Built-in image stabilization cradle head for miniature unmanned aerial vehicle

Abstract

The invention discloses a built-in image stabilization cradle head for a miniature unmanned aerial vehicle. The cradle head comprises mounting beams, a mounting rack, a shell, a posture measurement sensor, a hood, a camera, an azimuth-drive motor, a rack, a pitching motor, a reversing frame and a rolling motor, wherein the hood is arranged on the top of the shell; four mounting beams are distributed at the bottom of the shell; the mounting rack is arranged at the bottom in the shell; the rolling motor is arranged on the mounting rack; the reversing frame is arranged on the output shaft of the rolling motor; the output shaft of the pitching motor is arrange din the mounting hole of the reversing frame; the rack is arranged on the pitching motor; the azimuth-drive motor is arranged on the rack; the camera is arranged on the output shaft of the azimuth-drive motor; the posture measurement sensor is arranged on the camera. According to the cradle head, varifocal stable-image photographing can be carried out by the miniature unmanned aerial vehicle in a flight, the control module is used for filtering shaking of the aerial vehicle in rolling, pitching and azimuth directions by adopting a following type fuzzy PID control algorithm according to the posture information detected by the measurement sensor, and stable photographing can be realized.

Description

technical field [0001] The invention belongs to the technical field of an image stabilizing platform, in particular to a built-in image stabilizing platform for a small unmanned aerial vehicle. Background technique [0002] During the flight of the UAV, due to the turning of the aircraft, the attitude of the body will be tilted; due to climbing or descending, the body will be raised or lowered. This kind of attitude change in the aircraft is random, mostly accompanied by the shaking of the airframe, and its amplitude and frequency are also unpredictable in advance. [0003] With the wide application of UAV technology in aerial survey, aerial photography, line patrol monitoring and other fields, the requirements for the quality of captured images are getting higher and higher, not only requiring clear images and high resolution, but also requiring stable output images without shaking. It is a common practice to install an image stabilization gimbal on the drone that can prov...

AI Technical Summary

Problems solved by technology

But for small fixed-wing drones, it is difficult to use the external image stabilization gimbal

One is that it restricts the use of UAVs. Due to the constraints of the use site, small fixed-wings often use the belly sliding landing method. This method requires the belly to touch the bottom directly, so it is impossible to mount the gimbal; the second is the aerodynamics of the aircraft. The shape has a great influence, and the external gimbal will inevitably increase the resistance of the aircraft, affecting the flight speed and range

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