CN100590748C - A two-degree-of-freedom aerial camera platform based on a model helicopter - Google Patents

Abstract

The cloud platform for two-degree-of-freedom aerial photography disclosed by the invention uses a model airplane helicopter as a carrier, comprising a suspension bracket, a horizontal rotation mechanism, a vertical rotation mechanism and a zoom control mechanism of a DV machine. The connection between the suspension bracket and the landing gear of the aircraft model helicopter is isolated by silicone damping material; the horizontal rotation mechanism is driven by a V-belt; the vertical rotation mechanism is driven by a rope; Zoom lever to zoom. The photographer uses the aircraft model remote control equipment to remotely control the DV machine to rotate continuously in the horizontal direction, rotate in the vertical direction, and zoom. The invention has simple structure and low cost, and can meet the needs of aerial photography and framing.

Description

A two-degree-of-freedom aerial camera platform based on a model helicopter

technical field

The invention relates to a two-degree-of-freedom cloud platform for aerial photography, which belongs to a controllable load platform. It is installed on a model airplane helicopter, used to carry a DV machine, and uses a remote control device for remote control for aerial photography.

Background technique

Aerial photography has application value in many fields. Usually, manned helicopters are used to carry photographers and equipment for aerial photography. This aerial photography method has the advantages of high flight altitude, long stay in the air, and the ability to carry large equipment, but there are problems such as high risk, high cost, and cumbersome approval procedures. . In recent years, model airplane helicopters have been used to carry small equipment, and photographers use remote control to take aerial photography on the ground according to the monitor image. This aerial photography method will have great limitations in terms of ceiling, load, and time in the air, but it has flight maneuverability. Strong, not bound by time and place and low cost, so it is gradually popularized and applied. Aerial photography with a model helicopter requires the use of aerial photography gimbals to carry the shooting equipment, which is difficult for ordinary gimbals. The aerial photography platform should not only prevent the high-frequency vibration produced by the model helicopter during flight from adversely affecting the quality of the captured image, but also enable the DV machine to rotate horizontally, vertically and zoom by remote control according to the needs of the viewfinder. Existing aerial photography platforms that can meet the above requirements are complex in structure, expensive, difficult to popularize, or unable to meet the above aerial photography requirements at the same time.

Contents of the invention

The object of the present invention is to provide a two-degree-of-freedom aerial photography platform with a model airplane helicopter as a carrier. The DV machine installed on this head can not only prevent the high-frequency vibration of the model helicopter from affecting the quality of the captured images, but also facilitate the photographer to remotely control the head on the ground to control the horizontal, vertical rotation and zoom of the DV machine.

For reaching above-mentioned purpose, what the present invention adopts is the two-degree-of-freedom aerial photographing platform of carrier with model airplane helicopter, it is characterized in that comprising suspension bracket, horizontal rotation mechanism, vertical rotation mechanism and DV machine zoom control mechanism:

The suspension bracket includes a "well"-shaped frame, a top plate is fixed on the beam of the "well"-shaped frame, and the four ends of the "well"-shaped frame are provided with adapters connected with the landing gear of the aircraft model helicopter;

The horizontal rotation mechanism includes an inverted "U"-shaped frame and a horizontal rotation drive steering gear. The bottom edge of the "U"-shaped frame is fastened to the lower end of the hollow shaft, and the upper end of the hollow shaft is connected to the inner ring of the bearing installed on the top plate of the suspension bracket. Fasten, the horizontal rotation driving steering gear is fixed on the bottom edge of the "U"-shaped frame, the V-belt driving wheel is fixed on the shaft of the horizontal rotation driving steering gear, the V-belt driven wheel is sleeved on the hollow shaft and coaxial, and the V-belt The driven wheel is fixed to the lower surface of the top plate, and the V-belt driving wheel and the V-belt driven wheel are connected through the V-belt;

The vertical rotation mechanism includes a rectangular frame and a vertical rotation driving servo. The rectangular frame is located in the "U"-shaped frame of the horizontal rotation mechanism. The side is hinged, and the vertical rotation driving steering gear is fixed on the outside of one side of the "U"-shaped frame. The driving wheel is fixed on the shaft of the vertical rotation driving steering gear, and the driven wheel is sleeved on the hinge shaft and coaxial. The outer side of the rectangular frame is fixed, and the driving wheel and the driven wheel are connected by ropes;

The zoom control mechanism of the DV machine includes a miniature steering gear. The miniature steering gear is fixed on the inner side of the upper horizontal side of the rectangular frame. In the wedge-shaped notch of the machine plate.

In order to prevent the high-frequency vibration of the aircraft model helicopter from affecting the quality of the captured image, the adapter can be a rectangular block with two mutually perpendicular through holes, and the through hole connected with the aircraft model helicopter landing gear is filled with a circle of silicone shock-absorbing material. The vibration-absorbing material can absorb the energy of the high-frequency vibration of the aircraft model helicopter.

When in use, the suspension bracket of the gimbal is connected to the landing gear of the aircraft model helicopter through an adapter. There is no hard contact between the two, and the vibration energy is absorbed by the silicone shock-absorbing material and will not be transmitted to the gimbal. The horizontal rotation drives the steering gear to drive the "U"-shaped frame, and together with the "U"-shaped frame, it rotates horizontally around the hollow shaft. The video signal of the viewfinder of the DV machine is transmitted to the analog image transmission device through the transmission line passing through the hollow shaft. The vertical rotation drives the steering gear to drive the rectangular frame to rotate vertically around the hinge axis. Use the notch of the circular steering gear on the output shaft of the miniature steering gear to imitate fingers to toggle the zoom control lever of the DV machine to realize zoom control.

The invention has simple structure and low cost. The connection between the platform and the model helicopter uses vibration-damping materials, which eliminates the jitter phenomenon of the aerial image; Occasionally, on the other hand, due to the certain elasticity of the V-belt and the rope, the pan-tilt rotates smoothly without problems such as noise and vibration. The ground personnel can make the DV machine rotate continuously in the horizontal direction, vertical direction and zoom through the remote control, which can meet the needs of aerial photography and framing.

Description of drawings

Fig. 1 is the cloud platform structure schematic diagram of the present invention;

Fig. 2 is a schematic diagram of the suspension bracket;

Fig. 3 is a kind of specific structural schematic diagram of adapter;

Fig. 4 is a partial view of the horizontal rotation mechanism;

Fig. 5 is a kind of specific structural schematic diagram of the rotation hinge shaft of vertical rotation mechanism;

Fig. 6 is a partial view of the vertical rotation mechanism.

Detailed ways

Referring to Fig. 1-Fig. 6, the overall structure of the two-degree-of-freedom aerial photography platform with the model helicopter as the carrier is shown in Fig. 1, including the suspension bracket, the horizontal rotation mechanism, the vertical rotation mechanism and the zoom control mechanism of the DV machine;

Suspension support (seeing Fig. 1, Fig. 2) comprises " well " font frame that is made of aluminum pipe 4 and crossbeam 3, is fixed with top plate 2, the end of the aluminum pipe 4 of " well " font frame on crossbeam 3 An adapter 5 connected with the landing gear of the aircraft model helicopter is provided. Fig. 3 is a schematic diagram of a specific structure of the adapter. In the legend, the adapter is a rectangular block with two mutually perpendicular through holes 5-1, 5-2, wherein the upper through hole 5-1 sets On the aluminum tube 4 of the suspension bracket, a circle of silicone shock-absorbing material 13 is filled in the through hole 5-2 below, which is sleeved on the horizontal support tube of the landing gear of the aircraft model helicopter.

The horizontal rotation mechanism (see Fig. 1 and Fig. 4) includes an inverted "U"-shaped frame 6 and a horizontal rotation driving steering gear 15, the bottom edge of the "U"-shaped frame 6 is fastened to the lower end of the hollow shaft 1, and the hollow shaft 1 The upper end and the inner ring of the bearing 22 installed on the suspension bracket top plate 2 are fastened, and the horizontal rotation driving steering gear 15 is installed on the horizontal steering gear mounting plate 21, and is fixed with the bottom edge of the "U" font frame 6, and rotates horizontally. The V-belt driving wheel 20 is fixed on the rotating shaft of the driving steering gear 15, the V-belt driven wheel 18 is sleeved on the hollow shaft 1 and coaxial, the V-belt driven wheel 18 is fixed with the lower surface of the top plate 2, the V-belt driving wheel 20 and the V-belt driven wheel 18 are fixed on the lower surface of the top plate 2 The belt driven wheel 18 is connected by a V-belt 19; the installation position of the horizontal servo mounting plate 21 on the "U" frame 6 is adjusted so that the V-belt 19 is tensioned between the V-belt driving wheel 20 and the V-belt driven wheel 18.

The above-mentioned horizontal rotation driving steering gear 15 can be obtained by modifying the common model airplane steering gear on the market: after opening the common model airplane steering gear, remove the limit pin of the output shaft gear and the connecting piece between it and the potentiometer knob, and turn the potentiometer The knob is set in the neutral position and fixed. After the transformation, the horizontal rotation driving steering gear 15 can continuously rotate in any direction.

The vertical rotation mechanism (see Fig. 1 and Fig. 6) includes a rectangular frame 8 and a vertical rotation driving steering gear 11. The rectangular frame 8 is located in the "U"-shaped frame 6 of the horizontal rotation mechanism, and its two vertical sides are respectively hinged by rotation. Two sides of axle 7 and " U " font frame 6 are hinged, and Fig. 5 has provided a kind of specific structure of rotating hinged axle 7, and it is made of screw 26, axle sleeve 25, pin 27, small bearing 28, fastening. A screw 24, a shaft 23 with an internal thread and a locking retaining ring 29 are formed. Pin 27 fixes axle sleeve 25 to the middle part of axle 23, and axle 23 has one end of internally threaded hole to insert rectangular frame 8 sides, and screw 26 is tightened on axle 23 from the inside of rectangular frame 8 sides, and axle 23 is vertically fixed on the rectangular frame 8. on the frame 8 sides. The other end of the shaft 23 passes through the small bearing 28 embedded in the side of the "U" frame 6 and is axially positioned by the set screw 24 and the locking retaining ring 29.

The vertical rotation driving steering gear 11 is installed on the vertical steering gear mounting plate 30, and the vertical steering gear mounting plate 30 is fixed on the outside of one of the sides of the “U”-shaped frame, and the driving wheel 12 is fixed on the rotating shaft of the vertical rotation driving steering gear 11, The driven wheel 10 is sleeved on the shaft 23 and is coaxial, the driven wheel 10 is fixed to the outside of the rectangular frame 8 , and the driving wheel 12 and the driven wheel 10 are connected by a rope 14 . The vertical rotation drives the steering gear 11 to drive the rectangular frame 8 to rotate around the axis 23 . Wherein the vertical rotation driving steering gear 11 can adopt a commercially available high-torque model airplane steering gear.

The DV machine zoom control mechanism (seeing Fig. 1) comprises miniature steering gear 17, and miniature steering gear 17 is fixed on the upper horizontal side inner side of rectangular frame 8, and the circle steering gear disc 16 that has wedge-shaped gap is fixed on the miniature steering gear rotating shaft, DV machine The end 31 of the zoom control rod is placed in the wedge-shaped notch of the circular steering wheel 16. When the miniature steering gear 17 rotates the round steering gear disc 16, the zoom control lever 31 is moved. Miniature steering gear 17 can adopt commercially available product.

The DV machine installation plate 9 is fixed on the lower horizontal edge of the rectangular frame 8, and is used for the DV machine to be installed on the cloud platform. The video signal of the viewfinder of the DV machine is transmitted to the analog image transmission device via the transmission line passing through the hollow shaft 1 . The remote control receiver and battery can be installed on the "U"-shaped frame 6 or the rectangular frame 8 as an option.

Claims (2)

1. a kind of two-degree-of-freedom aerial photographing cloud platform taking model airplane helicopter as carrier, it is characterized in that comprising suspension bracket, horizontal rotation mechanism, vertical rotation mechanism and DV machine zoom control mechanism: The suspension bracket comprises a "well"-shaped frame made of crossbeams (3) and aluminum tubes (4), on which the crossbeams (3) of the "well"-shaped frame are fixed with a top plate (2), a "well"-shaped frame The four ends are provided with adapters (5) connected with the landing gear of the model airplane helicopter; The horizontal rotation mechanism comprises an inverted "U"-shaped frame (6) and a horizontal rotation driving steering gear (15), the bottom edge of the "U"-shaped frame (6) is fastened to the lower end of the hollow shaft (1), and the hollow shaft ( The upper end of 1) is fastened to the inner ring of the bearing (22) installed on the top plate of the suspension bracket (2), and the steering gear (15) driven by horizontal rotation is fixed on the bottom edge of the "U"-shaped frame (6), and driven by horizontal rotation The V-belt driving wheel (20) is fixed on the rotating shaft of the steering gear (15), the V-belt driven wheel (18) is enclosed within on the hollow shaft (1) and coaxial, the V-belt driven wheel (18) and the top plate (2) The lower surface is fixed, and the V-belt driving wheel (20) and the V-belt driven wheel (18) are connected by the V-belt (19); The vertical rotation mechanism includes a rectangular frame (8) and a vertical rotation driving steering gear (11). The rectangular frame (8) is located in the "U"-shaped frame (6) of the horizontal rotation mechanism, and its two vertical sides are respectively hinged by rotation. The shaft (7) is hinged to the two sides of the "U"-shaped frame (6), and the vertical rotation drive steering gear (11) is fixed on the outside of one of the sides of the "U"-shaped frame (6), and the vertical rotation drive The driving wheel (12) is fixed on the rotating shaft of the steering gear (11), the driven wheel (10) is sleeved on the hinge shaft (7) and coaxial, the driven wheel (10) is fixed with the outside of the rectangular frame (8), and the driving wheel (12) link to each other by rope (14) between driven wheel (10); The zoom control mechanism of the DV machine includes a miniature steering gear (17), and the miniature steering gear (17) is fixed on the inner side of the upper horizontal side of the rectangular frame (8). (16), the zoom control rod end (31) of the DV machine is placed in the wedge-shaped gap of the circular steering wheel (16). 2. The two-degree-of-freedom aerial photography platform with the model helicopter as the carrier according to claim 1, characterized in that the adapter (5) is a rectangle with two mutually perpendicular through holes (5-1, 5-2) block, wherein the lower through hole (5-2) is filled with a circle of silicone shock-absorbing material (13).

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