CN101734377A - Three-degree-of-freedom aerial photographic head with stable inertia - Google Patents
Three-degree-of-freedom aerial photographic head with stable inertia Download PDFInfo
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- CN101734377A CN101734377A CN200910258080A CN200910258080A CN101734377A CN 101734377 A CN101734377 A CN 101734377A CN 200910258080 A CN200910258080 A CN 200910258080A CN 200910258080 A CN200910258080 A CN 200910258080A CN 101734377 A CN101734377 A CN 101734377A
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- 239000007787 solid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 239000003381 stabilizer Substances 0.000 abstract 3
- 230000005540 biological transmission Effects 0.000 abstract 2
- 244000145845 chattering Species 0.000 abstract 1
- 238000001514 detection method Methods 0.000 abstract 1
- 238000012423 maintenance Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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Abstract
The invention discloses a three-degree-of-freedom aerial photographic head with the stable inertia, which comprises a stabilizer, a transmission device and a camera. The three-degree-of-freedom aerial photographic head with the stable inertia adopts a main principle that a mechanical gyro with the considerable inertia realizes stable shooting. A head bracket is connected with a horizontal rotating rack; the horizontal rotating rack is connected with the mechanical gyro to form the stabilizer; and the stabilizer is connected with the camera through the transmission device, so the synchronous movement of the gyro and the camera in the vertical direction can be realized and the stable shooting of the camera can be realized by the stability of the gyro. The three-degree-of-freedom aerial photographic head with the stable inertia can eliminate the influence of the high-frequency and low-frequency vibration of a plane on the aerial photographic images and the problem of image inclination which is caused by the inclination of the plane, can photograph very clear and stable images without any chattering removal treatment and has good application effects in aspects of line detection, fixed-point monitoring, aerial photograph and the like. The three-degree-of-freedom aerial photographic head with the stable inertia has novel design and strong stability and can meet requirements on most high-quality aerial photographs.
Description
Technical field
The present invention relates to a kind of stable The Cloud Terrace that is used to take photo by plane, that uses when relating to a kind of depopulated helicopter aviation shooting, monitoring specifically is a kind of controlled, is used for carrying the three-degree-of-freedom aerial photographic head with stable inertia of pick up camera or photographic camera realization steady shot.
Background technology
Unmanned plane has that volume is little, in light weight, expense is low, flexible operation and safe characteristics, can be widely used in taking photo by plane, monitors, field such as search and rescue, resource exploration.Because unmanned plane itself exists high-frequency vibration and low-frequency jitter, need to dispose the stable platform of taking photo by plane and be used for carrying pick up camera, photographic camera to realize steady shot.Mostly the stable platform of using of taking photo by plane is that the attitude that detects pick up camera or photographic camera by electronic machine changes at present, and control steering wheel oppositely compensation is realized the stable of pick up camera or photographic camera.Because all there is hysteresis quality in electronic machine, causes these electronic stability platform response times long, the steering wheel adjustment is slow, is difficult to eliminate the influence of high-frequency vibrations to picture quality.Other some mechanically stable platforms, owing to adopt simple physical construction, alerting ability is not high, can not eliminate because therefore the influence that low frequency rocks or body tilts to cause also is difficult to shoot the special quality image, can't satisfy demand of specialty.
Summary of the invention
Technical matters to be solved by this invention is to eliminate the indeterminable high-frequency vibration of electronic stability platform, also to eliminate the judder problem that general indeterminable low-frequency jitter of mechanically stable platform and body inclination etc. cause, and can adjust camera angle according to taking needs, obtain best shooting effect.
The cardinal principle that the present invention uses is to have adopted the mechanically stable gyro of big inertia to realize the stable of shooting.Mechanical gyro can keep S. A. constant when high speed revolution, and because its inertia is big, so stability is very strong, mixes physical construction flexibly, and this platform can be realized highly stable aviation shooting.
The present invention includes stabilizing device part, driving device part and three parts of camera head.
Described stabilizing device partly comprises the frame that horizontally rotates that is connected on mechanism rack I and the mechanism rack II, described horizontally rotating is equipped with criss-cross bindiny mechanism and mechanical gyro in the frame-saw frame, criss-cross bindiny mechanism is made up of internal frame and outrigger, solid mechanical gyro on the internal frame.
Described driving device partly comprises drive link I and the drive link II that is fixed on outrigger one side shaft, the other end of drive link I and drive link II is connected on the steering wheel axle that is fixed on the suspension U type frame, suspension U type frame one side is provided with free axis, steering wheel is installed on the free axis, the steering wheel axle is coaxial with free axis, fixing steering wheel rotating disk on the steering wheel axle.
Described camera head partly comprises and horizontally rotates frame suspension U type frame connected vertically and be fixed in machine bottom board mutually on the suspension U type frame.
Bearing seat all is equipped with at the center of the above mechanism rack I and mechanism rack II, and coaxial, horizontally rotates frame and is connected with two mechanism racks respectively by this bearing seat.
The above horizontally rotates frame is made up of a rectangular frame and U-shaped framework two parts, and rectangular frame part two ends is plugged in respectively in the bearing seat at two mechanism rack centers.
Bearing is equipped with in the above outrigger both sides, and outrigger is connected to by this bearing and horizontally rotates on the frame.
The above horizontally rotates the U-shaped frame part end of frame and establishes bearing seat, is respectively equipped with frame rotating shaft of U type and free axis on the U type frame of suspension U type frame both sides, is plugged in will horizontally rotate frame in the bearing seat and link to each other with U type frame two ends.
The present invention can eliminate because the influence that the vibrations of aircraft high and low frequency cause the image of taking photo by plane, and because the picture bevelled problem that body itself tilts to cause, can shoot very clear, stable image, do not need to tremble processing through any disappearing, in wireline inspection, fixed point monitoring, application such as take photo by plane, obtained good effect.Modern design of the present invention, stability are strong, can satisfy the requirement of taking photo by plane of most of high quality.
Description of drawings
Fig. 1 is a structure birds-eye view of the present invention.
Fig. 2 is mechanical gyro of the present invention and cross bindiny mechanism front view.
Fig. 3 is a structure left view of the present invention.
Fig. 4 is a camera hanging scaffold structure front view of the present invention.
Fig. 5 is a structural perspective of the present invention.
Fig. 6 is STRUCTURE DECOMPOSITION figure of the present invention.
Fig. 7 is a structural front view of the present invention.
In the legend, 1. phase machine bottom board, 2. mechanical gyro 3. horizontally rotates frame, 4. suspension U type frame, 5. mechanism rack I, 6. mechanism rack II, 7. criss-cross connecting frame outrigger, 8. criss-cross connecting frame internal frame, 9. bearing seat, 10. drive link I, 11. steering wheels, 12. yielding rubbers, 13.U the rotating shaft of type frame, 14. support beams, 15. drive link II, 16. the steering wheel rotating disk, 17. free axiss, 18. steering wheel axles.
The specific embodiment
Below in conjunction with drawings and Examples dependency structure of the present invention and principle of work are described; being described as of this embodiment is explanatory and nonrestrictive; it is the preferable implementation of patent of the present invention, and those skilled in the art all should be considered as invading this patent power to any modification, change or replacement that this embodiment made within this Patent right requirement protection domain.
As shown in Figure 1, the present invention includes stabilizing device part, driving device part and camera head part.Stabilizing device part technological core is to utilize mechanical gyro can keep stable properties to guarantee that the whole flat-bed of taking photo by plane is stable when high speed revolution.Middle part and rear portion in mechanism have been installed mechanism rack I 5 and mechanism rack II 6 respectively, bearing seat all is equipped with at center at mechanism rack I 5 and mechanism rack II 6, and coaxial, horizontally rotate frame 3 and be connected with 6 with mechanism rack 5 respectively by this bearing seat, and can be around this axle rotation.The described frame 3 that horizontally rotates is made up of a rectangular frame and U-shaped framework two parts, and top is the rectangular frame part, and its two ends is plugged in respectively in the bearing seat at mechanism rack 5 and 6 centers, makes to horizontally rotate frame 3 and can swing between mechanism rack 5 and 6.Criss-cross bindiny mechanism and mechanical gyro 2 are installed in this rectangular frame.Criss-cross bindiny mechanism is made up of criss-cross connecting frame internal frame 8 and criss-cross connecting frame outrigger 7, bearing is equipped with in outrigger 7 both sides, outrigger 7 is connected to by this bearing and horizontally rotates on the frame 3, guarantees that whole gyro and connecting device have a degree of freedom that seesaws.Leave screw on the outrigger 7, can adjust the center-of-gravity position of gyro during installation up and down.When aircraft generation double swerve, gyro horizontally rotates frame 3 and links to each other with mechanical gyro 2 because effect of inertia remains vertically, can remain vertically with mechanical gyro 2, and has guaranteed the level of platform on left and right directions, shows as Fig. 2 and Fig. 3.
Described driving device partly comprises drive link I 10 and the drive link II15 that is fixed on outrigger 7 one side shafts, and the other end of drive link I10 and drive link II 15 is connected on the steering wheel axle 18 that is fixed on the suspension U type frame 4.When the gyro swing,, power is passed to steering wheel axle 18 on the suspension U type frame 4 by drive link I10 and drive link II15; When steering wheel remained on a certain special angle, platform remained stable.Establish free axis 17 on suspension U type frame 4 one sides, steering wheel 11 is installed on the free axis, steering wheel axle 18 is coaxial with free axis 17, fixing steering wheel rotating disk 16 on the steering wheel axle, as shown in Figures 3 and 4.
Described camera head partly comprises and horizontally rotates frame 3 suspension U type framves 4 connected vertically and be fixed in machine bottom board mutually 1 on the suspension U type frame 4, fixed cameras or photographic camera on the phase machine bottom board 1.The U-shaped frame part end that horizontally rotates frame 3 is established bearing seat 9, is respectively equipped with rotating shaft 13 of U type frame and free axis 17 on the suspension U type frame 4 both sides U type frames, is plugged in will horizontally rotate frame 3 in the bearing seat 9 and link to each other with U type frame 4 two ends, shows as Fig. 1, Fig. 4 and Fig. 5.The U-shaped frame of suspension U type frame 4 is provided with screw, can adjust the height of suspension U type frame 4 up and down, the resistance when rotating to reduce gyro.Steering wheel 11 is installed in the one side that hangs U-shaped frame 4, can control the anglec of rotation of steering wheel 11 to adjust the visual angle of camera by remote controller.Phase machine bottom board 1 can move all around, is used for adjusting whole flat-bed center of gravity.Criss-cross connecting frame 7 links to each other with suspension U type frame 4 with 15 by drive link 10.
Principle of work of the present invention is: when aircraft generation double swerve, gyro remains vertically owing to effect of inertia, horizontally rotating frame 3 links to each other with mechanical gyro 2, can remain vertical with mechanical gyro 2, and hang U-shaped frame 4 and horizontally rotate 3 vertical connections of frame, therefore hang U-shaped frame 4 can the maintenance level with camera or the pick up camera maintenance level of maintenance arrangement on it; When before and after aircraft takes place, rocking, mechanical gyro 2 remains vertically owing to effect of inertia, because drive link I 10 and drive link II 15 are connected between gyro and the steering wheel axle, can keep suspension U type frame 4 and gyro synchronous, guaranteed that suspension U-shaped frame 4 relative ground on fore-and-aft direction is in level all the time, settles camera or pick up camera maintenance level on it simultaneously.When needs are regulated shooting, utilize remote controller to adjust steering wheel 11, steering wheel axle 18 rotates with free axis 17 and U type frame rotating shaft 13 front and back, drive to hang U-shaped frame 4 and on camera or pick up camera rotate, reach the purpose of regulating camera or pick up camera pitching visual angle, can make camera aim at reference object all the time and take, guarantee the stability that camera is taken.
Claims (8)
1. three-degree-of-freedom aerial photographic head with stable inertia comprises stabilizing device part, driving device part and camera head part, it is characterized in that:
Described stabilizing device partly comprises being connected in and horizontally rotates frame (3) on mechanism rack I (5) and the mechanism rack II (6), described horizontally rotating is equipped with criss-cross bindiny mechanism and mechanical gyro (2) in frame (3) framework, criss-cross bindiny mechanism is made up of internal frame (8) and outrigger (7), and internal frame (8) is gone up solid mechanical gyro (2);
Described driving device partly comprises drive link I (10) and the drive link II (15) that is fixed on outrigger (7) one side shafts, the other end of drive link I and drive link II is connected on the steering wheel axle (18) that is fixed on the suspension U type frame (4), suspension U type frame (4) one sides are provided with free axis (17), steering wheel (11) is installed on the free axis, steering wheel axle (18) is coaxial with free axis (17), fixing steering wheel rotating disk (16) on the steering wheel axle;
Described camera head partly comprises and horizontally rotates frame (3) suspension U type frame connected vertically (4) and be fixed in machine bottom board mutually (1) on the suspension U type frame (4).
2. three-degree-of-freedom aerial photographic head with stable inertia according to claim 1, it is characterized in that, bearing seat all is equipped with at the center of described mechanism rack I (5) and mechanism rack II (6), and coaxial, horizontally rotates frame (3) and is connected with (6) with mechanism rack (5) respectively by this bearing seat.
3. three-degree-of-freedom aerial photographic head with stable inertia according to claim 1, it is characterized in that, the described frame (3) that horizontally rotates is made up of a rectangular frame and U-shaped framework two parts, and rectangular frame part two ends is plugged in respectively in the bearing seat at mechanism rack (5) and (6) center.
4. three-degree-of-freedom aerial photographic head with stable inertia according to claim 1 is characterized in that, bearing is equipped with in outrigger (7) both sides, and outrigger (7) is connected to by this bearing and horizontally rotates on the frame (3).
5. according to claim 1,2,3 or 4 described three-degree-of-freedom aerial photographic head with stable inertia, it is characterized in that, the described U-shaped frame part end that horizontally rotates frame (3) is established bearing seat (9), be respectively equipped with U type frame rotating shaft (13) and free axis (17) on the U type frame of suspension U type frame (4) both sides, be plugged in the bearing seat (9).
6. three-degree-of-freedom aerial photographic head with stable inertia according to claim 1 is characterized in that, mechanism rack (5) and (6) two ends are provided with screw, and support beam (14) is captiveed joint with (6) with mechanism rack (5) by this screw.
7. three-degree-of-freedom aerial photographic head with stable inertia according to claim 6 is characterized in that, described support beam (14) is provided with screw, and the helicopter body is captiveed joint with this The Cloud Terrace by this screw.
8. three-degree-of-freedom aerial photographic head with stable inertia according to claim 7 is characterized in that, is provided with yielding rubber (12) between support beam (14) and the helicopter landing gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910258080A CN101734377A (en) | 2009-12-15 | 2009-12-15 | Three-degree-of-freedom aerial photographic head with stable inertia |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910258080A CN101734377A (en) | 2009-12-15 | 2009-12-15 | Three-degree-of-freedom aerial photographic head with stable inertia |
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| CN101734377A true CN101734377A (en) | 2010-06-16 |
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| CN200910258080A Pending CN101734377A (en) | 2009-12-15 | 2009-12-15 | Three-degree-of-freedom aerial photographic head with stable inertia |
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| CN102621995A (en) * | 2012-04-09 | 2012-08-01 | 华南农业大学 | Frame type three degree-of-freedom cradle head control system and control method thereof |
| WO2013033954A1 (en) * | 2011-09-09 | 2013-03-14 | 深圳市大疆创新科技有限公司 | Gyroscopic dynamic auto-balancing ball head |
| WO2013033924A1 (en) * | 2011-09-09 | 2013-03-14 | 深圳市大疆创新科技有限公司 | Dual-axis ball head for use in unmanned aerial vehicle, triple-axis ball head for use in unmanned aerial vehicle, and multi-rotor aerial vehicle |
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