Following shot device

Abstract

The utility model relates to a following shot device. Comprising an unmanned aerial vehicle; a radar is installed on the side portion of an unmanned aerial vehicle body, a rotary base is arranged below the middle of the unmanned aerial vehicle body, a rotary driving assembly for driving the rotary base is further installed in the middle of the unmanned aerial vehicle body, a plurality of supporting leg assemblies are installed on the side portion of the rotary base, and a camera shooting assembly is further installed below the rotary base through a posture adjusting assembly. The supporting leg assembly comprises a supporting leg and a folding driving assembly for driving the supporting leg to be switched between a vertical state and a horizontal state, the posture adjusting assembly comprises a longitudinal beam and a cross beam, the lower end of the longitudinal beam is connected with the middle of the cross beam through a swing frame, and a side supporting beam is installed at the end of the cross beam; a supporting beam is installed between the front ends of the side supporting beams through a swing arm rotating shaft and a swing arm, the camera shooting assembly is fixedly installed in the middle of the supporting beam, and the camera shooting device further comprises a left-right swing angle assembly for driving the cross beam to swing left and right and a pitching swing angle assembly for driving the supporting beam to swing in a pitching mode. According to the utility model, the flexibility of secondary development of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of target tracking, and particularly relates to a tracking device. Background Art

[0002] With the development of UAV flight control technology, UAVs have been more and more widely used in target tracking. Usually, as a flight platform, a UAV needs to carry a tracking device and a shooting component. By tracking the shooting target and adjusting the attitude of the shooting component through the tracking device, the tracking effect can be ensured.

[0003] The aforementioned tracking device and system need to have the ability of fast and flexible action response, so that the camera component can quickly and stably face the tracking object during the tracking process, achieving a better tracking effect. The existing tracking devices are usually systems integrated with UAVs. During the flight of the UAV, the aforementioned effect is achieved by controlling the flight attitude of the UAV. This is not conducive to the secondary development of UAV facilities and reduces the flexibility of UAV applications. In summary, it is necessary to develop and design a tracking device based on UAVs to solve the aforementioned technical problems. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a tracking device to improve the flexibility of the secondary development of UAVs.

[0005] The technical solution adopted by the utility model is: a tracking device, including a UAV; a radar is installed on the side of the body of the UAV, a slewing base is provided below the middle of the body, a slewing drive assembly for driving the slewing base is also installed in the middle of the body, a plurality of leg assemblies are installed on the side of the slewing base, and a camera assembly is installed below the slewing base through an attitude adjustment assembly; the leg assembly includes a leg and a folding drive assembly for driving the leg to switch between a vertical state and a horizontal state, the attitude adjustment assembly includes a longitudinal beam and a cross beam, the lower end of the longitudinal beam is connected to the middle of the cross beam through a swing frame, side support beams are installed at the ends of the cross beam, a support beam is installed between the front ends of the side support beams through a swing arm rotating shaft and a swing arm, the camera assembly is fixedly installed in the middle of the support beam, and it also includes a left and right swing angle assembly for driving the cross beam to swing left and right and a pitch swing angle assembly for driving the support beam to swing up and down.

[0006] Preferably, the leg assembly further includes a bushing and an inner shaft located inside the bushing. The inner end of the bushing is fixedly connected to the side of the slewing base by a fixed seat. An outer shaft section is provided at the outer end of the inner shaft, and the upper end of the leg is fixedly connected to the outer shaft section through an adapter frame. The folding drive assembly includes a folding drive motor installed below the middle of the slewing base, and the output shaft of the folding drive motor is connected to the inner ends of the inner shafts through a bevel gear set.

[0007] Preferably, the slewing drive assembly includes a slewing drive motor fixedly installed in the middle of the machine body. A hanging rotating shaft is installed in the middle of the top of the slewing base, and the output shaft of the slewing drive motor is connected to the hanging rotating shaft in a butt joint manner.

[0008] Preferably, the upper end of the longitudinal beam of the attitude adjustment assembly is fixedly connected to one of the bushings through a first connecting frame. A first connecting frame is also provided at the lower end of the longitudinal beam, and this first connecting frame is hingedly connected to the swing frame. The rear ends of the two side support beams are fixedly connected to both ends of the cross beam by a second connecting frame.

[0009] Preferably, swing arm rotating shafts are installed at the front ends of the two side support beams. The upper ends of the two swing arms are fixedly connected to the swing arm rotating shafts, and the end of the support beam is fixedly connected to the lower end of the swing arm.

[0010] Preferably, the left and right swing angle assemblies include a driven pulley installed on the swing frame and a drive motor installed on the longitudinal beam. A driving pulley is installed on the output shaft of the drive motor, and the driving pulley and the driven pulley are connected by a belt drive; the pitching swing angle assembly includes a driven pulley installed at the outer end of the swing arm rotating shaft and a drive motor installed on the side support beam. A driving pulley is installed on the output shaft of the drive motor, and the driving pulley and the driven pulley are connected by a belt drive.

[0011] The advantages and positive effects of the present utility model are:

[0012] The present utility model provides a follow-up shooting device with a reasonable structural design. Based on a drone, by setting a radar on the side of the machine body, the detection of the follow-up shooting object is realized. By setting a slewing base and a slewing drive assembly, the slewing displacement of the camera assembly is realized. By setting an attitude adjustment assembly, the left and right swing displacement and the pitching swing displacement of the camera assembly are realized. The foregoing action modes can make the camera assembly more quickly and flexibly face the follow-up shooting object without affecting the drone flight control. The slewing base at the bottom and its attached components are located below the drone body in a hanging manner. The drone is used as a flight platform. Through the action characteristics of the mechanism below, the camera assembly faces the object to be followed, thus improving the flexibility of the secondary development of the drone.

[0013] By installing a plurality of foldable leg assemblies on the outside of the slewing base, the present follow-up shooting device can be stably located on a support surface such as the ground in a non-operating state. When in an operating state, each leg assembly folds to a horizontal state to avoid affecting the movement of the attitude adjustment assembly and the camera assembly and the follow-up shooting effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a three-dimensional structural schematic diagram of the present utility model;

[0015] Figure 2It is a schematic diagram of the structure of the main part of the utility model, from the upper perspective;

[0016] Figure 3 yes Figure 1 Schematic diagram of the front perspective structure of the middle leg assembly.

[0017] In the figure:

[0018] 1. Body; 2. Crossbar; 3. Motor; 4. Blade; 5. Control assembly; 6. Radar; 7. Leg assembly; 7-1. Leg; 7-2. Adapter frame; 7-3. Outer shaft section; 7-4. Bushing; 7-5. Inner shaft; 7-6. Bevel gear set; 7-7. Folding drive motor; 8. Attitude adjustment assembly; 8-1. First connecting frame; 8-2. Longitudinal beam; 8-3. Left and right swing angle assembly; 8-4. Swing frame; 8-5. Crossbeam; 8-6. Second connecting frame; 8-7. Side support beam; 8-8. Pitch swing angle assembly; 8-9. Support beam; 8-10. Swing arm; 8-11. Swing arm shaft; 9. Camera assembly; 10. Suspension shaft; 11. Rotating base; 12. Rotating drive motor; 13. Fixed seat. DETAILED DESCRIPTION

[0019] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0020] See also Figure 1 , Figure 2 and Figure 3 The tracking device of the utility model includes a drone, that is, the tracking device is constructed based on a drone. As shown in the figure, the drone includes a body 1, and four cross bars 2 with circumferentially equal angles are arranged on the side of the body 1, and a motor 3 is installed at the outer end of each cross bar 2, and a blade 4 is installed at the upper end of the output shaft of each motor 3. A control component 5 is installed at the top middle position of the body 1, and the control component 5 includes a flight control module, a wireless transceiver module, a storage module, and a battery and power management module. The wireless transceiver module is used to receive the remote control signal sent by the operator's handheld device and to send the tracking image to the operator's handheld device.

[0021] The drone in this patent is existing technology, and the patent solution does not involve improvements to the structure and functions of the drone.

[0022] A radar 6 is installed on the side of the airframe 1 of the drone. The radar 6 is used to detect the object to be tracked. As shown in the figure, the radar 6 includes a probe base fixedly connected to the side of the airframe 1 and a radar probe mounted on the probe base. There are four radars 6, which are arranged at equal angular intervals along the circumference. The radar 6 is connected to the control component 5 of the drone through a cable. The control component 5 judges the orientation of the object to be tracked according to the reflection signal of the radar 6. The principle and dynamic process of the radar 6 detecting the object to be tracked through radar beams are prior art and will not be elaborated in this patent.

[0023] A slewing base 11 is provided below the middle of the airframe 1, and a slewing drive component for driving the slewing base 11 is also installed in the middle of the airframe 1. Under the driving action of the slewing drive component, the slewing base 11 and its attached components can perform slewing displacement. In this embodiment, the slewing drive component includes a slewing drive motor 12 installed and fixed in the middle of the airframe 1. A hanging rotating shaft 10 is installed in the middle of the top of the slewing base 11, and the output shaft of the slewing drive motor 12 is butt-connected to the hanging rotating shaft 10.

[0024] A plurality of foldable leg assemblies 7 are installed on the side of the slewing base 11, and a camera assembly 9 is also installed below the slewing base 11 through an attitude adjustment assembly 8. The camera assembly 9 can be a camera or a camera head. The camera assembly 9 is connected to the control component 5 of the drone through a cable, and the captured images are stored in the storage module of the control component 5. The attitude adjustment assembly 8 is used to adjust the attitude of the camera assembly 9, and cooperate with the aforementioned slewing displacement action to make the camera assembly 9 face the object to be tracked. The function of setting a plurality of foldable leg assemblies 7 is that when the tracking device is in a non-operating state, each leg assembly 7 is unfolded downward, so that the tracking device can be located on a stable support surface. When the tracking device is in an operating state, each leg assembly 7 is synchronously folded upward to a horizontal state, which can avoid the influence of each leg assembly 7 on the movement of the attitude adjustment assembly 8 and the camera assembly 9 and the tracking effect.

[0025] Please refer to Figure 2 and Figure 3 , it can be seen that there are three leg assemblies 7, which are arranged at equal angular intervals along the circumference.

[0026] The leg assembly 7 includes a leg 7-1 and a folding drive assembly for driving the leg 7-1 to switch between a vertical state and a horizontal state. When the tracking device is in a non-operating state, each leg assembly 7 swings synchronously to the downward upright position. At this time, the tracking device can stand upright on the support surface such as the ground. When the tracking device takes off into the air, each leg assembly 7 swings synchronously upward to the horizontal folding position. At this time, the operation of the attitude adjustment assembly 8 and the camera assembly 9 will not be interfered by the leg assembly 7, and at the same time, the upward swinging and folding leg assemblies 7 will not appear in the field of view of the camera assembly 9.

[0027] The outrigger assembly 7 further includes a bushing 7-4 and an inner shaft 7-5 located inside the bushing 7-4. The inner end of the bushing 7-4 is fixedly connected to the side of the slewing base 11 by a fixed seat 13. An outer shaft section 7-3 is provided at the outer end of the inner shaft 7-5, and the upper end of the outrigger 7-1 is fixedly connected to the outer shaft section 7-3 through an adapter frame 7-2. Specifically, the outrigger 7-1 and the adapter frame 7-2 can be integrally injection-molded to improve the overall structural strength. Holes are provided on the outrigger 7-1 and the adapter frame 7-2 to reduce the overall weight and improve the lightweight level of the tracking device.

[0028] The folding drive assembly includes a folding drive motor 7-7 installed below the middle of the slewing base 11. The output shaft of the folding drive motor 7-7 is drivingly connected to the inner end of each inner shaft 7-4 by a bevel gear set 7-6. Figure 3 As shown in, the outrigger assembly 7 is in the downward unfolded state. When it is necessary to synchronously fold each outrigger 7-1 upward, the folding drive motor 7-7 operates, and through the bevel gear set 7-6, it synchronously drives each inner shaft 7-5 to drive the outer shaft section 7-3 to rotate. Then, after the outrigger 7-1 and the adapter frame 7-2 swing 90°, they reach the horizontal folding position.

[0029] Please refer to Figure 2 , it can be seen that:

[0030] The attitude adjustment assembly 8 includes a longitudinal beam 8-2 and a cross beam 8-5. The lower end of the longitudinal beam 8-2 is connected to the middle of the cross beam 8-5 through a swing frame 8-4. Side support beams 8-7 are installed at the ends of the cross beam 8-5. A support beam 8-9 is installed between the front ends of the side support beams 8-7 through a swing arm rotating shaft 8-11 and a swing arm 8-10. The camera assembly 9 is fixedly installed in the middle of the support beam 8-9.

[0031] In this embodiment, the upper end of the longitudinal beam 8-2 of the attitude adjustment assembly 8 is fixedly connected to the bushing 7-4 of one of the outrigger assemblies 7 through a first connecting frame 8-1. A first connecting frame 8-1 is also provided at the lower end of the longitudinal beam 8-2, and this first connecting frame 8-1 is hingedly connected to the swing frame 8-4. The rear ends of the two side support beams 8-7 are fixedly connected to the two ends of the cross beam 8-5 through second connecting frames 8-6.

[0032] In this embodiment, swing arm rotating shafts 8-11 are installed at the front ends of the two side support beams 8-7. The upper ends of the two swing arms 8-10 are fixedly connected to the swing arm rotating shafts 8-11, and the ends of the support beam 8-9 are fixedly connected to the lower ends of the swing arms 8-10.

[0033] It also includes a left - right swing angle assembly 8 - 3 for driving the cross beam 8 - 5 to swing left and right and a pitch swing angle assembly 8 - 8 for driving the support beam 8 - 9 to swing in pitch. The left - right swing angle assembly 8 - 3 enables the camera assembly 9 to have a left - right swing action mode by providing a left - right swing driving effect, and the pitch swing angle assembly 8 - 8 enables the camera assembly 9 to have a pitch swing action mode by providing a pitch swing driving effect.

[0034] In this embodiment, the left - right swing angle assembly 8 - 3 includes a driven pulley mounted on the swing frame 8 - 4 and a driving motor mounted on the longitudinal beam 8 - 2. A driving pulley is mounted on the output shaft of the driving motor, and the driving pulley and the driven pulley are connected by a belt drive. When the driving motor drives the driven pulley to rotate left or right,

[0035] In this embodiment, the pitch swing angle assembly 8 - 8 includes a driven pulley mounted at the outer end of the swing arm rotating shaft 8 - 11 and a driving motor mounted on the side support beam 8 - 7. A driving pulley is mounted on the output shaft of the driving motor, and the driving pulley and the driven pulley are connected by a belt drive.

[0036] Operation mode:

[0037] Initially, the following - shooting device is placed upright on a support surface such as the ground. By sending a remote - control signal through a handheld device, the UAV starts and flies away from the support surface. At this time, each leg assembly 7 synchronously folds upward to a horizontal state; the operator sends a signal through the handheld device to make the UAV fly near the object to be followed and hover. The control component 5 of the UAV generates and receives radar beams through controlling each radar 6, judges the azimuth of the object to be followed, and then the control component 5 sends an instruction to the rotary driving motor 12. The rotary driving motor 12 drives the rotary base 11 to rotate a certain angle until the camera assembly 9 faces the object to be followed;

[0038] The operator observes the image generated by the camera assembly 9 on the display screen of the handheld device, sends a remote - control signal through the handheld device to control the actions of the left - right swing angle assembly 8 - 3 and the pitch swing angle assembly 8 - 8, realizes the attitude adjustment of the camera assembly 9 until the following - shooting image displayed on the display screen of the handheld device is appropriate, and then sends a remote - control signal to make the camera assembly 9 take a picture.

Claims

1. A tracking device, comprising a drone; wherein: A radar (6) is installed on the side of the body (1) of the unmanned aerial vehicle, a slewing base (11) is provided at the lower middle of the body (1), a slewing drive assembly for driving the slewing base (11) is also installed at the middle of the body (1), a plurality of leg assemblies (7) are installed on the side of the slewing base (11), and a camera assembly (9) is installed below the slewing base (11) via a posture adjustment assembly (8); the leg assembly (7) includes a leg (7-1) and a folding drive assembly for driving the leg (7-1) to switch between a vertical state and a horizontal state, and the posture adjustment assembly (8) includes a longitudinal beam (8-1). The invention relates to a camera module (8-2) and a cross beam (8-5), wherein the lower end of the longitudinal beam (8-2) is connected to the middle part of the cross beam (8-5) through a swing frame (8-4), a side support beam (8-7) is installed at the end of the cross beam (8-5), a support beam (8-9) is installed between the front ends of the side support beam (8-7) through a swing arm rotating shaft (8-11) and a swing arm (8-10), a camera assembly (9) is fixedly installed at the middle part of the support beam (8-9), and also comprises a left and right swing angle assembly (8-3) for driving the cross beam (8-5) to swing left and right, and a pitch swing angle assembly (8-8) for driving the support beam (8-9) to swing up and down.

2. The tracking device according to claim 1, characterized in that: The leg assembly (7) further comprises a shaft sleeve (7-4) and an inner shaft (7-5) located in the shaft sleeve (7-4); the inner end of the shaft sleeve (7-4) is fixedly connected to the side of the slewing base (11) by means of a fixing seat (13); an outer shaft section (7-3) is provided at the outer end of the inner shaft (7-5); and the upper end of the leg (7-1) is fixedly connected to the outer shaft section (7-3) by means of an adapter frame (7-2); and the folding drive assembly comprises a folding drive motor (7-7) installed below the middle of the slewing base (11); and the output shaft of the folding drive motor is transmission-connected to the inner end of each inner shaft (7-5) by means of a bevel gear set (7-6).

3. The tracking device according to claim 2, characterized in that: The rotary drive assembly comprises a rotary drive motor (12) fixedly mounted in the middle of the machine body (1), a hanging shaft (10) is mounted in the middle of the top of the rotary base (11), and the output shaft of the rotary drive motor (12) is butt-connected to the hanging shaft (10).

4. The tracking device as claimed in claim 3, characterized in that: The upper end of the longitudinal beam (8-2) of the posture adjustment component (8) is fixedly connected to one of the shaft sleeves (7-4) via a first connecting frame (8-1); the lower end of the longitudinal beam (8-2) is also provided with a first connecting frame (8-1) and the first connecting frame (8-1) is hingedly connected to the swing frame (8-4); the rear ends of the two side support beams (8-7) are fixedly connected to the two ends of the cross beam (8-5) via a second connecting frame (8-6).

5. The tracking device as claimed in claim 4, characterized in that: The front ends of the two side support beams (8-7) are both equipped with swing arm rotating shafts (8-11), the upper ends of the two swing arms (8-10) are fixedly connected to the swing arm rotating shafts (8-11), and the end of the supporting beam (8-9) is fixedly connected to the lower end of the swing arm (8-10).

6. The tracking device as claimed in claim 5, characterized in that: The left and right swing angle components (8-3) include a driven pulley installed on a swing frame (8-4) and a driving motor installed on a longitudinal beam (8-2), a driving pulley is installed on the output shaft of the driving motor, and the driving pulley and the driven pulley are connected by a belt drive; the pitch swing angle component (8-8) includes a driven pulley installed on the outer end of a swing arm rotating shaft (8-11) and a driving motor installed on a side support beam (8-7), a driving pulley is installed on the output shaft of the driving motor, and the driving pulley and the driven pulley are connected by a belt drive.

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