Three-axis anti-shaking aerial photography cradle head used for multi-rotor unmanned hot-gas airship
A multi-rotor unmanned and cloud-tilt technology, which is applied to aircraft parts, transportation and packaging, etc., can solve the problem of high energy consumption of motors, and achieve the effect of reducing energy consumption
Active Publication Date: 2018-10-02
CHONGQING VOCATIONAL COLLEGE OF TRANSPORTATION
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[0003] In the prior art pan / tilt, the actual working energy consumption of the motor is too high
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[0023] In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0024] The invention provides a three-axis anti-shake aerial photography platform for multi-rotor unmanned hot air airships, see figure 1 , including: an energy consumption optimization module 100 and a displacement compensation module 200;
[0025] The energy consumption optimization module includes a motor control module 110 and a pan / tilt locking module 120;
[0026] The motor control module 110 is used to control the speed / angle of the motor;
[0027] The pan-tilt locking module 120 is used to lock the pan-tilt;
[0028] The displacement compensation module 200 is used to adjust the attitude of the gimbal in real time according to the continuous changes of the flight path and the relative position of the target, stabilize the sta...
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The invention discloses a three-axis anti-shaking aerial photography cradle head used for a multi-rotor unmanned hot-gas airship. The cradle head comprises an energy consumption optimization module and a displacement compensation module. The energy consumption optimization module comprises a motor control module and a cradle head locking module. The motor control module is used for controlling therotation speed / the rotation angle of a motor. The cradle head locking module is used for locking the cradle head. The displacement compensation module is used for adjusting the attitude of the cradlehead in real time, stabilizing a staring target and improving a ground reconnaissance and detection effect according to continuous changes of the flight route and the relative position of the targetand introducing relative motion into a cradle head control link according to a fusion target motion state estimated value. By the adoption of the provided three-axis anti-shaking aerial photography cradle head used for the multi-rotor unmanned hot-gas airship, code wheel smooth operation design is adopted, the motor transmission output torque required for transmission and limitation of a driven machine is reduced as much as possible when the azimuth angle / the height angle of the cradle head changes, and therefore the actual work energy consumption of the motor is reduced.
Description
technical field [0001] The invention relates to the field of thermal airships, in particular to a three-axis anti-shake aerial camera platform for multi-rotor unmanned thermal airships. Background technique [0002] The pan / tilt is a supporting device for installing and fixing the camera, and it is divided into two types: fixed and electric pan / tilt. The fixed pan / tilt is suitable for the situation where the monitoring range is not large. After installing the camera on the fixed pan / tilt, you can adjust the horizontal and pitch angles of the camera. After reaching the best working posture, you only need to lock the adjustment mechanism. The electric pan / tilt is suitable for scanning and monitoring a large area, and it can expand the monitoring range of the camera. The high-speed attitude of the electric pan / tilt is realized by two executive motors, and the motors receive signals from the controller to accurately operate and position. Under the action of the control signal,...
Claims
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IPC IPC(8): B64D47/08
CPCB64D47/08
Inventor 严伟民王宏泽严霁玥胡焕然廖安健
Owner CHONGQING VOCATIONAL COLLEGE OF TRANSPORTATION