CN201287830Y - Stabilising bracket for aerial photography camera - Google Patents
Stabilising bracket for aerial photography camera Download PDFInfo
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- CN201287830Y CN201287830Y CNU2008202218222U CN200820221822U CN201287830Y CN 201287830 Y CN201287830 Y CN 201287830Y CN U2008202218222 U CNU2008202218222 U CN U2008202218222U CN 200820221822 U CN200820221822 U CN 200820221822U CN 201287830 Y CN201287830 Y CN 201287830Y
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Abstract
The utility model provides a stable supporting stand for an aerial photography camera, which comprises a supporting stand main body, a transmission cable and a remote-control terminal, wherein the supporting stand main body comprises an azimuth rotating platform and a pitching bracket. The stable supporting stand is characterized in that the pitching bracket is suspended on an azimuth hanger bracket, and the azimuth hanger bracket is mechanically connected with an azimuth turntable machine which is arranged on the azimuth hanger bracket, a bracket body is connected with the pitching bracket through two groups of bearings which are coaxially mounted and a rolling motor, a camera is mounted on a transition component on the bracket body, a connecting mechanism is arranged on the azimuth rotating platform, which can rigidly fix with an airplane hanger bracket, a cable on the azimuth rotating platform is connected with a remote-control terminal in an airplane cabin, and a gyroscope component is mounted at the bottom of the bracket body. The stable supporting stand not only is suitable for fixing a traditional broadcast camera, but also has gyroscope stabilizing power, can be mounted and used on a helicopter, a light aircraft or an unmanned aerial vehicle, and the qualities of images which are photographed are clear and stable, and the stable supporting stand has low production cost and small load.
Description
Technical field
The utility model relates to the stabilizing stand that a kind of pick up camera of taking photo by plane is used on helicopter, aviette or unmanned plane.
Background technology
By looking down in the air, be a kind of mode of operation that present television station, prospecting department etc. usually adopt, all need to come the ground scene shot with performance-oriented pick up camera, promptly take photo by plane.By the cameraman lean out body in the cabin, hand-held camera is very dangerous; Even pick up camera is fixed on helicopter, aviette or the unmanned plane, because the engine operation of aircraft can be brought vibration, will reduce the resolution of image, have a strong impact on the quality of pick up camera photographic images, or image rocks seriously, can make people's dim eyesight even the dizziness of watching image.Therefore, the support that the pick up camera of taking photo by plane is not rocked with airframe is necessary.
The device that systems such as the cargo-carring pick up camera of aircraft are not shaken has the example of many application in military field.The ULTRAMEDIA III series of being stranded FLIR SYSTEMS company as U.S. is fit to the spherical photoelectric nacelle that helicopter is installed and used, and adopts the gyrocontrol of five axles, and slewing area in pitch orientation is+and 15 °～105 °, azimuth direction are continuous 360 °; The spherical photoelectric nacelle of its UltraFORCE II series helicopter is the gyrocontrol of four axles, the pitch orientation slewing area is+and 20 °～-105 °; Also have Ultra series, Star SAFIRE series, the spherical gondola of BRJTE Star, STAR-Q helicopter, the spherical gondola of Mi crosTAR II unmanned plane.The Arrowhead series gondola of U.S. Lockheed Maitin company also is the gondola that helicopter is suitable for, and the tubbiness profile that couches also is the photoelectric nacelle with gyrocontrol mechanism; Its TSS type photoelectric follow-up is the spherical gondola of installing and using on helicopter, and stabilizing mechanism is also arranged.The AMSPS gondola of Israel elop and E1bit company joint research and development and the Arrowhead gondola of the U.S. are similar, and CMPASS series gondola then is stable, ball-shaped photoelectric nacelle, and the model of suitable unmanned plane is arranged.The POP gondola of Israel IAI company's T amam branch is the spherical photoelectric nacelle that unmanned plane uses.These photoelectric nacelles are designed to osed top sphere or barrel-shaped, inside generally comprises sensors such as tele camera, thermal imaging system, range finder using laser, gyro and electronics assembly are arranged, control by handle, make its can be waterborne down, left-right rotation, aim at certain target, be used for guiding or control weapon strike enemy target.The sensor of these photoelectric nacelles is used for finding target and recognition objective on the battlefield, according to the needs of fighting, generally is to pursue farther ranging coverage, is that unfriendly target is just passable as long as the resolution capability of sensor can be told.Johnson's principle according to the photoelectric technology theory, just the image of target only needs four lines to just passable, therefore the pick up camera in these army-accepted photoelectric nacelles generally is a black and white, its resolution will be significantly less than the pick up camera of the broadcast level of uses such as television station, but volume is less, weight is lighter, is convenient to install in the gondola sensor of purposes such as other night vision, range finding.Consider aircraft quick flight situation afield, and to the protection of valuable equipments such as night vision device wherein, these military photoelectric nacelles just are designed to less spherical of windage or the barrel-shaped of fillet, closed structure are arranged.Because load is many, will be under current intelligences such as rotation also sealing, so the performances such as load-carrying capacity of its device such as motor that rotatablely move are also high, add that military night vision equipment etc. is to the adaptive requirement of harsh environment, make components and parts select the rank height for use, the cost of military photoelectric nacelle is very high.
Because military photoelectric nacelle is not to come design-calculated for general shooting, its shooting performance is significantly less than the pick up camera of broadcast level, and the price of the price of whole gondola even some parts is much higher than the pick up camera of television station, so it is inappropriate that above-mentioned military photoelectric nacelle is used for that TV takes photo by plane or reconnoitre purposes such as take photo by plane.
Therefore, be necessary to design and make and a kind ofly can either satisfy the picture weight that TV, prospecting etc. are taken photo by plane, can have the stabilizing device of separating vibration as military photoelectric nacelle again.
Summary of the invention
The purpose of this utility model provides a kind of pick up camera stabilizing stand of taking photo by plane, avoid problems such as the hand-held or fixed support of general television station rocking under the situation of taking photo by plane, also can avoid simultaneously not satisfying the problem that broadcast level requires and cost is too high, load is excessive by the military fixedly gondola picture quality of being brought of taking photo by plane, be suitable for traditional broadcast level pick up camera is fixing, can have the gyrocontrol ability again, the support that can on helicopter, aviette or unmanned plane, install and use.
The purpose of this utility model is to reach by following measure, a kind of pick up camera stabilizing stand of taking photo by plane, comprise rack body, transmission line is pulled and telecommand terminal, wherein rack body is made up of azimuth rotating platform and pitching carriage, it is characterized in that the pitching carriage is suspended on the orientation hanger, orientation hanger and the azimuth rotating platform mechanical connection on it, protrusions is by coaxial mounted two groups of bearings, a roll motor is connected with the pitching carriage, pick up camera is installed on the transition assembly on the protrusions, bindiny mechanism is arranged on the azimuth rotating platform, can rigidly fix with the aircraft hanger, telecommand terminal in cable on the azimuth rotating platform and the aircraft cabin is connected, and gyroassembly is installed in bottom the protrusions.
Have in the bottom of pitching carriage can opposite flank parts pitch rotation horizontal part, pitching motor, pitch bearing, luffing angle Sensitive Apparatus are arranged between side members and the horizontal part; The roll stand is installed on the horizontal part, gyro, roll motor, roll bearing, protrusions, the transition assembly of three characteristics of reflection is installed on the roll stand.
At horizontal part around the pitching S. A. of side members, roll stand around the roll S. A. of horizontal part and pitching carriage around the orientation of azimuth rotating platform S. A. quadrature each other.
The camera stabilization support of taking photo by plane of the present utility model is compared with traditional hand-held or general fixed form shooting, has the advantage of isolating aircraft vibration effect; Concerning the cameraman, also safer by remote manipulation.Comparing with military photoelectric nacelle, is the user's design-calculated that needs broadcast level video image performance specially for television station etc., direct configuration broadcast level pick up camera, and the shooting performance is good; And needn't consider requirement such as use under required general round the clock, the various inclement weather of military use product, and generally select the industrial grade components and parts of the army's of being significantly less than grade price for use, design load is also less, and cost relatively can be lower; Adopted can about, the stand transition assembly regulated of front and back, can cooperate with multiple broadcast level tele camera and to fix, satisfy the needs of different user; This support also can be matched the pick up camera of family expenses, security protection or industrial grade that volume is generally less than the broadcast level pick up camera, is installed on aircraft or the elevation mast, realizes the application that other needs steady shot.
Description of drawings
Fig. 1 is the lateral plan of the utility model rack body.
Fig. 2 is the front elevation of the utility model rack body.
The specific embodiment
The rack body that the stabilizing stand of taking photo by plane is made of azimuth rotating platform 6 and pitching carriage 4, transmission cable, telecommand terminal etc. are partly formed.The rack body (azimuth rotating platform 6, pitching carriage 4) and the pick up camera 1 of stabilizing stand of taking photo by plane is combined and installed together, and fixes by azimuth rotating platform pedestal and aircraft, generally hangs over aircraft ventral or aircraft hanger 7 times; For helicopter, aviette etc. people's aircraft is arranged, transmission cable direct connection telecommand terminal and rack body, telecommand terminal are installed in the aircraft cabin, by cameraman operation, and can the rotation of remote control control bracket, luffing; For unmanned plane, transmission cable is connected with video, the data double-way conveyer of unmanned plane, and telecommand terminal is installed on the unmanned aerial vehicle control station, also connects its transmission equipment, also can long-distance remote control rack body orientation, pitch rotation.
Azimuth rotating platform 6 has parts such as azimuth motor, orientation angles Sensitive Apparatus, bearing, orientation housing, electronic box, electric interfaces, can rotate around azimuth axis.
4 times extensions of pitching carriage are fixed on the azimuth rotating platform 6, rotate with azimuth rotating platform 6.Pitching carriage 4 has side members, horizontal part, roll stand, pitching motor, pitch bearing, luffing angle Sensitive Apparatus, the gyro that reflects three characteristics, protrusions 3, transition assembly 2 etc.The bottom of pitching carriage 4 have can opposite flank parts pitch rotation horizontal part, pitching motor, pitch bearing, luffing angle Sensitive Apparatus are arranged between side members and the horizontal part; The roll stand is installed, the gyro of three characteristics of installation reflection, roll motor, roll bearing, protrusions, transition assembly 2 etc. on the roll stand on the horizontal part.
Horizontal part around the pitching S. A. of side members, roll stand around the roll S. A. of horizontal part and pitching carriage around the orientation of azimuth rotating platform S. A. quadrature each other.Pick up camera 1 is installed on the transition assembly 2 on the protrusions, can be under control command around bearing, pitch bearing, roll bearing respectively or rotation simultaneously.
Transmission cable is to the control command of rack body transmission from telecommand terminal; The vision signal of pick up camera and the information such as attitude of support on telecommand terminal transmits from rack body.
Telecommand terminal comprises parts such as remote control handle, power supply interface, display interface device, control electronic box.
As depicted in figs. 1 and 2, pick up camera 1 is installed on the transition assembly 2, can dismantle, but can not move mutually after installing, transition assembly 2 is selected different height and connecting bore position according to the pick up camera of different model, so that after pick up camera 1 is installed, the change that the center-of-gravity position of entire bracket main body is the least possible; Transition assembly 2 is connected with protrusions 3, can not move each other; Protrusions 3 is by coaxial mounted two groups of bearings, a roll motor is connected with pitching carriage 4, can under the driving of roll motor, rotate around this axle (shown in Fig. 2 lower dotted line), make pick up camera 1 take the axis roll motion around it, motion amplitude is limited by the gap between pick up camera 1 shell sizes and the pitching carriage 4, have a magslip to measure the roll position on the axle: pitching carriage 4 is suspended on the orientation hanger 5, connection location (Fig. 1 middle part) also is equipped with bearing and a pitching motor, pitching carriage 4 can be around 5 rotations of orientation hanger under pitching motor drives, make pick up camera 1 take the axis luffing around it, motion amplitude is subjected to the interval constraint between pick up camera 1 upper case and the orientation hanger 5, has a magslip to measure pitch position on the axle; Azimuth rotating platform 6 mechanical connections on orientation hanger 5 and its top, one group of bearing and an azimuth motor are arranged, by the control azimuth motor, orientation hanger 5 and bonded assembly pitching carriage 4 thereof, protrusions 3, pick up camera 1 etc. are rotated around azimuth axis together, have a magslip to measure position of orientation.On the azimuth rotating platform 6 bindiny mechanism is arranged, can rigidly fix with aircraft hanger 7.Gyroassembly 8 is installed in protrusions 3 bottoms.Telecommand terminal in cable on the azimuth rotating platform 6 and the aircraft cabin is connected.
When the motion of aircraft vibration causing pick up camera 1 orientation, the protrusions 3 of captiveing joint with pick up camera 1 also has same motion, the responsive disturbing signal to protrusions 3 of gyro meeting on it, to control and treatment device transmission signals, the control and treatment device is after treatment, send control signal to azimuth motor, through behind the power amplification circuit, drive azimuth motor, contrarotation, up to the influence of eliminating this disturbance, pick up camera 1 and protrusions 3 thereof have promptly been stablized.As a same reason, when aircraft causes pitching or the oppositely directed disturbance of roll, Fu will be controlled pitching motor or the contrarotation of roll motor, up to the influence of offsetting disturbance.Thereby pick up camera 1 is stabilized in the inertial space.The software of control system is by language programming.
When the cameraman at cameraman on the aircraft or unmanned aerial vehicle (UAV) control station will control pick up camera 1 and does the orientation rotation. the control command of sending at first arrives the control and treatment device, after the processing of control and treatment device, provide instruction to azimuth motor, after passing through power amplification circuit again, drive the angle of azimuth motor rotation appointment, realize control.As a same reason, the cameraman can control pick up camera 1 and make pitching and roll motion, to satisfy the needs of shooting angle.
The change that the cameraman controls pick up camera doubly, during the irrelevant information of aperture etc. and rack body, provide transmission cable to be directly delivered on the pick up camera realizes taking control.
Servo control circuit and power amplification circuit etc. are installed in the telecommand terminal.Be connected by cable with motor with the gyro of three axles.
Gyro can be a plurality of single shafts or a multi-shaft gyro, can use flexible gyroscope, liquid floated gyroscope, fiber optic gyro, laser gyro or silicon gyro.Servo mode can adopt system simulation or numeral.
The camera stabilization support of taking photo by plane debugging back keeps pick up camera, and horizontal surface is parallel relative to the earth, behind the airplane motion when pick up camera departs from horizontal surface, gyro to the motion sensitive of three axles can be measured bias, automatically bias is sent to the electronic box treatment circuit in the azimuth rotating platform then, calculate then the back to depart from that on the motor sender to rotate instruction, make it get back to former axial location, realize stable.The stable control principle of each is identical with flow process.Thereby keep pick up camera to keep parallel with the ground line always.This rack body is a kind of three axis stabilization.
When the cameraman rotates with the pick up camera on the handle control bracket main body, export the side-play amount of certain by handle, after handling, electronic box is transferred to that the motor on the rack body, make its rotation, by orientation or luffing angle Sensitive Apparatus and gyro combination, detect in real time, compare, judge whether motor is rotated in place, do not continue to drive, up to meeting with given position.Thereby realization remote control.The control principle and the flow process of orientation and pitch axis are basic identical, and the roll rotation is driven automatically by gyro, roll motor, bearing, keep the roll axle constant with initial debugging mode.
This camera stabilization support turns around when being installed in the mast napex, and pick up camera must be installed conversely, keeps image can not reverse; Simultaneously, respective change is wanted in the spacing setting of pitching rotation (machinery and electric two kinds of modes are arranged), to adapt to overlooking the requirement of shooting.
For the situation of not considering pick up camera roll influence, said mechanism can be removed roll stand part, the gyro of the responsive roll rotation of one of corresponding simplification and motor thereof, electronic box parts, be reduced to have only orientation rotation and pitching rotation, the rack body of energy two stabilizer shafts.
The support scheme that an example of the present utility model is a three axis stabilization.Pick up camera is a SONY3CCDHDV DVCAM pick up camera.Azimuth motor is selected J180LY006 DC torque motor for use, and peak torque is 20Nm, and continuous torque at locked rotor reaches 11Nm, joins 1 ZYS, 718 serial 150 type angular contact ball bearings.Pitching motor adopts J75LYX01 DC torque motor, peak torque 2Nm, and continuous torque at locked rotor 1Nm joins two ZYS, 718 serial 60 type angular contact ball bearings.The roll motor adopts 60LY013 DC torque motor, peak torque 0.75Nm, and continuous torque at locked rotor 0.4Nm joins two ZYS, 718 serial 45 type angular contact ball bearings.Gyro is 3 F70M-M fiber optic gyro, and quadrature is installed, and is oppositely consistent with three S. A.s.Zero stability＜0.2 °/hr (1 σ) partially of gyro, dynamic range ± 300 °/s, bandwidth 〉=200Hz.The orientation is revolved and is become sensor employing J65XFS001, and pitching and roll are revolved and become sensor employing 78XFD004.Select the treater of TMS320F2812 chip for use as servo control unit.
The azimuth stabilization precision 0.25mrad of this stabilizing stand (350 degree scope), pitching, roll lasting accuracy 0.2mrad.The camera stabilization mount orientations of taking photo by plane range of control ± 175 °, pitch control subsystem scope-60 °～+ 5 °, roll range of control ± 80 °.
The support scheme that another example of the present utility model is two stabilizer shafts.Do not consider the situation of pick up camera roll influence, protrusions 3 is captiveed joint with pitching carriage 4, do not contain bearing and motor.Gyro is a diaxon flexible gyroscope, model TNZ-2B, sensitivity≤0.005 °/s, 0 °/s of the scope that tests the speed～± 80 °/s, responsive orientation and pitching rotation.Pick up camera, motor, bearing, revolve that to become sensor identical with the support scheme of three axis stabilization.The rotary connector of 40 rings has been installed on azimuth axis, and electric, signaling interface between connected component frame body and the telecommand terminal make that the camera stabilization rack body can 360 ° of rotations continuously.
This scheme is the rack body of two stabilizer shafts, and the azimuth stabilization precision is 0.22mrad, and the pitching lasting accuracy is 0.15mrad, 360 ° * n of direction control scope, pitch control subsystem scope-60 °～+ 5 °.
Claims (3)
1, a kind of pick up camera stabilizing stand of taking photo by plane, comprise rack body, transmission line is pulled and telecommand terminal, wherein rack body is made up of azimuth rotating platform (6) and pitching carriage (4), it is characterized in that pitching carriage (4) is suspended on the orientation hanger (5), orientation hanger (5) and azimuth rotating platform (6) mechanical connection on it, protrusions (3) is by coaxial mounted two groups of bearings, a roll motor is connected with pitching carriage (4), pick up camera (1) is installed on the transition assembly (2) on the protrusions, azimuth rotating platform has bindiny mechanism on (6), can rigidly fix with aircraft hanger (7), telecommand terminal in cable on the azimuth rotating platform (6) and the aircraft cabin is connected, and gyroassembly (8) is installed in bottom the protrusions (3).
2, a kind of pick up camera stabilizing stand of taking photo by plane as claimed in claim 1, the bottom that it is characterized in that described pitching carriage (4) have can opposite flank parts pitch rotation horizontal part, pitching motor, pitch bearing, luffing angle Sensitive Apparatus are arranged between side members and the horizontal part; The roll stand is installed on the horizontal part, gyroassembly (8), roll motor, roll bearing, protrusions (3) and the transition assembly (2) of three characteristics of reflection is installed on the roll stand.
3, a kind of pick up camera stabilizing stand of taking photo by plane as claimed in claim 2, it is characterized in that described horizontal part around the pitching S. A. of side members, roll stand around the roll S. A. of horizontal part and pitching carriage around the orientation of azimuth rotating platform S. A. quadrature each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008202218222U CN201287830Y (en) | 2008-10-14 | 2008-10-14 | Stabilising bracket for aerial photography camera |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008202218222U CN201287830Y (en) | 2008-10-14 | 2008-10-14 | Stabilising bracket for aerial photography camera |
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| CN201287830Y true CN201287830Y (en) | 2009-08-12 |
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-
2008
- 2008-10-14 CN CNU2008202218222U patent/CN201287830Y/en not_active Expired - Fee Related
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