CN110857147A - Photoelectric pod and fixed-wing aircraft comprising same - Google Patents
Photoelectric pod and fixed-wing aircraft comprising same Download PDFInfo
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- CN110857147A CN110857147A CN201810968206.1A CN201810968206A CN110857147A CN 110857147 A CN110857147 A CN 110857147A CN 201810968206 A CN201810968206 A CN 201810968206A CN 110857147 A CN110857147 A CN 110857147A
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- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 230000005693 optoelectronics Effects 0.000 claims description 11
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 description 4
- 230000003416 augmentation Effects 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005622 photoelectricity Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Friction Gearing (AREA)
Abstract
The invention discloses a photoelectric pod and a fixed-wing aircraft comprising the photoelectric pod, wherein the photoelectric pod comprises a fuselage, and a heading shaft assembly, a rolling shaft assembly, a pitching shaft assembly and a carrier which are sequentially connected, the heading shaft assembly and the rolling shaft assembly are positioned in the fuselage, and the axes of the heading shaft assembly and the rolling shaft assembly are not orthogonal to the axis of the pitching shaft assembly. The fixed-wing aircraft comprises the photovoltaic bird as described above. According to the photoelectric pod and the fixed wing aircraft comprising the photoelectric pod, the transverse rolling shaft assembly is arranged in the aircraft body, so that the opening area below the aircraft body is smaller, the air quantity entering the aircraft body is reduced, the wind resistance of the photoelectric pod is greatly reduced, and the stability of the fixed wing aircraft is enhanced.
Description
Technical Field
The invention relates to a photoelectric pod and a fixed-wing aircraft comprising the same.
Background
The photoelectric pod is a stabilizer with photoelectric equipment such as a visible light camera, an infrared camera and the like mounted inside, can still provide stable video picture output in the carrier motion process, and is often installed in a fixed-wing aircraft for aerial photography, aiming, monitoring or tracking and the like. Common electro-optic pods are divided into two-axis orthogonal electro-optic pods and three-axis orthogonal electro-optic pods.
The two-axis orthogonal photoelectric pod has a course axis and a pitching axis, and does not have a transverse rolling shaft, so that the two-axis orthogonal photoelectric pod has the advantages of certain stability enhancement performance, smaller volume, round bottom view and capability of being installed in a smaller round hole in an opening of the belly of a body. The defect is that stability augmentation of a transverse rolling shaft is lacked, so that the transverse rolling motion or vibration of a machine body can be transmitted to a lens in the flying process of the fixed-wing aircraft, certain jitter and blurring of a recorded video are caused, and the stability is poor.
The specific structure of the three-axis orthogonal photoelectric pod is shown in fig. 1 and fig. 2, the three-axis orthogonal photoelectric pod is provided with a heading shaft 2 ', a rolling shaft 3 ', a pitching shaft 4 ' and a camera 5 ' which are connected in sequence, and the axis Z ' of the heading shaft, the axis X ' of the rolling shaft and the axis Y ' of the pitching shaft are mutually perpendicular and are orthogonal in three axes. The three-axis fixed wing aircraft has the advantages that the three-axis fixed wing aircraft has basic three-axis stability increasing performance, can eliminate the rotating motion of the fixed wing aircraft in all directions, keeps the stability of a lens, and further enables recorded pictures to be stable. The defects are that the transverse roller shaft 3 'is positioned at the opening 11' of the belly of the fuselage 1 ', the transverse roller shaft 3' cannot be hidden inside the fuselage 1 ', and the transverse roller shaft 3' occupies a large volume, so that the fuselage 1 'needs to leave a large opening 11' for installing the transverse roller shaft 3 'and the pitching shaft 4', and a large wind resistance is formed in the flying process of the fixed-wing aircraft.
Disclosure of Invention
The invention aims to overcome the defects that a transverse rolling shaft 3 'of the existing fixed wing aircraft cannot be hidden in an aircraft body 1', so that great wind resistance is caused and the like, and provides a photoelectric pod and the fixed wing aircraft comprising the photoelectric pod.
The invention solves the technical problems through the following technical scheme:
the photoelectric pod comprises a body, and a heading shaft assembly, a rolling shaft assembly, a pitching shaft assembly and a carrier which are sequentially connected.
In this scheme, adopt above-mentioned structural style, through setting up the horizontal roller subassembly in the fuselage for the open area of fuselage below is littleer, reduces the amount of wind that gets into in the fuselage, has reduced the windage of photoelectricity nacelle by a wide margin, strengthens the stability of photoelectricity nacelle. Meanwhile, the whole structure is more compact, and the space utilization rate of the photoelectric pod is higher.
Preferably, the angle between the axis of the heading shaft assembly and the axis of the roll shaft assembly is an acute angle.
In the scheme, the size of the photoelectric pod is reduced by adopting the structural form, and the space utilization rate of the photoelectric pod is higher.
Preferably, the axis of the heading shaft assembly is vertical to the horizontal plane, and the axis of the pitching shaft assembly is located on the horizontal plane.
In this scheme, adopt above-mentioned structural style, through arranging course axle subassembly, every single move axle subassembly, strengthened the stability of carrier.
Preferably, the course shaft assembly comprises a course shaft support and a course shaft motor, a stator of the course shaft motor is connected with the course shaft support, and a rotor of the course shaft motor is connected with the transverse rolling shaft assembly.
In this scheme, adopt above-mentioned structural style, course axle subassembly simple structure, the equipment is convenient.
Preferably, the roll shaft assembly comprises a roll shaft bracket and a roll shaft motor, the roll shaft bracket is connected to the heading shaft assembly, a stator of the roll shaft motor is connected to the roll shaft bracket, and a rotor of the roll shaft motor is connected to the pitch shaft assembly.
In this scheme, adopt above-mentioned structural style, the horizontal roller subassembly simple structure, the equipment is convenient.
Preferably, the two ends of the transverse roller shaft bracket in the length direction are respectively provided with a first connecting plate and a second connecting plate, the first connecting plate is connected with the heading shaft assembly, the second connecting plate is connected with the transverse roller shaft motor, and the first connecting plate and the second connecting plate are not perpendicular to each other.
In the scheme, the structure is adopted, the axis Z of the course shaft assembly and the axis X of the transverse rolling shaft assembly are adjusted and positioned through the first connecting plate and the second connecting plate, and the transverse rolling shaft assembly is ensured to be positioned in the machine body and simultaneously meet the compensation of a neural network control algorithm.
Preferably, the pitch shaft assembly includes a pitch shaft bracket connected to the roll shaft assembly and a pitch shaft motor having a stator connected to the pitch shaft bracket and a rotor connected to the carrier.
In this scheme, adopt above-mentioned structural style, every single move axle subassembly simple structure, the equipment is convenient.
Preferably, the pitch-shaft bracket is in an inverted U shape, the top of the pitch-shaft bracket is connected to the roll shaft assembly, one end of the bottom of the pitch-shaft bracket is connected to the pitch-shaft motor, the other end of the bottom of the pitch-shaft bracket is provided with a positioning shaft, the axis of the pitch-shaft motor coincides with the axis of the positioning shaft, the carrier is inserted into the pitch-shaft bracket, and two ends of the carrier are respectively and rotatably connected to the positioning shaft and the pitch-shaft motor.
In the scheme, the structure is adopted, so that the rotation precision of the carrier on the axis Y of the pitch shaft assembly is improved, and the stability of the control operation on the carrier is facilitated.
Preferably, the carrier is an image pickup unit.
A fixed-wing aircraft characterized in that it comprises a photovoltaic bird as described above.
In this scheme, adopt above-mentioned structural style, through setting up the horizontal roller subassembly in the fuselage for the open area that the fuselage below was seted up is littleer, reduces the amount of wind that gets into in the fuselage, has reduced the windage of fixed wing aircraft by a wide margin, strengthens the stability of fixed wing aircraft. Meanwhile, the whole structure is more compact, the space utilization rate of the fixed-wing aircraft is higher, and the miniaturization is facilitated.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
according to the photoelectric pod and the fixed wing aircraft comprising the photoelectric pod, the transverse rolling shaft assembly is arranged in the aircraft body, so that the opening area below the aircraft body is smaller, the air quantity entering the aircraft body is reduced, the wind resistance of the photoelectric pod is greatly reduced, and the stability of the fixed wing aircraft is enhanced.
Drawings
Fig. 1 is a schematic perspective view of a three-axis orthogonal electro-optical pod in the prior art.
Fig. 2 is a schematic bottom view of a three-axis orthogonal electro-optic pod in the prior art.
Fig. 3 is a schematic perspective view of the optoelectronic pod according to the embodiment of the present invention.
Fig. 4 is a schematic bottom view of the optoelectronic pod according to the embodiment of the present invention.
Description of the prior art reference numbers:
fuselage 1'
Opening 11'
Course shaft 2'
Transverse rolling shaft 3'
Pitch shaft 4'
Axis X 'of the transverse roller'
Axis Y 'of pitch shaft'
Axis Z 'of course shaft'
The reference numerals of the present embodiment illustrate:
fuselage 1
Second connecting plate 312
Pitch shaft assembly 4
Carrier 5
Axis X
Axis Y
Axis Z
Detailed Description
The present invention will be more clearly and completely described below by way of examples and with reference to the accompanying drawings, but the present invention is not limited thereto.
As shown in fig. 3 and 4, the optoelectronic pod of the embodiment of the invention includes a fuselage 1, and a heading shaft assembly 2, a roll shaft assembly 3, a pitch shaft assembly 4 and a carrier 5 which are connected in sequence, wherein the heading shaft assembly 2 and the roll shaft assembly 3 are located in the fuselage 1, and an axis Z of the heading shaft assembly 2, an axis X of the roll shaft assembly 3 and an axis Y of the pitch shaft assembly 4 are not orthogonal.
Compared with the two-axis orthogonal electro-optical pod, the electro-optical pod of the embodiment has the advantages that due to the stability increase of the roll shaft assembly 3, when the electro-optical pod rolls, an image does not rotate, and the image is more stable. Compared with a three-axis orthogonal photoelectric pod, the opening 11 is formed in the lower portion of the body 1, the axis Z of the heading shaft assembly 2, the axis X of the transverse rolling shaft assembly 3 and the axis Y of the pitching shaft assembly 4 are not orthogonal, so that when the carrier 5 connected to the pitching shaft assembly 4 is located at the opening 11, the transverse rolling shaft assembly 3 can be arranged in the body 1, the area of the opening 11 in the lower portion of the body 1 is smaller, the air quantity entering the body 1 is reduced, the wind resistance of the photoelectric pod is greatly reduced, and the stability of the photoelectric pod is enhanced. Meanwhile, the overall structure of the heading shaft assembly 2, the rolling shaft assembly 3 and the pitching shaft assembly 4 is more compact, and the photoelectric pod is higher in space utilization rate.
The axis Z of the heading shaft assembly 2 is vertical to the horizontal plane, and the axis Y of the pitching shaft assembly 4 is positioned on the horizontal plane. Preferably, the axis Y of the pitch shaft assembly 4 is coaxial with the axis of the carrier 5, so that the stability of the carrier 5 is enhanced by the arrangement of the heading shaft assembly 2 and the pitch shaft assembly 4. When the carrier 5 is an image pickup unit, the stability of image pickup is greatly improved. Of course, the carrier 5 can also be provided with other components.
The angle between the axis Z of the heading axle assembly 2 and the axis X of the roll axle assembly 3 is acute. Compared with a triaxial orthogonal photoelectric pod in the prior art, the transverse rolling shaft assembly 3 of the photoelectric pod is lifted upwards and is positioned in the fuselage 1, so that the axis Z of the heading shaft assembly 2 is not orthogonal to the axis X of the transverse rolling shaft assembly 3, an opening 11 formed in the belly of the fuselage 1 can be reduced, the air quantity entering the fuselage 1 is reduced, and the wind resistance of the photoelectric pod is greatly reduced. Because the transverse rolling shaft assembly 3 is inclined relative to the horizontal plane, although part of the stability augmentation performance of the transverse rolling shaft assembly 3 is physically lost, the photoelectric pod of the embodiment can be compensated through a neural network control algorithm (namely, an RBF neural network), and the stability augmentation performance close to that of the triaxial orthogonal photoelectric pod can be obtained. The all-round stability augmentation performance that can guarantee excellence can be hidden in fuselage 1 with horizontal roller subassembly 3 again, has reduced the windage of photoelectricity nacelle by a wide margin. Meanwhile, the size of the photoelectric pod can be reduced, and the photoelectric pod is higher in space utilization rate.
The heading shaft assembly 2 comprises a heading shaft bracket 21 and a heading shaft motor 22, a stator of the heading shaft motor 22 is connected with the heading shaft bracket 21, and a rotor of the heading shaft motor 22 is connected with the transverse rolling shaft assembly 3. The heading shaft support 21 and the heading shaft motor 22 are both located in the machine body 1, a rotor of the heading shaft motor 22 is connected to the transverse roller shaft assembly 3 and is used for enabling the transverse roller shaft assembly 3 to rotate relative to the heading shaft assembly 2, the rotation of the transverse roller shaft assembly 3 around the axis Z of the heading shaft motor 22 can be achieved through the heading shaft motor 22, and the axis Z of the heading shaft motor 22 is the axis Z of the heading shaft assembly 2. The course shaft assembly 2 is simple in structure and convenient to assemble.
The roll shaft assembly 3 includes a roll shaft bracket 31 and a roll shaft motor 32, the roll shaft bracket 31 is connected to the heading shaft assembly 2, a stator of the roll shaft motor 32 is connected to the roll shaft bracket 31, and a rotor of the roll shaft motor 32 is connected to the pitch shaft assembly 4. The roll shaft support 31 and the roll shaft motor 32 are both located in the fuselage 1, one end of the roll shaft support 31 is connected to the rotor of the heading shaft motor 22, the other end of the roll shaft support 31 is connected to the stator of the roll shaft motor 32, the rotor of the roll shaft motor 32 is connected to the pitch shaft assembly 4 and is used for enabling the pitch shaft assembly 4 to rotate relative to the roll shaft assembly 3, the pitch shaft assembly 4 can rotate around the axis X of the roll shaft motor 32 through the roll shaft motor 32, and the axis X of the roll shaft motor 32 is the axis X of the roll shaft assembly 3. The transverse roller shaft assembly 3 is simple in structure and convenient to assemble.
The roll shaft bracket 31 may have a first connection plate 311 and a second connection plate 312 at both ends in a length direction thereof, respectively, the first connection plate 311 being connected to the heading shaft assembly 2, the second connection plate 312 being connected to the roll shaft motor 32, the first connection plate 311 and the second connection plate 312 being non-perpendicular to each other. The rotor of the heading shaft motor 22 is connected to the first connecting plate 311, the stator of the rolling shaft motor 32 is connected to the second connecting plate 312, the axis Z of the heading shaft assembly 2 and the axis X of the rolling shaft assembly 3 are adjusted and positioned through the first connecting plate 311 and the second connecting plate 312 on the rolling shaft support 31, and the rolling shaft assembly 3 is ensured to be located in the fuselage 1 and simultaneously meet the compensation of a neural network control algorithm.
The pitch shaft assembly 4 includes a pitch shaft bracket 41 and a pitch shaft motor 42, the pitch shaft bracket 41 is connected to the roll shaft assembly 3, a stator of the pitch shaft motor 42 is connected to the pitch shaft bracket 41, and a rotor of the pitch shaft motor 42 is connected to the carrier 5. One end of the pitch shaft bracket 41 is connected to the rotor of the roll shaft motor 32, the other end of the pitch shaft bracket 41 is connected to the stator of the pitch shaft motor 42, the rotor of the pitch shaft motor 42 is connected to the carrier 5 and is used for enabling the carrier 5 to rotate relative to the pitch shaft assembly 4, the carrier 5 can rotate around the axis Y of the pitch shaft motor 42 through the pitch shaft motor 42, and the axis Y of the pitch shaft motor 42 is the axis Y of the pitch shaft assembly 4. The pitching shaft assembly 4 is simple in structure and convenient to assemble.
The pitch shaft support 41 is in an inverted U shape, the top of the pitch shaft support 41 is connected to the roll shaft 3, one end of the bottom of the pitch shaft support 41 is connected to the pitch shaft motor 42, the other end of the bottom of the pitch shaft support 41 is provided with a positioning shaft, the axis Y of the pitch shaft motor 42 is overlapped with the axis of the positioning shaft, the carrier 5 is inserted into the pitch shaft support 41, and the two ends of the carrier 5 are respectively connected to the positioning shaft and the pitch shaft motor 42 in a rotating manner. The positioning shaft and the pitching shaft motor 42 are arranged at the two ends of the carrier 5, so that the rotation precision of the carrier 5 on the axis Y of the pitching shaft assembly 4 is improved, and the stability of the control operation on the carrier 5 is facilitated.
The embodiment of the invention also discloses a fixed-wing aircraft which comprises the photoelectric pod. Through setting up roll axle assembly 3 in fuselage 1 for the opening 11 area that sets up below fuselage 1 is littleer, reduces the amount of wind that gets into in fuselage 1, has reduced the windage of fixed wing aircraft by a wide margin, strengthens the stability of fixed wing aircraft. Meanwhile, the whole structure is more compact, the space utilization rate of the fixed-wing aircraft is higher, and the miniaturization is facilitated.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (10)
1. The photoelectric pod comprises a body, and a heading shaft assembly, a rolling shaft assembly, a pitching shaft assembly and a carrier which are sequentially connected.
2. The optoelectronic pod of claim 1 wherein the angle between the axis of the heading axle assembly and the axis of the roll axle assembly is acute.
3. The optoelectronic pod of claim 1 wherein the axis of the yaw axis assembly is perpendicular to a horizontal plane and the axis of the pitch axis assembly is in the horizontal plane.
4. The optoelectronic pod of claim 1 wherein the heading axis assembly comprises a heading axis support and a heading axis motor, a stator of the heading axis motor is coupled to the heading axis support, and a rotor of the heading axis motor is coupled to the roll axis assembly.
5. The optoelectronic pod of claim 1 wherein the roll shaft assembly comprises a roll shaft support and a roll shaft motor, the roll shaft support coupled to the heading shaft assembly, a stator of the roll shaft motor coupled to the roll shaft support, and a rotor of the roll shaft motor coupled to the pitch shaft assembly.
6. The optoelectronic pod of claim 5 wherein the roll shaft bracket has a first connection plate and a second connection plate at opposite ends along the length of the roll shaft bracket, the first connection plate being connected to the yaw shaft assembly and the second connection plate being connected to the roll shaft motor, the first connection plate and the second connection plate being non-perpendicular to each other.
7. The optoelectronic pod of claim 1 wherein the pitch shaft assembly comprises a pitch shaft bracket and a pitch shaft motor, the pitch shaft bracket coupled to the roll shaft assembly, a stator of the pitch shaft motor coupled to the pitch shaft bracket, and a rotor of the pitch shaft motor coupled to the carrier.
8. The optoelectronic pod of claim 7 wherein the pitch-axis mount is in the shape of an inverted U, the top of the pitch-axis mount is connected to the roll-axis assembly, one end of the bottom of the pitch-axis mount is connected to the pitch-axis motor, the other end of the bottom of the pitch-axis mount has a positioning shaft, the axis of the pitch-axis motor coincides with the axis of the positioning shaft, the carrier is inserted into the pitch-axis mount, and the two ends of the carrier are rotatably connected to the positioning shaft and the pitch-axis motor, respectively.
9. The optoelectronic pod of claim 1, wherein the carrier is a camera unit.
10. A fixed-wing aircraft, characterized in that it comprises a photovoltaic bird according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968206.1A CN110857147A (en) | 2018-08-23 | 2018-08-23 | Photoelectric pod and fixed-wing aircraft comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968206.1A CN110857147A (en) | 2018-08-23 | 2018-08-23 | Photoelectric pod and fixed-wing aircraft comprising same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110857147A true CN110857147A (en) | 2020-03-03 |
Family
ID=69635251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810968206.1A Pending CN110857147A (en) | 2018-08-23 | 2018-08-23 | Photoelectric pod and fixed-wing aircraft comprising same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110857147A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201816738U (en) * | 2010-05-13 | 2011-05-04 | 北京航景创新科技有限公司 | Small high-speed locating holder for aerial survey of unmanned aerial vehicles |
| US20130048792A1 (en) * | 2011-08-29 | 2013-02-28 | Aerovironment, Inc. | Tilt-Ball Turret With Gimbal Lock Avoidance |
| US20130051778A1 (en) * | 2011-08-29 | 2013-02-28 | Aerovironment, Inc. | Ball turret heat sink and emi shielding |
| CN104508346A (en) * | 2013-12-10 | 2015-04-08 | 深圳市大疆创新科技有限公司 | Carrier of non-orthogonal shafts |
| CN106662793A (en) * | 2015-05-27 | 2017-05-10 | 高途乐公司 | Camera system using stabilizing gimbal |
| CN107076350A (en) * | 2016-10-10 | 2017-08-18 | 深圳市大疆灵眸科技有限公司 | Three axle heads and three axle head filming apparatus |
| CN206871377U (en) * | 2017-06-05 | 2018-01-12 | 安徽云翼航空技术有限公司 | A kind of three axle gondolas with Fast-Balance regulatory function |
-
2018
- 2018-08-23 CN CN201810968206.1A patent/CN110857147A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201816738U (en) * | 2010-05-13 | 2011-05-04 | 北京航景创新科技有限公司 | Small high-speed locating holder for aerial survey of unmanned aerial vehicles |
| US20130048792A1 (en) * | 2011-08-29 | 2013-02-28 | Aerovironment, Inc. | Tilt-Ball Turret With Gimbal Lock Avoidance |
| US20130051778A1 (en) * | 2011-08-29 | 2013-02-28 | Aerovironment, Inc. | Ball turret heat sink and emi shielding |
| CN104508346A (en) * | 2013-12-10 | 2015-04-08 | 深圳市大疆创新科技有限公司 | Carrier of non-orthogonal shafts |
| CN106662793A (en) * | 2015-05-27 | 2017-05-10 | 高途乐公司 | Camera system using stabilizing gimbal |
| CN107076350A (en) * | 2016-10-10 | 2017-08-18 | 深圳市大疆灵眸科技有限公司 | Three axle heads and three axle head filming apparatus |
| CN206871377U (en) * | 2017-06-05 | 2018-01-12 | 安徽云翼航空技术有限公司 | A kind of three axle gondolas with Fast-Balance regulatory function |
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