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WO2018045635A1 - Moving photographing device for unmanned aerial vehicle - Google Patents

Moving photographing device for unmanned aerial vehicle Download PDF

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Publication number
WO2018045635A1
WO2018045635A1 PCT/CN2016/107102 CN2016107102W WO2018045635A1 WO 2018045635 A1 WO2018045635 A1 WO 2018045635A1 CN 2016107102 W CN2016107102 W CN 2016107102W WO 2018045635 A1 WO2018045635 A1 WO 2018045635A1
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WO
WIPO (PCT)
Prior art keywords
mount
movable
rotating shaft
lens
drone
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/107102
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French (fr)
Chinese (zh)
Inventor
陈乐春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Digital Eagle Technology Development (yancheng) Co ltd
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Digital Eagle Technology Development (yancheng) Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Digital Eagle Technology Development (yancheng) Co ltd filed Critical Digital Eagle Technology Development (yancheng) Co ltd
Priority to KR1020187008590A priority Critical patent/KR20180042404A/en
Publication of WO2018045635A1 publication Critical patent/WO2018045635A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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

Definitions

  • the present application relates to the field of drone technology, and in particular relates to a movable camera device of a drone, which belongs to an accessory of a drone.
  • Most of the current drones are equipped with cameras, which receive images transmitted by the camera in real time through the ground station, and can control the drone to fly according to a specific route, avoid obstacles, perform aerial observation or photographing work.
  • the conventional drone only installs a camera with a fixed orientation in front of the nose, and generally only observes the angle of view in front of the drone.
  • the state of the top cannot be detected, such as placing dangerous goods such as explosives at the bottom of the bridge.
  • the drone rescues or needs to throw objects the situation under the drone cannot be visualized, and the accuracy of the item throwing is not good.
  • the present application provides a movable image pickup device for a drone to achieve a state in which the upper and lower sides of the body are observed while keeping the airframe smoothly flying.
  • a movable camera device for a drone comprising:
  • the camera mount includes a left mount and a right mount, and the middle of the left mount and the right mount is an installation space of the movable camera body, and the installation space of the movable camera body is directly above And there is no occlusion directly below;
  • the movable camera body includes a lens, a casing and a rotating shaft, wherein the lens is mounted in the casing, and the rotating shaft is mounted on the left and right sides of the casing, and the two ends of the rotating shaft are respectively connected to the camera
  • the left mount and the right mount of the device mount; the lens may be in a forward state, an upward state, or a downward state, driven by the rotating shaft.
  • the camera mount is mounted to the edge of the drone body or to a raised shelf on the drone body.
  • a motor and a control mechanism the motor being coupled to the rotating shaft and controlled by the control mechanism, the rotating shaft being rotatable by the motor.
  • the rotational angle of the movable camera body upward is ranging from 0 degrees to at least 90 degrees with respect to the horizontal plane.
  • the movable camera body has a downward rotation angle ranging from 0 degrees to at least 90 degrees with respect to the horizontal plane.
  • the application can observe the state above and below the fuselage while keeping the airframe running smoothly, reduce the performance requirements of the observation type on the drone, reduce the requirements on the operator, and realize a simple, safe and stable. The way the target is observed.
  • Figure 1 is a schematic illustration of the present application when installed on a drone.
  • Fig. 2 is a partial enlarged view of Fig. 1;
  • FIG 3 is a structural view of a camera mount of the present application.
  • FIG. 4 is a configuration diagram of a body of a movable image pickup apparatus of the present application.
  • FIG. 5 is a control block diagram of the present application.
  • Fig. 6 is a front view showing the lens of the present application.
  • Fig. 7 is a view showing a state in which the lens of the present application faces upward.
  • Fig. 8 is a first state diagram of the lens of the present application facing downward.
  • Fig. 9 is a second view of the lens of the present application facing downward.
  • the present application mainly includes two parts, namely, a camera mounting seat 1 and a movable camera body 2.
  • the camera mount 1 is mounted on the front end of the drone and can be designed to be integrated with the drone body.
  • the camera mount 1 includes a left mount 3 and a right mount 4, and the middle of the left mount 3 and the right mount 4 is a mounting space 5 of the movable camera body, and the installation space of the movable camera body 5 There is no occlusion right above and below, so that the requirements of the direct upper view and the lower right view can be observed after the movable camera body is installed.
  • the mounting manner of the camera mounting seat 1 is merely an example.
  • the camera mounting seat 1 has various mounting methods.
  • the camera mounting seat 1 may be disposed at the edge of the body, which may be in front of the body. Can be at the end of the fuselage. It is also possible to provide a shelf on the body, and the camera mount 1 is placed on the shelf.
  • the movable camera body 2 includes a lens 6, a casing 7 and a rotating shaft 8.
  • the lens 6 is mounted in the casing 7, and the rotating shaft 8 is mounted on the left and right sides of the casing 7, and both ends of the rotating shaft 8 are provided.
  • the left mount 3 and the right mount 4 of the camera mount 1 are respectively connected.
  • a set of motors and control mechanisms are mounted in the camera mount 1, the motor 9 is coupled to the spindle 8 and controlled by the control mechanism 10, and the spindle 8 is rotatable by the motor 9.
  • a movable camera device is disposed at the front end of the unmanned aerial vehicle, and the movable camera device is in the process of flying the drone: during normal flight, the lens of the movable camera device
  • the direction is toward the front of the fuselage (as shown in Figure 6); when it is necessary to observe the situation above the fuselage, under the driving of the motor, the movable camera body is turned up 90°, and the lens direction is upwards (as shown in Figure 7).
  • the movable camera body is turned down 90°, and the lens direction is downward (as shown in Figures 8 and 9).

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Abstract

A moving photographing device for an unmanned aerial vehicle, comprising a photographing device mounting base (1) and a moving photographing device body (2). The photographing device mounting base (1) comprises a left mounting base (3), a right mounting base (4), and a mounting space (5) therebetween. The moving photographing device body (2) comprises a lens (6), a shell (7), and a rotation shaft (8). The lens (6) is mounted on the shell (7). The rotation shaft (8) is mounted on left and right sides of the shell (7). Both ends of the rotation shaft (8) are connected to the left mounting base (3) and the right mounting base (4) of the photographing device mounting base (1), respectively. A motor (9) is connected to the rotation shaft (8) and is controlled by a control mechanism (10) to allow the lens to face forward, upward, or downward. The state above and below the unmanned aerial vehicle body can be observed while the unmanned aerial vehicle body keeps flying smoothly, control requirements are reduced, and a simple, convenient, secure, and stable target observation mode is achieved.

Description

一种无人机的可动摄像装置Movable camera device for drone 技术领域Technical field

本申请涉及无人机技术领域,具体涉及一种无人机的可动摄像装置，属于无人机的配件。The present application relates to the field of drone technology, and in particular relates to a movable camera device of a drone, which belongs to an accessory of a drone.

背景技术Background technique

目前的无人机大多安装了摄像头，通过地面站接收摄像头实时传回的图像，可操控无人机按照特定的航线飞行、躲避障碍物、进行空中观察或拍摄工作等。Most of the current drones are equipped with cameras, which receive images transmitted by the camera in real time through the ground station, and can control the drone to fly according to a specific route, avoid obstacles, perform aerial observation or photographing work.

但是传统的无人机只在机头前方安装了固定了朝向的摄像头，一般仅能观察到无人机前方的视角。一是无人机侦查时，对于顶部的状态无法侦测到，如桥梁底部放置炸药等危险物品。二是无人机救援或需投掷物品的场合，对于无人机下方的情况无法实现可视化，物品投掷的准确度不佳。However, the conventional drone only installs a camera with a fixed orientation in front of the nose, and generally only observes the angle of view in front of the drone. First, when the drone is being investigated, the state of the top cannot be detected, such as placing dangerous goods such as explosives at the bottom of the bridge. Second, when the drone rescues or needs to throw objects, the situation under the drone cannot be visualized, and the accuracy of the item throwing is not good.

对于上述两类要求，只有操纵无人机大幅度倾斜才能观察到部分机身上、下方的视角，但是这种操作是十分高难度且危险的。For the above two types of requirements, only the maneuvering drone can be tilted to observe the angle of view above and below part of the fuselage, but this operation is very difficult and dangerous.

申请内容Application content

鉴于上述情况，本申请提供一种无人机的可动摄像装置，以实现在保持机身平稳飞行的同时，观察到机身上方和下方的状态。In view of the above circumstances, the present application provides a movable image pickup device for a drone to achieve a state in which the upper and lower sides of the body are observed while keeping the airframe smoothly flying.

为达到上述目的，本申请的实施例采用如下技术方案：To achieve the above objective, the embodiment of the present application adopts the following technical solutions:

一种无人机的可动摄像装置，包括：A movable camera device for a drone, comprising:

摄像装置安装座，包括左安装座和右安装座，所述左安装座和右安装座的中间为可动摄像装置机身的安装空间，所述可动摄像装置机身的安装空间的正上方以及正下方均无遮挡；The camera mount includes a left mount and a right mount, and the middle of the left mount and the right mount is an installation space of the movable camera body, and the installation space of the movable camera body is directly above And there is no occlusion directly below;

可动摄像装置机身，包括镜头、机壳和转轴，所述镜头安装在所述机壳内，所述机壳的左右两侧安装所述转轴，所述转轴的两端分别连接所述摄像装置安装座的左安装座以及右安装座；所述镜头在转轴的带动下可处于朝前状态、朝上状态或朝下状态。 The movable camera body includes a lens, a casing and a rotating shaft, wherein the lens is mounted in the casing, and the rotating shaft is mounted on the left and right sides of the casing, and the two ends of the rotating shaft are respectively connected to the camera The left mount and the right mount of the device mount; the lens may be in a forward state, an upward state, or a downward state, driven by the rotating shaft.

依照本申请的一个方面，所述摄像装置安装座安装在无人机机身的边缘，或者安装在无人机机身上突出的架子上。In accordance with one aspect of the present application, the camera mount is mounted to the edge of the drone body or to a raised shelf on the drone body.

依照本申请的一个方面，还包括电机和控制机构，所述电机与所述转轴相连接并受所述控制机构的控制，所述转轴可在所述电机的带动下旋转。According to an aspect of the present application, there is further provided a motor and a control mechanism, the motor being coupled to the rotating shaft and controlled by the control mechanism, the rotating shaft being rotatable by the motor.

依照本申请的一个方面，所述可动摄像装置机身向上方的转动角度范围为相对于水平面0度到至少90度。According to an aspect of the present application, the rotational angle of the movable camera body upward is ranging from 0 degrees to at least 90 degrees with respect to the horizontal plane.

依照本申请的一个方面，所述可动摄像装置机身向下方的转动角度范围为相对于水平面0度到至少90度。According to an aspect of the application, the movable camera body has a downward rotation angle ranging from 0 degrees to at least 90 degrees with respect to the horizontal plane.

本申请实施的优点：Advantages of the implementation of the application:

本申请可以在保持机身平稳飞行的同时，观察到机身上方、下方的状态，降低该类观察要求对无人机的性能指标，降低对操控员的要求，实现一种简便、安全、稳定的目标观察方式。The application can observe the state above and below the fuselage while keeping the airframe running smoothly, reduce the performance requirements of the observation type on the drone, reduce the requirements on the operator, and realize a simple, safe and stable. The way the target is observed.

附图说明DRAWINGS

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some embodiments of the present application, Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

图1是本申请安装在无人机上时的示意图。Figure 1 is a schematic illustration of the present application when installed on a drone.

图2是图1的局部放大图。Fig. 2 is a partial enlarged view of Fig. 1;

图3是本申请的摄像装置安装座的结构图。3 is a structural view of a camera mount of the present application.

图4是本申请的可动摄像装置机身的结构图。4 is a configuration diagram of a body of a movable image pickup apparatus of the present application.

图5是本申请的控制框图。Figure 5 is a control block diagram of the present application.

图6是本申请的镜头朝前的状态图。Fig. 6 is a front view showing the lens of the present application.

图7是本申请的镜头朝上的状态图。Fig. 7 is a view showing a state in which the lens of the present application faces upward.

图8是本申请的镜头朝下的状态图一。Fig. 8 is a first state diagram of the lens of the present application facing downward.

图9是本申请的镜头朝下的状态图二。Fig. 9 is a second view of the lens of the present application facing downward.

具体实施方式detailed description

下面将结合本申请实施例中的附图，对本申请实施例中的技术方 案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical party in the embodiment of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The present invention is clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

如图1和图2所示，本申请主要包括两部分，分别是摄像装置安装座1和可动摄像装置机身2。As shown in FIG. 1 and FIG. 2, the present application mainly includes two parts, namely, a camera mounting seat 1 and a movable camera body 2.

如图3所示，摄像装置安装座1安装在无人机的前端，可以设计成与无人机机身融为一体。摄像装置安装座1包括左安装座3和右安装座4，左安装座3和右安装座4的中间为可动摄像装置机身的安装空间5，可动摄像装置机身的安装空间5的正上方以及正下方均无遮挡，以满足可动摄像装置机身安装后，可以观察到正上方视角和正下方视角的要求。As shown in FIG. 3, the camera mount 1 is mounted on the front end of the drone and can be designed to be integrated with the drone body. The camera mount 1 includes a left mount 3 and a right mount 4, and the middle of the left mount 3 and the right mount 4 is a mounting space 5 of the movable camera body, and the installation space of the movable camera body 5 There is no occlusion right above and below, so that the requirements of the direct upper view and the lower right view can be observed after the movable camera body is installed.

上述摄像装置安装座1的安装方式仅是个例子，摄像装置安装座1有多种安装方式，在其他实施例中，摄像装置安装座1可以设置在机身边缘，可以是在机身前方，也是可以在机身尾部。也可以是在机身上设置个架子，摄像装置安装座1放置在架子上。The mounting manner of the camera mounting seat 1 is merely an example. The camera mounting seat 1 has various mounting methods. In other embodiments, the camera mounting seat 1 may be disposed at the edge of the body, which may be in front of the body. Can be at the end of the fuselage. It is also possible to provide a shelf on the body, and the camera mount 1 is placed on the shelf.

如图4所示，可动摄像装置机身2，包括镜头6、机壳7和转轴8，镜头6安装在机壳7内，机壳7的左右两侧安装转轴8，转轴8的两端分别连接摄像装置安装座1的左安装座3以及右安装座4。As shown in FIG. 4, the movable camera body 2 includes a lens 6, a casing 7 and a rotating shaft 8. The lens 6 is mounted in the casing 7, and the rotating shaft 8 is mounted on the left and right sides of the casing 7, and both ends of the rotating shaft 8 are provided. The left mount 3 and the right mount 4 of the camera mount 1 are respectively connected.

如图5所述，一套电机和控制机构安装在摄像装置安装座1内，电机9与转轴8相连接并受控制机构10的控制，转轴8可在电机9的带动下旋转。As shown in FIG. 5, a set of motors and control mechanisms are mounted in the camera mount 1, the motor 9 is coupled to the spindle 8 and controlled by the control mechanism 10, and the spindle 8 is rotatable by the motor 9.

参考图1～图5，本申请的工作原理如下：在无人机机身前端设置可动摄像装置，该可动摄像装置在无人机飞行过程中：正常飞行时，可动摄像装置的镜头方向朝向机身前方(如图6所示)；当需要观测机身上方的情况时，在电机的带动下，可动摄像装置机身90°向上翻转，镜头方向朝上(如图7所示)；当需要观测机身下方的情况时，在电机的带动下，可动摄像装置机身90°向下翻转，镜头方向朝下(如图8和图9所示)。Referring to FIG. 1 to FIG. 5, the working principle of the present application is as follows: a movable camera device is disposed at the front end of the unmanned aerial vehicle, and the movable camera device is in the process of flying the drone: during normal flight, the lens of the movable camera device The direction is toward the front of the fuselage (as shown in Figure 6); when it is necessary to observe the situation above the fuselage, under the driving of the motor, the movable camera body is turned up 90°, and the lens direction is upwards (as shown in Figure 7). When it is necessary to observe the situation under the fuselage, under the driving of the motor, the movable camera body is turned down 90°, and the lens direction is downward (as shown in Figures 8 and 9).

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本领域技术的技术人员在本申请公开的技术范围 内，可轻易想到的变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。 The foregoing is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto, and any technical person skilled in the art is within the technical scope disclosed in the present application. Changes or substitutions that may be readily conceived are intended to be covered by the scope of the present application. Therefore, the scope of protection of the present application should be determined by the scope of the claims.

Claims (5)

一种无人机的可动摄像装置，其特征在于包括：A movable camera device for a drone, comprising: 摄像装置安装座，包括左安装座和右安装座，所述左安装座和右安装座的中间为可动摄像装置机身的安装空间，所述可动摄像装置机身的安装空间的正上方以及正下方均无遮挡；可动摄像装置机身，包括镜头、机壳和转轴，所述镜头安装在所述机壳内，所述机壳的左右两侧安装所述转轴，所述转轴的两端分别连接所述摄像装置安装座的左安装座以及右安装座；所述镜头在转轴的带动下可处于朝前状态、朝上状态或朝下状态。The camera mount includes a left mount and a right mount, and the middle of the left mount and the right mount is an installation space of the movable camera body, and the installation space of the movable camera body is directly above And the front side is unobstructed; the movable camera body includes a lens, a casing and a rotating shaft, the lens is mounted in the casing, and the rotating shaft is mounted on the left and right sides of the casing, and the rotating shaft The two ends are respectively connected to the left mount and the right mount of the camera mount; the lens may be in a forward state, an upward state or a downward state under the driving of the rotating shaft. 根据权利要求1所述的无人机的可动摄像装置，其特征在于，所述摄像装置安装座安装在无人机机身的边缘，或者安装在无人机机身上突出的架子上。A movable image pickup apparatus for a drone according to claim 1, wherein said image pickup device mount is attached to an edge of the unmanned vehicle body or to a stand that protrudes from the body of the drone. 根据权利要求1所述的无人机的可动摄像装置，其特征在于，还包括电机和控制机构，所述电机与所述转轴相连接并受所述控制机构的控制，所述转轴可在所述电机的带动下旋转。A movable camera apparatus for a drone according to claim 1, further comprising a motor and a control mechanism, said motor being coupled to said rotating shaft and controlled by said control mechanism, said rotating shaft being The motor rotates under the driving. 根据权利要求1所述的无人机的可动摄像装置，其特征在于，所述可动摄像装置机身向上方的转动角度范围为相对于水平面0度到至少90度。The movable imaging device of the unmanned aerial vehicle according to claim 1, wherein the rotational angle of the movable imaging device body upward is from 0 degrees to at least 90 degrees with respect to the horizontal plane. 根据权利要求1所述的无人机的可动摄像装置，其特征在于，所述可动摄像装置机身向下方的转动角度范围为相对于水平面0度到至少90度。 The movable imaging device of the unmanned aerial vehicle according to claim 1, wherein the rotational angle of the movable imaging device body downward is from 0 degrees to at least 90 degrees with respect to the horizontal plane.
PCT/CN2016/107102 2016-09-06 2016-11-24 Moving photographing device for unmanned aerial vehicle Ceased WO2018045635A1 (en)

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