAV Flight Control device by cradle head controllor, so that nobody
Machine implements corresponding flight measure according to rangefinder data obtained.The control principle of three-axis stability augmentation holder and rangefinder
Range measurement principle is the common knowledge of the art, no longer further spreads out and repeats herein.
It in other embodiments, further, further include mounting rack, the mounting rack includes two sides being oppositely arranged
Mounting rack 10, wherein a side mounting rack 10 is rotatablely connected with the pitching motor 8, the other side mounting rack 10 passes through bearing 9
It is rotatablely connected with another pitching linking arm 4, the two sides of the camera 5 are fixedly connected with two side mounting racks 10 respectively.Pass through
Be oppositely arranged two side mounting racks 10 are fixedly mounted cameras 5 and are optionally consolidated camera and side mounting rack 10 by screw
Fixed connection, motor rotation drive mounting rack accordingly to rotate, so that the camera being fixed on mounting rack is driven to rotate synchronously, side peace
Shelve 10 size it is suitable with camera, be conducive to protect camera.In the embodiment, rangefinder 7 may be alternatively mounted at the upper of camera
Portion or bottom.
In certain embodiments, further, the mounting rack further includes bottom mounting rack 11, the bottom mounting rack
Two 10 bottoms of side mounting rack are connected to, the camera 5 is fixed on the bottom mounting rack 11 and two side mounting rack institutes
In the accommodating space surrounded.Side mounting rack 10 and bottom mounting rack 11 can be the plate structure for offering lightening hole.
The rangefinder 7 is fixed on the bottom mounting rack 11.By bottom mounting rack and two opposite side portion mounting rack institutes
On the one hand camera is fixedly mounted in the space for the open on three sides that it is surrounded by the mounting rack of composition, the two sides of camera pass through company
Fitting is fixedly connected with side mounting rack respectively, and bottom is fixedly connected by connector with bottom mounting rack, side mounting rack top
Portion's inward at both ends extend horizontally away boss, and top of camera is fixed on boss by connector, as a result, camera and mounting rack
Between firm and reliable connection, meanwhile, both sides mounting rack and bottom mounting rack play the role of effective protection to camera；On the other hand
Both mounting rack provides the bottom mounting rack of fixed support for rangefinder, so that rangefinder is individually fixed with camera, improve
The reliability of installation；Furthermore it is all fixed on mounting rack due to rangefinder and camera and is moved synchronously with mounting rack, due to three axis
Increase the effect of steady holder, so that camera remains static always, captured picture is high-visible, and similarly, rangefinder exists
Under the action of three axis holders, it can accurately beat on measured target object, improve the stability of ranging, further such that being surveyed
Range data is true and reliable.
It in some embodiments, further include shield in order to which comprehensive offer is to the protective action of camera and rangefinder, institute
It states shield the camera and rangefinder are accommodated in it, and offers mirror corresponding with the camera lens of the camera on shield
Head mouth 14 and emission port corresponding with the rangefinder launch hole.It is also provided with transmitting corresponding with the rangefinder launch hole
Mouth, receiving port corresponding with the rangefinder receiver hole.
Specifically, the shield include the first protecting crust 12, the second protecting crust 13 and third protecting crust 6, described first
Protecting crust 12, the second protecting crust 13 are formed after being symmetrical arranged and connecting with the third protecting crust 6 by the camera and rangefinder
The accommodating space being enclosed in it.
In some preferred embodiments, first protecting crust 12, the second protecting crust 13 are along the camera lens optical axis direction
It is mutually butted and is located at same vertical plane with camera lens optical axis at docking.Wherein, the first protecting crust 12 is located at connection pitching motor 8
Between pitching linking arm 4 and side mounting rack 10, the first protecting crust 12 is fixedly connected with the side mounting rack 10 by connector,
For second protecting crust 13 between another pitching linking arm 4 and side mounting rack 10, the second protecting crust 13 is by connector and is somebody's turn to do
Side mounting rack 10 is fixedly connected.
The third protecting crust 6 is connected to the front side bottom of first protecting crust 12, the second protecting crust 13；The third
Protecting crust 6 is by two two side plates being oppositely arranged 6.2, the vertical back plate 6.3 of two side plates 6.2 of connection and connection side plates
6.2 top plate integrally connected forms, the emission port, and receiving port is opened in the vertical back plate and is located at the lower lateral deviation of camera lens mouth
Rear.Two side plates of the third protecting crust are chamfer triangle, so that being formed by opening phase on third protecting crust
Camera lens mouth is arranged obliquely.The overall construction design of above-mentioned protecting crust plays the role of effective protection to camera and rangefinder,
It avoids external object or overcast and rainy environment damages the two, especially the structure of third protecting crust, one side is to ranging
Instrument plays protective action, and the vertical back plate of third protecting crust is respectively embedded at the launch hole and receiver hole of another aspect rangefinder
It is interior, it acts synergistically with mounting rack, further improves the reliability of rangefinder installation, avoid surveying due to installing not firm
The problem of away from deviation.
A kind of unmanned plane, including body are additionally provided in other embodiments, further include the airborne boat in above-described embodiment
Device is clapped, the airborne aerial device is installed on the organism bottom.Optionally, peace at the top of the rotating electric machine of airborne aerial device
Equipped with holder connecting plate, airborne aerial device is fixed on organism bottom by holder connecting plate.Unmanned plane includes flight controller,
Flight controller and cradle head controllor communicate to connect.
Unmanned plane holder mounted is usually three-axis stability augmentation holder, mainly by cradle head controllor, attitude transducer, rotation
Motor, roll motor and pitching motor composition, three motors are each responsible for the rotation in front and rear, left and right, upper and lower three directions, holder
Controller calculates the pitching, roll and yaw angle of current holder by attitude transducer, thus control three motors so that
Camera keeps posture static during exercise.Known to, rangefinder is equipped with data-interface, and rangefinder is connect data by data line
Mouth is connect with cradle head controllor, to realize that data are transmitted.Measured data are sent to cradle head controllor by rangefinder, and are led to
It crosses cradle head controllor and is transferred to UAV Flight Control device, so that unmanned plane is implemented accordingly according to rangefinder data obtained
Flight measure.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of airborne aerial device, including holder and camera (5), which is characterized in that further include rangefinder (7), the holder
Including rotating electric machine (1), support arm (2), roll motor (3), pitching motor (8) and two pitching linking arms being oppositely arranged
(4), the upper end of the support arm (2) is rotatablely connected the rotating electric machine (1), and bottom end is rotatablely connected the roll motor (3), institute
The both ends for stating roll motor (3) are respectively fixedly connected with two pitching linking arms (4) being oppositely arranged, wherein a pitching linking arm
(4) free end connects the pitching motor (8)；The camera (5) is rotatably connected on the pitching motor (8) and another pitching
Between linking arm (4)；The rangefinder (7) is installed on the wherein side of the camera (5) surrounding.
2. airborne aerial device according to claim 1, which is characterized in that the ranging direction of the rangefinder (7) and institute
State the optical axis direction keeping parallelism of the camera lens (5.1) of camera (5).
3. airborne aerial device according to claim 1 or 2, which is characterized in that it further include mounting rack, the mounting rack packet
Two side mounting racks (10) being oppositely arranged are included, wherein a side mounting rack (10) and the pitching motor (8) are rotatablely connected,
The other side mounting rack (10) is rotatablely connected by bearing (9) and another pitching linking arm (4), the two sides point of the camera (5)
It is not fixedly connected with two side mounting racks (10).
4. airborne aerial device according to claim 3, which is characterized in that the mounting rack further includes bottom mounting rack
(11), the bottom mounting rack (11) is connected to two side mounting rack (10) bottoms, and the camera (5) is fixed on the bottom
In the accommodating space that mounting rack (11) and two side mounting racks (10) are surrounded.
5. airborne aerial device according to claim 4, which is characterized in that the rangefinder (7) is fixed on the side
Mounting rack (10) bottom.
6. airborne aerial device according to claim 1, which is characterized in that further include shield, the shield is by institute
It states camera and rangefinder is accommodated in it, and offer camera lens mouth (14) corresponding with the camera lens of the camera on shield.
7. airborne aerial device according to claim 6, which is characterized in that the shield includes the first protecting crust
(12), the second protecting crust (13) and third protecting crust (6), first protecting crust (12), the second protecting crust (13) are symmetrical arranged
And form the accommodating space camera and rangefinder being enclosed in it after connecting with the third protecting crust (6).
8. airborne aerial device according to claim 7, which is characterized in that first protecting crust (12), second prevent
Protective case (13) is mutually butted along the camera lens optical axis direction and is located at same vertical plane with camera lens optical axis at docking.
9. airborne aerial device according to claim 8, which is characterized in that the third protecting crust (6) is diagonally downward
It is connected to the front side bottom of first protecting crust (12), the second protecting crust (13)；The third protecting crust (6) is opposite by two
The side plate (6.2) of setting, the vertical back plate (6.3) of two side plates (6.2) of connection and the top plate for connecting two side plates (6.2)
(6.1) integrally connected forms.
10. a kind of unmanned plane, including body, which is characterized in that further include airborne boat described in claim 1-9 any one
Device is clapped, the airborne aerial device is installed on the organism bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616361.2U CN208198848U (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820616361.2U CN208198848U (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
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| Publication Number | Publication Date |
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| CN208198848U true CN208198848U (en) | 2018-12-07 |
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| CN201820616361.2U Active CN208198848U (en) | 2018-04-27 | 2018-04-27 | A kind of airborne aerial device and the unmanned plane containing it |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438244A (en) * | 2018-04-27 | 2018-08-24 | 南京拓威航空科技有限公司 | A kind of airborne aerial device and the unmanned plane containing it |
| CN109720593A (en) * | 2018-12-28 | 2019-05-07 | 上海扩博智能技术有限公司 | Blade tracing detection carry device, unmanned plane and method based on laser facula |
| CN112995516A (en) * | 2019-05-30 | 2021-06-18 | 深圳市道通智能航空技术股份有限公司 | Focusing method and device, aerial camera and unmanned aerial vehicle |
-
2018
- 2018-04-27 CN CN201820616361.2U patent/CN208198848U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438244A (en) * | 2018-04-27 | 2018-08-24 | 南京拓威航空科技有限公司 | A kind of airborne aerial device and the unmanned plane containing it |
| CN109720593A (en) * | 2018-12-28 | 2019-05-07 | 上海扩博智能技术有限公司 | Blade tracing detection carry device, unmanned plane and method based on laser facula |
| CN112995516A (en) * | 2019-05-30 | 2021-06-18 | 深圳市道通智能航空技术股份有限公司 | Focusing method and device, aerial camera and unmanned aerial vehicle |
| CN112995516B (en) * | 2019-05-30 | 2022-07-29 | 深圳市道通智能航空技术股份有限公司 | Focusing method and device, aerial camera and unmanned aerial vehicle |
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