CN111874248B - A pan-tilt device and unmanned aerial vehicle using the same - Google Patents
A pan-tilt device and unmanned aerial vehicle using the same Download PDFInfo
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- CN111874248B CN111874248B CN202010910516.5A CN202010910516A CN111874248B CN 111874248 B CN111874248 B CN 111874248B CN 202010910516 A CN202010910516 A CN 202010910516A CN 111874248 B CN111874248 B CN 111874248B
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- 230000006641 stabilisation Effects 0.000 claims abstract 12
- 238000011105 stabilization Methods 0.000 claims abstract 12
- 230000000087 stabilizing effect Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 4
- 230000003416 augmentation Effects 0.000 description 25
- 230000000007 visual effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Accessories Of Cameras (AREA)
Abstract
本发明公开了一种云台装置，包括相机，还包括用于调整相机镜头视角朝向的指向部和用于保持指向部稳定性的增稳部；相机、指向部、增稳部顺次连接。本发明在指向部的基础上加入了增稳部的设计，其中增稳部的功能是保持指向部的稳定性，无论载体怎么运动，增稳部与指向部的连接部位都保持稳定，即挂载于增稳部的俯仰轴臂上的指向部也保持稳定；而指向部的功能是改变相机的拍照角度。本发明还提供了一种无人机，应用上述云台装置，所述云台安装在无人机本体上，在保证相机稳定拍摄的同时，能通过指向部的快速转动，在短时间内使相机完成多个角度的拍摄，让少量相机在相同时间内以相同的拍摄角度达到与多个相机相同的拍摄效果。
The present invention discloses a pan-tilt device, including a camera, a pointing part for adjusting the viewing angle of the camera lens, and a stabilization part for maintaining the stability of the pointing part; the camera, the pointing part, and the stabilization part are connected in sequence. The present invention adds the design of the stabilization part on the basis of the pointing part, wherein the function of the stabilization part is to maintain the stability of the pointing part, and no matter how the carrier moves, the connection part between the stabilization part and the pointing part remains stable, that is, the pointing part mounted on the pitch axis arm of the stabilization part also remains stable; and the function of the pointing part is to change the camera's shooting angle. The present invention also provides a drone, using the above-mentioned pan-tilt device, wherein the pan-tilt is installed on the drone body, and while ensuring the stable shooting of the camera, the camera can complete shooting at multiple angles in a short time through the rapid rotation of the pointing part, so that a small number of cameras can achieve the same shooting effect as multiple cameras at the same shooting angle in the same time.
Description
Technical Field
The invention relates to the technical field of mobile cradle head, in particular to a cradle head device and an unmanned aerial vehicle applying the same.
Background
In actual oblique photography operation, in order to ensure the model effect, the photos of all angles of a photographed object need to be collected, two main schemes exist at present, namely, a plurality of cameras with different angles are mounted, most commonly a plurality of cameras are used, a camera is mounted by a cradle head, and the mounted camera is turned to different angles to photograph through rotation of each axis of the cradle head.
However, if the second mode is adopted, a camera is used to take pictures instead of a plurality of cameras, and the camera of the second mode needs to take pictures for a plurality of times at the same time in order to meet the same aerial photo overlapping rate except that the cradle head needs to be rotated to a plurality of different angles. The shooting time comprises the time spent by the cradle head from starting to rotating to being stationary and the time spent by the camera from starting to shooting to completing exposure, the time actually reserved for the cradle head to rotate is extremely short, and the conventional cradle head device at present is difficult to simultaneously meet the functions of stability enhancement and rapid rotation pointing.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a cradle head device.
The invention is realized by the following technical scheme:
the cradle head device comprises a shooting part formed by cameras, a pointing part used for adjusting the visual angle direction of the camera lens of the shooting part and a stability increasing part used for keeping the stability of the pointing part, wherein the shooting part, the pointing part and the stability increasing part are sequentially connected.
In the scheme, a plurality of cameras are replaced by one to take photos, except that the cradle head is required to rotate to a plurality of different angles, so that the cameras are required to take photos for a plurality of times at the same time in order to meet the same aerial photo overlapping rate. For example, five cameras are shot every 1s, in this embodiment, the cameras need to shoot one at intervals of 0.2s, and the time spent by the cradle head from starting to rotate to rest and the time spent by the cameras from shooting to completing exposure are included in the 0.2 s.
The invention adds the design of the stability augmentation part on the basis of the direction-pointing part, wherein the stability augmentation part has the function of keeping the stability of the direction-pointing part, the connection part of the stability augmentation part and the direction-pointing part is kept stable no matter how the carrier moves, namely the direction-pointing part hung on the pitching axis arm of the stability augmentation part is also kept stable, and the function of the direction-pointing part is used for quickly changing the photographing angle of the camera.
Preferably, the camera of the photographing part may be provided as one or more cameras. For example, two cameras can be adopted, and two cameras are fixedly connected, if five cameras take pictures every 1s, one camera is adopted by the shooting part, and then one camera needs to take pictures for 0.2s, then the two cameras are adopted in the scheme, and the shooting effect of the shooting part can be equivalent to that of the ten original cameras.
Further:
The stability augmentation part is also provided with a connecting block for connecting the aircraft.
The stability augmentation part is formed by connecting a yaw shaft assembly, a roll shaft assembly and a pitch shaft assembly.
The yaw shaft assembly comprises a yaw shaft arm and a yaw shaft motor, wherein the yaw shaft motor is arranged at one end of the yaw shaft arm, is connected with a connecting block and is used for realizing the yaw of the stability augmentation part, the roll shaft assembly comprises a roll shaft arm and a roll shaft motor for driving the roll shaft arm to rotate by taking a roll shaft line as a rotating shaft, the roll shaft motor is connected with the other end of the yaw shaft arm, a first roll support arm and a second roll support arm extend outwards from the two ends of a roll shaft arm main body, the first roll support arm and the second roll support arm are matched and clamp a pitching shaft assembly, and the pitching shaft assembly comprises a pitching shaft arm and a pitching shaft motor for driving the pitching shaft arm to rotate by taking a pitching shaft line as the rotating shaft, and the pitching shaft motor is connected with the first roll support arm;
the pointing portion is mounted on the body of the pitch axis arm.
In the scheme, the three axes of the stability augmentation part are all used for keeping a set angle, the reference system of angles of a transverse rolling shaft and a pitching shaft is a horizontal coordinate system, the angles of a yaw shaft are kept in two modes, 1. The reference system of the angles of the yaw shaft in the following mode is a body coordinate system of the unmanned aerial vehicle, the angles of the yaw shaft and a nose of the unmanned aerial vehicle can be kept unchanged, 2. The locking mode is used for keeping the reference system of the angles of the yaw shaft in the locking mode to be a horizontal reference system, and no matter how a carrier moves, the included angle between the yaw shaft and the horizontal coordinate system is unchanged. The arrangement ensures that the pointing part hung on the pitching axis arm of the stability augmentation part is kept stable.
The further technical scheme is as follows:
The directing part is formed by connecting a yaw shaft assembly, a roll shaft assembly and a pitch shaft assembly.
The yaw shaft assembly comprises a second yaw shaft arm and a second yaw shaft motor which is arranged at one end of the second yaw shaft arm and connected with the stability increasing part, the roll shaft assembly comprises a second roll shaft arm and a second roll shaft motor which is used for driving the second roll shaft arm to rotate by taking a roll shaft line as a rotating shaft, the second roll shaft motor is connected with the other end of the second yaw shaft arm, two roll support arms which extend outwards from two ends of a second roll shaft arm main body are matched with each other to clamp a camera, and the pitch shaft assembly is a second pitch shaft motor which is arranged between one roll support arm of the second roll shaft arm and the camera and used for achieving pitching of the camera (23).
The aim of quickly adjusting the angle of the camera lens can be achieved through the driving actions of the second yaw axis motor, the second roll axis motor and the second pitch axis motor.
Another technical scheme that can provide is:
the directional part is fixed on the pitching shaft arm of the stability augmentation part through a fixing piece, and a connecting plate is fixed on the fixing piece;
The pointing part also comprises a moving plate, the camera is fixed on one surface of the moving plate, and the other surface of the moving plate is fixed on the connecting plate through a universal joint;
The steering engine is further arranged on the connecting plate, the steering engine and the moving plate are located on the same side of the connecting plate, and the steering engine is connected with the moving plate through a connecting structure.
The movable plate can only rotate around the axis of the universal shaft under the constraint of the universal joint, and the angle of the movable plate can be adjusted under the pulling of the steering engine, so that the visual angle direction of the lens of the camera can be adjusted.
The universal joint is fixed at the center of the connecting plate, three steering engines are respectively arranged at three vertexes of an equilateral triangle taking the universal joint as the center, and each steering engine is matched with a corresponding connecting structure. Compared with one steering engine, the three steering engines arranged by the device can ensure the stability of the camera lens during rotation to a greater extent
Preferably, the connecting structure is provided with two sections of connecting rods, the two sections of connecting rods are connected through a rotating structure, and the connecting rods are connected with the movable plate through rotating sliding rods, so that the angle of the camera lens can be adjusted in a larger angle range.
The technical scheme is as follows:
the camera is arranged at the opening of the bracket through a rotating structure with two mutually perpendicular axes;
The motor is arranged in the bracket, the rotating shaft of the motor is connected with the back surface of the camera through two sections of ball head connecting rods, and the two ball head connecting rods are connected through a ball head.
The rotation of the motor drives the camera to rotate around two axes of the rotating structure through the connecting structure, so that the angle of the camera lens is adjusted.
Preferably, one section of the ball connecting rod directly connected with the motor rotating shaft is set as a ball connecting rod with adjustable length, and the other section of the ball connecting rod is fixedly connected with the camera. The length of the ball head connecting rod is adjusted, so that the inclination angle of the camera is adjusted, and the camera can obtain a larger shooting range.
The invention also provides an unmanned aerial vehicle which comprises an unmanned aerial vehicle body and the cradle head device, wherein the cradle head is arranged on the unmanned aerial vehicle body.
Compared with the prior art, the invention has the following beneficial effects:
the camera shooting device has the advantages that stable shooting of the camera is guaranteed, the camera can be enabled to shoot at multiple angles in a short time through rapid rotation of the pointing part, and a small number of cameras can achieve the same shooting effect with multiple cameras at the same shooting angle in the same time.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
fig. 1 is a schematic diagram of the overall structure of the pan-tilt device in embodiment 1;
fig. 2 is a schematic diagram of the overall structure of the pan-tilt device in embodiment 2;
FIG. 3 is an enlarged schematic view of the structure of the pointing part in FIG. 2;
fig. 4 is a schematic diagram of the overall structure of the pan-tilt device in embodiment 3;
FIG. 5 is an enlarged schematic view of the structure of the pointing part in FIG. 4;
The two-dimensional image sensor is characterized by comprising a connecting block 1, a first yaw axis motor 3, a first yaw axis arm 4, a first roll axis motor 5, a first roll axis arm 6, a first pitch axis motor 7, a pitch axis arm 8, a second yaw axis motor 9, a second yaw axis arm 10, a second roll axis motor 11, a second roll axis arm 12, a second pitch axis motor 13, a fixing piece 14, a connecting plate 15, a universal joint 16, a movable plate 17, a steering engine 18, a connecting structure 19, a bracket 20, a motor 21, a rotating structure 22, a ball head connecting rod 23 and a camera.
Detailed Description
The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples:
example 1:
As shown in FIG. 1, the cradle head device comprises a shooting part consisting of a camera 23, a pointing part for adjusting the visual angle direction of the camera 23 and a stability increasing part for keeping the stability of the pointing part, wherein the shooting part, the pointing part and the stability increasing part are sequentially connected, and the stability increasing part is connected with an aircraft through a connecting block 1.
The stability augmentation part comprises a yaw shaft assembly, a roll shaft assembly and a pitching shaft assembly, wherein the yaw shaft assembly comprises a first yaw shaft arm 3 and a first yaw shaft motor 2 which is arranged at one end of the first yaw shaft arm 3, is connected with a connecting block 1 and is used for realizing the yaw of the stability augmentation part, the roll shaft assembly comprises a first roll shaft arm 5 and a first roll shaft motor 4 which is used for driving the first roll shaft arm 5 to rotate by taking a roll shaft axis as a rotating shaft, the first roll shaft motor 4 is connected with the other end of the first yaw shaft arm 3, two roll support arms which extend outwards from two ends of a main body of the first roll shaft arm 5 are matched to clamp the pitching shaft assembly, the pitching shaft assembly comprises a pitching shaft arm 7 and a first pitching shaft motor 6 which is used for driving the pitching shaft arm 7 to rotate by taking the pitching shaft axis as the rotating shaft, and the first pitching shaft motor 6 is connected with one roll support arm;
The directing part is connected to the main body of the pitching axis arm 7 and is formed by connecting a yaw axis assembly, a rolling axis assembly and a pitching axis assembly. The load of the stability augmentation part is a pointing part, and an IMU (inertial measurement unit) is installed on a pitching axis arm 7 connected with the pointing part, and the main function of the load is to calculate the gesture by measuring the angular velocity and the acceleration value of the load in a three-dimensional space. The IMU monitors the posture of the load at any time, and once the inclination or deviation trend of the load is sensed, the IMU can timely drive the motor to generate a counteracting force so as to keep the stable posture of the load.
The yaw shaft assembly comprises a second yaw shaft arm 9 and a second yaw shaft motor 8 which is arranged at one end of the second yaw shaft arm 9 and connected with the stability augmentation part, the roll shaft assembly comprises a second roll shaft arm 11 and a second roll shaft motor 10 which is used for driving the second roll shaft arm 11 to rotate by taking a roll shaft line as a rotating shaft, the second roll shaft motor 10 is connected with the other end of the second yaw shaft arm 9, two roll support arms which extend outwards from two ends of a main body of the second roll shaft arm 11 are matched to clamp a camera 23, and the pitch shaft assembly is a second pitch shaft motor 12 which is arranged between one roll support arm of the second roll shaft arm 11 and the camera 23 and used for achieving pitch of the camera 23. The two cameras 23 are fixedly connected, the second pitching axis motor 12 is arranged on one side of one camera, and the two cameras can be synchronously driven to pitch by the second pitching axis motor 12.
The rapid adjustment of the camera lens angle is realized through the driving actions of the second yaw axis motor 8, the second roll axis motor 10 and the second pitch axis motor 12.
Example 2:
As shown in fig. 2 and 3, the cradle head device comprises a shooting part consisting of a camera 23, a pointing part for adjusting the visual angle direction of the camera 23 and a stability augmentation part for maintaining the stability of the pointing part, wherein the shooting part, the pointing part and the stability augmentation part are sequentially connected, and the stability augmentation part is connected with an aircraft through a connecting block 1.
The stability augmentation part comprises a yaw shaft assembly, a roll shaft assembly and a pitching shaft assembly, wherein the yaw shaft assembly comprises a first yaw shaft arm 3 and a first yaw shaft motor 2 which is arranged at one end of the first yaw shaft arm 3, is connected with a connecting block 1 and is used for realizing the yaw of the stability augmentation part, the roll shaft assembly comprises a first roll shaft arm 5 and a first roll shaft motor 4 which is used for driving the first roll shaft arm 5 to rotate by taking a roll shaft axis as a rotating shaft, the first roll shaft motor 4 is connected with the other end of the first yaw shaft arm 3, two roll support arms which extend outwards from two ends of a main body of the first roll shaft arm 5 are matched to clamp the pitching shaft assembly, the pitching shaft assembly comprises a pitching shaft arm 7 and a first pitching shaft motor 6 which is used for driving the pitching shaft arm 7 to rotate by taking the pitching shaft axis as the rotating shaft, and the first pitching shaft motor 6 is connected with one roll support arm;
The directional part is fixed on the main body of the pitching shaft arm 7 of the stability augmentation part through a fixing piece 13, and a connecting plate 14 is fixed on the fixing piece 13;
the pointing part also comprises a moving plate 16, wherein a camera 23 is fixed on one surface of the moving plate 16, and the other surface of the moving plate 16 is fixed on the connecting plate 14 through a universal joint 15, wherein the universal joint 15 is arranged at the center of the connecting plate 14;
the steering engine 17 is further arranged on the connecting plate 14, the steering engine 17 and the moving plate 16 are located on the same side of the connecting plate 14, and the steering engine 17 is connected with the moving plate 16 through a connecting structure 18.
The movable plate 16 can only rotate around the axle center of the universal shaft under the constraint of the universal joint 15, and the angle of the movable plate 16 can be adjusted under the pulling of the steering engine 17, so that the visual angle direction of the lens of the camera 23 can be adjusted.
The number of steering gears 17 is three, the steering gears 17 are respectively arranged at three vertexes of an equilateral triangle taking the universal joint 15 as the center, and each steering gear 17 is matched with a corresponding connecting structure 18.
The connecting structure 18 is configured as two sections of connecting rods, the two sections of connecting rods are connected through a rotating structure, and the connecting rods are connected with the moving plate 16 through rotating sliding rods.
Example 3:
As shown in fig. 4 and 5, the cradle head device comprises a shooting part consisting of a camera 23, a pointing part for adjusting the visual angle direction of the camera 23 and a stability augmentation part for maintaining the stability of the pointing part, wherein the shooting part, the pointing part and the stability augmentation part are sequentially connected, and the stability augmentation part is connected with an aircraft through a connecting block 1.
The stability augmentation part comprises a yaw shaft assembly, a roll shaft assembly and a pitching shaft assembly, wherein the yaw shaft assembly comprises a first yaw shaft arm 3 and a first yaw shaft motor 2 which is arranged at one end of the first yaw shaft arm 3, is connected with a connecting block 1 and is used for realizing the yaw of the stability augmentation part, the roll shaft assembly comprises a first roll shaft arm 5 and a first roll shaft motor 4 which is used for driving the first roll shaft arm 5 to rotate by taking a roll shaft axis as a rotating shaft, the first roll shaft motor 4 is connected with the other end of the first yaw shaft arm 3, two roll support arms which extend outwards from two ends of a main body of the first roll shaft arm 5 are matched to clamp the pitching shaft assembly, the pitching shaft assembly comprises a pitching shaft arm 7 and a first pitching shaft motor 6 which is used for driving the pitching shaft arm 7 to rotate by taking the pitching shaft axis as the rotating shaft, and the first pitching shaft motor 6 is connected with one roll support arm;
The pointing part comprises a bracket 19, wherein one end of the bracket 19 is fixedly connected to the main body of the pitching shaft arm 7, and the other end of the bracket is provided with an opening;
the bracket 19 is internally provided with a motor 20, the rotating shaft of the motor 20 is connected with the back surface of the camera 23 through two sections of ball-head connecting rods, and the two ball-head connecting rods are connected through a ball head.
The rotation of the motor 20 drives the camera 23 to rotate around two axes of the rotating structure 21 through the connecting structure, so that the adjustment of the lens angle of the camera 23 is realized.
One section of ball connecting rod 22 directly connected with the rotating shaft of the motor 20 is provided as a ball connecting rod with adjustable length, and the other section of ball connecting rod is fixedly connected with the camera. By adjusting the length of the ball-end connecting rod 22, the inclination angle of the camera 23 is adjusted, and the camera can obtain a larger shooting range.
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments, and it is not intended that the invention be limited to these descriptions. Other embodiments of the invention, which are apparent to those skilled in the art to which the invention pertains without departing from its technical scope, shall be covered by the protection scope of the invention.
Claims (3)
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| CN202010910516.5A CN111874248B (en) | 2020-09-02 | 2020-09-02 | A pan-tilt device and unmanned aerial vehicle using the same |
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| CN111874248B true CN111874248B (en) | 2024-12-06 |
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| CN114275176A (en) * | 2021-11-30 | 2022-04-05 | 国网浙江省电力有限公司台州供电公司 | A kind of pan-tilt device of parallel mechanism for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213168592U (en) * | 2020-09-02 | 2021-05-11 | 成都微宇科技有限责任公司 | Cloud platform device and use its unmanned aerial vehicle |
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| CN106029503B (en) * | 2015-07-02 | 2018-12-14 | 深圳市大疆灵眸科技有限公司 | Limiting device and unmanned vehicle with the limiting device |
| CN206012980U (en) * | 2016-07-29 | 2017-03-15 | 深圳市大疆创新科技有限公司 | Head, capture apparatus and unmanned vehicle |
| JP6811336B2 (en) * | 2017-02-24 | 2021-01-13 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Multi gimbal assembly |
| US10189580B2 (en) * | 2017-06-16 | 2019-01-29 | Aerobo | Image stabilization and pointing control mechanization for aircraft imaging systems |
| CN110637184B (en) * | 2018-04-25 | 2022-05-24 | 深圳市大疆创新科技有限公司 | Cloud platform, frame and unmanned aerial vehicle |
| CN209455024U (en) * | 2018-11-16 | 2019-10-01 | 长春工业大学 | A hybrid multi-degree-of-freedom rotor UAV ground simulation platform |
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| CN213168592U (en) * | 2020-09-02 | 2021-05-11 | 成都微宇科技有限责任公司 | Cloud platform device and use its unmanned aerial vehicle |
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