A beam, binocular vision device and drone thereof

Abstract

The present application relates to the field of video acquisition technology, and in particular to a beam, a binocular vision device and a drone thereof, wherein the beam comprises: a beam body, wherein a first mounting hole is respectively provided at both ends of the beam body; and an angle adjustment component, wherein the angle adjustment component comprises a piezoelectric stack, which is mounted on the beam body and is used to deform after being energized to drive the beam body to move, so as to adjust the angle between the axes of the two mounting holes so that the axes of the two mounting holes are parallel. During use of the beam of the present application, if the beam body is deformed, the piezoelectric stack of the angle adjustment component can drive the beam body to move, so as to adjust the angle between the axes of the two mounting holes so that the axes of the two mounting holes are parallel. In this way, the lenses respectively mounted on the mounting holes can always maintain the consistency of the axis angles when working, so as to avoid the degradation of the parallax map of the photosensitive component and ensure the sensing accuracy and normal use of the photosensitive component.

Description

Technical Field

[0001] The present application relates to the field of video capture technology, and in particular to a beam, a binocular vision device and a drone thereof. Background Art

[0002] In binocular stereo vision equipment, two images of the object to be measured are usually obtained from different positions through the visual component, and the position deviation between the corresponding points of the images is calculated through the photosensitive component to obtain the three-dimensional geometric information of the object to be measured. Among them, the visual component usually includes two lenses and a beam, and lenses are installed at both ends of the beam. In order to ensure that accurate three-dimensional geometric information can be obtained, the visual component has high requirements for installation accuracy, especially for the consistency (maintenance) of the angle between the axes of the two lenses after high and low temperature changes or after the beam is used under vibration conditions for a long time. Once the angle between the axes of the two lenses changes after a period of use, the disparity map of the photosensitive component will be degraded, which will seriously affect the sensing accuracy and normal use of the photosensitive component.

[0003] In the prior art, to ensure that the angle between the two lens axes does not change after the beam experiences high and low temperature fluctuations due to the different thermal expansion coefficients of different materials, the beam is generally constructed as a multi-directionally symmetrical, rigid, and heavy structure. Elastic rubber pads are also incorporated into the beam to prevent deformation caused by the preload of the screws and changes in preload after long-term use. This heavy beam structure prevents adjustment of the angle between the two lens axes in the visual component, making it impossible to calibrate the angle online. This can lead to degradation of the disparity map of the photosensitive component. Summary of the Invention

[0004] The present application provides a crossbeam, a binocular vision device and a UAV thereof, so as to solve the problems of the heavy weight of the crossbeam in the existing binocular stereo vision equipment and the inability to adjust the angle between the axes of the two lenses in the vision component.

[0005] The present application provides a beam, comprising:

[0006] A crossbeam body, with mounting holes respectively provided at both ends of the crossbeam body;

[0007] An angle adjustment component includes a piezoelectric stack, which is installed on the beam body and is used to deform after being energized to drive the beam body to move, so as to adjust the angle between the axes of the two mounting holes so that the axes of the two mounting holes are parallel.

[0008] In this solution, the crossbeam includes a crossbeam body and an angle adjustment assembly connected to the crossbeam body. The angle adjustment assembly can restore the deformed crossbeam body to normal, and is used for lens installation by opening mounting holes at both ends of the crossbeam body. The angle adjustment assembly includes a piezoelectric stack, which is installed on the crossbeam body. The piezoelectric stack is a stack of multi-layer piezoelectric sheets based on the "inverse piezoelectric effect." The "inverse piezoelectric effect" means that when an electric field is applied in the polarization direction of a dielectric, the dielectric will produce mechanical deformation or mechanical pressure in a certain direction. When the external electric field is removed, these deformations or stresses disappear. The biggest features of piezoelectric drive are high precision, fast response, no noise, and no electromagnetic interference. The piezoelectric stack is installed on the beam body. During use, if the beam body is deformed, the piezoelectric stack provides a power source for the deformation recovery of the beam body. The external output force and displacement generated by the energized piezoelectric stack are used to adjust the angle between the axes of the two mounting holes set on the beam body to make the axes of the two mounting holes parallel. In this way, the lenses respectively installed in the mounting holes can always maintain the consistency of the axis angle when working, so as to avoid the degradation of the parallax map of the photosensitive component and ensure the sensing accuracy and normal use of the photosensitive component.

[0009] In a possible design, the crossbeam body includes two symmetrically arranged cross plates, with a gap between the two cross plates;

[0010] The two mounting holes are respectively opened at one end of the two transverse plates away from the gap;

[0011] The piezoelectric stack is used to deform after being energized to drive the transverse plate to move along the gap, so as to adjust the angle between the axes of the two mounting holes so that the axes of the two mounting holes are parallel.

[0012] In this solution, the beam body comprises two symmetrically arranged horizontal plates, with two mounting holes defined at one end of each plate. This ensures the symmetry of the beam structure, allowing the two lenses mounted in the mounting holes to be symmetrically mounted on the beam, ensuring accurate image capture by the visual device. During angle adjustment, a gap exists between the two plates. When the piezoelectric stack drives the beam body to recover its deformation, the plates move along the gap to adjust the angle between the axes of the two mounting holes, aligning them so that the axes are parallel. This gap provides adjustable space for the beam's deformation recovery.

[0013] In one possible design, the beam body further includes:

[0014] Fixed beam;

[0015] two side beams, with two ends of each side beam being connected to the fixed beam and the cross plate respectively;

[0016] An accommodating cavity is formed between the fixed beam, the two side beams and the two transverse plates; the piezoelectric stack is installed in the accommodating cavity.

[0017] In this embodiment, the crossbeam body also includes a fixed beam and two side beams, with each side beam connected to the fixed beam and the cross plate at both ends. The fixed beam and the two side beams provide stable support for the cross plate, preventing the two cross plates from rotating along the gap and causing an angle change. A housing cavity is formed between the fixed beam, the two side beams, and the two cross plates, and the piezoelectric stack is installed within the housing cavity. When driving the crossbeam body to restore deformation, the piezoelectric stack is energized and extends along the length of the side beams, generating an external output force on the cross plate and the fixed beam, driving the two cross plates to rotate along the gap to restore deformation, so that the axes of the two mounting holes are parallel.

[0018] In a possible design, a first thinned portion is provided at a connection between the side beam and the fixed beam.

[0019] In this solution, a first thinning portion is provided at the connection between the side beam and the fixed beam, which can make the connection between the side beam and the fixed beam a flexible connection. In the process of driving the crossbeam body to restore deformation, the piezoelectric stack is energized and extends along the length direction of the side beam, generating an external output force on the cross plate and the fixed beam, driving the two cross plates to rotate clockwise along the gap. The flexible connection between the side beam and the fixed beam makes the clockwise rotation of the cross plate smoother, which is more conducive to the deformation recovery of the cross beam body.

[0020] In one possible design, the beam body further includes:

[0021] a connecting plate connecting the two transverse plates, and the connecting plate is arranged at the position of the gap;

[0022] The connecting plate is used to deform under the deformation drive of the piezoelectric stack to drive the two transverse plates to move along the gap.

[0023] In this solution, a connecting plate is designed into the crossbar body, connecting the two crossbars at their ends near the gap. This effectively prevents the crossbars from rotating counterclockwise along the gap and deforming during use. Even if the crossbars deform counterclockwise due to external forces or the properties of their own materials, the connecting plate will deform under the deformation of the piezoelectric stack, driving the two crossbars to rotate clockwise along the gap to restore the deformation.

[0024] In a possible design, a second thinning portion is provided at the connection between the connecting plate and the transverse plate.

[0025] In this solution, a second thinned portion is provided at the connection between the connecting plate and the transverse plate, so that the connecting plate and the transverse plate are flexibly connected, making the clockwise rotation of the transverse plate smoother and more conducive to the deformation recovery of the beam body.

[0026] In one possible design, the angle adjustment assembly further includes:

[0027] A partition is sandwiched between the piezoelectric stack and the fixed beam and / or between the piezoelectric stack and the connecting plate.

[0028] In this solution, in the field of piezoelectric drive, the displacement / force output surface of the piezoelectric sheet or piezoelectric stack is generally a flat surface, made of ceramic. Ceramics need to avoid the risk of fracture due to stress concentration, so the stress distribution on this surface must be well controlled. By installing a partition between the piezoelectric stack and the fixed beam and / or between the piezoelectric stack and the connecting plate, stress concentration caused by insufficient flatness on the output surface of the piezoelectric stack can be effectively avoided, reducing damage to the output surface of the piezoelectric stack caused by the direct action of the piezoelectric stack on the beam body, and thus increasing the service life of the entire beam.

[0029] In a possible design, the partition has an I-shaped cross section and includes a first flexible plate and a second flexible plate that are parallel to each other, and the first flexible plate and the second flexible plate are connected by a connecting beam.

[0030] In this solution, the cross-section of the partition is I-shaped, including a parallel first flexible plate and a second flexible plate. The first flexible plate and the second flexible plate are connected by a connecting beam. Such a structural design makes the partition a flexible structure. When the piezoelectric stack acts on the partition, the partition deforms, which can more effectively eliminate the stress concentration phenomenon of the piezoelectric stack.

[0031] In a possible design, the thickness of the first flexible board and the second flexible board are both 0.2-0.5 mm; and the height of the connecting beam is 0.5-1 mm.

[0032] In this solution, by limiting the thickness of the first flexible plate and the second flexible plate and the height of the connecting beam, the effect of the partition in eliminating stress concentration of the piezoelectric stack is optimized.

[0033] In a possible design, a weight-reducing groove is provided on the transverse plate, and the weight-reducing groove is provided at one end of the transverse plate close to the gap;

[0034] A first reinforcing rib is provided in the weight-reducing groove.

[0035] This solution, by creating a weight-reducing groove in the crossbar, saves material and reduces the overall weight of the crossbeam, making it more promising for applications in weight-sensitive applications such as drones. The placement of a first reinforcing rib within the weight-reducing groove increases the overall strength of the crossbeam.

[0036] In one possible design, it also includes:

[0037] A bracket is connected to the beam body.

[0038] In a possible design, the bracket includes a first mounting plate, a connecting plate and a second mounting plate, one end of the connecting plate is connected to the first mounting plate, and the other end is connected to the second mounting plate; the first mounting plate is connected to the beam body.

[0039] In this solution, the bracket can realize the external installation of the crossbeam. The bracket is connected to the crossbeam body through the first mounting plate and connected to the external device through the second mounting plate.

[0040] The present application also provides a binocular vision device, comprising:

[0041] the aforementioned beams;

[0042] Two lenses are respectively installed in the installation holes.

[0043] In one possible design, it also includes:

[0044] A photosensitive component, the photosensitive component being mounted on a side of the beam body facing away from the lens;

[0045] The photosensitive component includes a photosensitive back plate and a photosensitive element. The photosensitive back plate is connected to the beam body, and the photosensitive element is aligned with the lens and installed on the photosensitive back plate.

[0046] The present application also provides a drone, comprising the above-mentioned binocular vision device.

[0047] It should be understood that the foregoing general description and the following detailed description are merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the three-dimensional structure of a beam provided in the present application in a first specific embodiment;

[0049] Figure 2 This is a top view of the beam body in the embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the three-dimensional structure of the partition in the embodiment of the present application;

[0051] Figure 4 A schematic diagram of the three-dimensional structure of a beam provided in the present application in a second specific embodiment;

[0052] Figure 5 This is a schematic diagram of the three-dimensional structure of the bracket in the embodiment of the present application;

[0053] Figure 6 This is a rear view of the beam body in the embodiment of the present application;

[0054] Figure 7 A schematic diagram of the three-dimensional structure of a binocular vision device provided in this application;

[0055] Figure 8 This is a schematic diagram of the decomposition structure of a binocular vision device provided in this application.

[0056] Reference numerals:

[0057] 1- beam body;

[0058] 11- horizontal board;

[0059] 100- fourth mounting hole;

[0060] 110-first mounting hole;

[0061] 111-gap;

[0062] 112-weight reduction hole;

[0063] 113-weight reduction slot;

[0064] 114-first reinforcement rib;

[0065] 115-photosensitive plate installation slot;

[0066] 12-Fixed beam;

[0067] 123-accommodation cavity;

[0068] 13- side beam;

[0069] 132-first thinning portion;

[0070] 14-Continuous board;

[0071] 141- second thinning portion;

[0072] 2- Lens;

[0073] 3- Angle adjustment component;

[0074] 31- piezoelectric stack;

[0075] 32-partition;

[0076] 321-first flexible board;

[0077] 322- second flexible board;

[0078] 323-connecting beam;

[0079] 4- Bracket;

[0080] 41-first mounting plate;

[0081] 410-second mounting hole;

[0082] 411- positioning column;

[0083] 42-connecting plate;

[0084] 421-second reinforcement rib;

[0085] 43-second mounting plate;

[0086] 430-third mounting hole;

[0087] 5-Photosensitive component;

[0088] 51-photosensitive back plate;

[0089] 52-Photosensitive element.

[0090] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0091] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0092] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0093] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0094] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0095] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described based on the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also be indirectly connected to the other element "on" or "under" through an intermediate element.

[0096] The embodiment of the present application provides a crossbeam, which can be used for mounting a lens, a laser head, a sensor, etc. The present application takes a crossbeam for mounting a lens as an example for description.

[0097] like Figure 1 As shown, the crossbeam includes a crossbeam body 1 and an angle adjustment assembly 3. The crossbeam body 1 has first mounting holes 110 at each end. The angle adjustment assembly 3 includes a piezoelectric stack 31 mounted on the crossbeam body 1. The piezoelectric stack 31 is configured to deform upon power-up to drive the crossbeam body 1 to adjust the angle between the axes of the two first mounting holes 110 so that the axes of the two first mounting holes 110 are parallel.

[0098] The crossbeam of this embodiment includes a crossbeam body 1 and an angle adjustment assembly 3 connected to the crossbeam body 1. The angle adjustment assembly 3 can restore the deformed crossbeam body 1 to normal by respectively opening first mounting holes 110 at both ends of the crossbeam body 1 for mounting a lens. The angle adjustment assembly 3 includes a piezoelectric stack 31, which is mounted on the crossbeam body 1. The piezoelectric stack 31 is a stack of multi-layer piezoelectric sheets based on the "inverse piezoelectric effect." The "inverse piezoelectric effect" refers to the fact that when an electric field is applied in the polarization direction of a dielectric, the dielectric will produce mechanical deformation or mechanical pressure in a certain direction. When the external electric field is removed, these deformations or stresses will disappear. The biggest features of piezoelectric drive are high precision, fast response, no noise, and no electromagnetic interference. The piezoelectric stack 31 is installed on the beam body 1. During use, if the beam body 1 is deformed, the piezoelectric stack 31 provides a power source for the deformation recovery of the beam body 1. The external output force and displacement generated by the energized piezoelectric stack 31 are used to adjust the angle between the axes of the two first mounting holes 110 set on the beam body 1, so that the axes of the two first mounting holes 110 are parallel. In this way, the lenses respectively installed in the first mounting holes 110 can always maintain the consistency of the axis angle when working, so as to avoid the degradation of the parallax map of the photosensitive component and ensure the sensing accuracy and normal use of the photosensitive component.

[0099] In another specific embodiment, Figure 1As shown, the crossbeam body 1 includes two symmetrically arranged cross plates 11, with a gap 111 between them. Two first mounting holes 110 are respectively provided at the ends of the cross plates 11 facing away from the gap 111. The piezoelectric stack 31 is configured to deform upon powering to drive the cross plates 11 along the gap 111, thereby adjusting the angle between the axes of the two first mounting holes 110 so that the axes of the two first mounting holes 110 are parallel.

[0100] In this embodiment, the crossbar body 1 includes two symmetrically arranged crossbars 11, with two first mounting holes 110 respectively defined at one end of each crossbar 11. This ensures the symmetry of the crossbar structure, allowing the two lenses mounted in the first mounting holes 110 to be symmetrically mounted on the crossbar, ensuring accurate image capture by the visual device. During angle adjustment, a gap 111 is provided between the two crossbars 11. When the piezoelectric stack 31 drives the crossbar body 1 to recover its deformation, the crossbar 11 moves along the gap to adjust the angle between the axes of the two first mounting holes 110, aligning the axes of the two first mounting holes 110. This gap 111 provides adjustable space for the crossbar's deformation recovery.

[0101] In a specific embodiment, Figure 1 and Figure 2 As shown, the crossbeam body 1 also includes a fixed beam 12 and two side beams 13. Each side beam 13 is connected at both ends to the fixed beam 12 and the cross plate 11. A receiving cavity 123 is formed between the fixed beam 12, the two side beams 13, and the two cross plates 11. The piezoelectric stack 31 is installed in the receiving cavity 123.

[0102] In this embodiment, the crossbeam body 1 also includes a fixed beam 12 and two side beams 13. The two ends of each side beam 13 are respectively connected to the fixed beam 12 and the cross plate 11. The fixed beam 12 and the two side beams 13 provide stable support for the cross plate 11, so that the two cross plates 11 are not easily rotated along the gap 111, causing a change in angle. A receiving cavity 123 is formed between the fixed beam 12, the two side beams 13 and the two cross plates 11, and the piezoelectric stack 31 is installed in the receiving cavity 123. In the process of driving the crossbeam body 1 to restore deformation, the piezoelectric stack 31 is energized and extends along the length direction of the side beam 13, generating an external output force on the cross plate 11 and the fixed beam 12, driving the two cross plates 11 to rotate along the gap 111 to restore deformation, so that the axes of the two first mounting holes 110 are parallel.

[0103] In another specific embodiment, Figure 1 and Figure 2As shown, a first thinned portion 132 is provided at the connection between the side beam 13 and the fixed beam 12. Specifically, the first thinned portion 132 may be a flexible hinge structure. A flexible hinge is an elastic support with a rotation center that coincides with the geometric center axis. It operates by limiting the deformation of elastic thin sheets uniformly distributed radially around the circumference. Under torsional load, it produces rotational motion within a limited angular range around its rotation center.

[0104] In this embodiment, a first thinning portion 132 is provided at the connection between the side beam 13 and the fixed beam 12, which can make the connection between the side beam 13 and the fixed beam 12 a flexible connection. In the process of driving the crossbeam body 1 to restore deformation, the piezoelectric stack 31 is energized and extends along the length direction of the side beam 13, generating an external output force on the cross plate 11 and the fixed beam 12, driving the two cross plates 11 to rotate clockwise along the gap 111. The flexible connection between the side beam 13 and the fixed beam 12 makes the clockwise rotation of the cross plate 11 smoother, which is more conducive to the deformation recovery of the crossbeam body 1.

[0105] In a specific embodiment, Figure 1 and Figure 2 As shown, the beam body 1 further includes a connecting plate 14 connecting the two transverse plates 11 and disposed at the position of the gap 111. The connecting plate 14 is configured to deform under the deformation drive of the piezoelectric stack 31 to drive the two transverse plates 11 to move along the gap 111.

[0106] In this embodiment, a connecting plate 14 is designed on the crossbar body 1. The connecting plate 14 connects the ends of the two crossbars 11 near the gap 111. This effectively prevents the crossbars 11 from rotating counterclockwise along the gap 111 and deforming during use. Even if the crossbars 11 rotate counterclockwise and deform due to external forces or the properties of their own materials, the connecting plate 14 will deform under the deformation of the piezoelectric stack 31, driving the two crossbars 11 to rotate clockwise along the gap 111 to restore the deformation.

[0107] In another specific embodiment, Figure 1 and Figure 2 As shown, a second thinned portion 141 is provided at the connection between the connecting plate 14 and the transverse plate 11. Specifically, the second thinned portion 141 may be a flexible hinge structure. A flexible hinge is an elastic support with a rotation center that coincides with the geometric center axis. It operates by limiting the deformation of a radially uniformly distributed elastic sheet. Under torsional load, it produces rotational motion within a limited angular range around its rotation center.

[0108] In this embodiment, a second thinned portion 141 is provided at the connection between the connecting plate 14 and the transverse plate 11, so that the connecting plate 14 and the transverse plate 11 are flexibly connected, making the clockwise rotation of the transverse plate 11 smoother and more conducive to the deformation recovery of the beam body 1.

[0109] In a specific embodiment, Figure 1 As shown, the angle adjustment assembly 3 further includes a partition 32 , which is sandwiched between the piezoelectric stack 31 and the fixed beam 12 and / or between the piezoelectric stack 31 and the connecting plate 14 .

[0110] In this embodiment, in the field of piezoelectric drive, the displacement / force output surface of the piezoelectric sheet or piezoelectric stack is generally a flat surface. The material of the flat surface is ceramic. Ceramics need to avoid the risk of fracture caused by stress concentration, so the stress distribution on this surface needs to be well controlled. By installing a partition 32 between the piezoelectric stack 31 and the fixed beam 12 and / or between the piezoelectric stack 31 and the connecting plate 14, stress concentration caused by insufficient flatness of the output surface of the piezoelectric stack 31 can be effectively avoided, reducing damage to the output surface of the piezoelectric stack 31 caused by the direct action of the piezoelectric stack 31 on the beam body 1, thereby increasing the service life of the entire beam.

[0111] In another specific embodiment, Figure 3 As shown, the partition 32 has an I-shaped cross section and includes a first flexible plate 321 and a second flexible plate 322 that are parallel to each other. The first flexible plate 321 and the second flexible plate 322 are connected by a connecting beam 323 .

[0112] In this embodiment, the cross-section of the partition 32 is I-shaped, including a parallel first flexible plate 321 and a second flexible plate 322. The first flexible plate 321 and the second flexible plate 322 are connected by a connecting beam 323. This structural design makes the partition 32 a flexible structure. The piezoelectric stack 31 acts on the partition 32, and the partition 32 is deformed, which can more effectively eliminate the stress concentration phenomenon of the piezoelectric stack 31.

[0113] In one specific embodiment, the thickness of the first flexible plate 321 and the second flexible plate 322 are both 0.2-0.5 mm, specifically 0.2 mm, 0.3 mm, 0.4 mm, and 0.5 mm. When the thickness of the first flexible plate 321 and the second flexible plate 322 is less than 0.2 mm, the flexibility of the first flexible plate 321 and the second flexible plate 322 is too great, causing the partition 32 to deform too much and taking too long to recover from the deformation, resulting in a slow effect of eliminating stress concentration. When the thickness of the first flexible plate 321 and the second flexible plate 322 is greater than 0.5 mm, the flexibility of the first flexible plate 321 and the second flexible plate 322 is too small, making it difficult for the partition 32 to deform, and thus resulting in a lack of significant effect of eliminating stress concentration. The height of the connecting beam 323 is 0.5-1 mm, specifically 0.5 mm, 0.6 mm, 0.7 mm, 0.8 mm, 0.9 mm, or 1 mm. When the height of the connecting beam 323 is less than 0.5 mm, the distance between the first and second flexible plates 321, 322 is too small, leaving little room for deformation. This makes deformation of the diaphragm 32 difficult, resulting in a lack of significant stress concentration relief. When the height of the connecting beam 323 is greater than 1 mm, the distance between the first and second flexible plates 321, 322 is too large, leaving more room for deformation. This leads to excessive deformation of the diaphragm 32, a prolonged recovery time, and a slow stress concentration relief effect. This embodiment optimizes the stress relief effect of the diaphragm 32 on the piezoelectric stack 31 by limiting the thickness of the first and second flexible plates 321, 322 and the height of the connecting beam 323.

[0114] In another specific embodiment, the transverse plate 11 is provided with a weight-reducing hole 112 and a weight-reducing groove 113. The weight-reducing groove 113 is provided at one end of the transverse plate 11 close to the gap 111. A first reinforcing rib 114 is provided in the weight-reducing groove 113.

[0115] In this embodiment, by providing weight-reducing holes 112 and weight-reducing grooves 113 in the crossbar 11, material savings can be achieved and the overall weight of the crossbeam can be reduced, making it more promising for applications in weight-sensitive areas such as drones. First reinforcing ribs 114 are provided within the weight-reducing grooves 113 to enhance the overall strength of the crossbeam.

[0116] In a specific embodiment, Figure 4 As shown, the crossbeam further includes a bracket 4, which is connected to the crossbeam body 1. Specifically, as Figure 5As shown, bracket 4 includes a first mounting plate 41, a connecting plate 42, and a second mounting plate 43. One end of connecting plate 42 is connected to first mounting plate 41, and the other end is connected to second mounting plate 43. First mounting plate 41 is provided with a positioning post 411 and a second mounting hole 410. Second mounting plate 43 is provided with a third mounting hole 430. Connecting plate 42 is provided with a second reinforcing rib 421.

[0117] like Figure 6 As shown, a fourth mounting hole 100 corresponding to the second mounting hole 410 is defined on the beam body 1 .

[0118] In this embodiment, bracket 4 enables external mounting of the crossbeam. Bracket 4 is provided with a positioning post 411 and a second mounting hole 410 on the first mounting plate 41. The crossbeam body 1 is provided with a fourth mounting hole 100 corresponding to the second mounting hole 410. This design ensures a precise connection between the crossbeam body 1 and bracket 4. Bracket 4 is provided with a third mounting hole 430 on the second mounting plate 43 for connection to external equipment. Bracket 4 is provided with a second reinforcing rib 421 on the connecting plate 42 to enhance its strength.

[0119] The present application also provides a binocular vision device, such as Figure 7 As shown, the binocular vision device includes the beam of the present application, two lenses 2 and a photosensitive component 5. The beam is used to install the two lenses 2, and the two lenses 2 are respectively installed in the first mounting holes 110. The two lenses 2 are used to obtain two images of the object to be measured from different positions. The photosensitive component 5 is installed on the side of the beam body 1 away from the lens 2. The side of the beam body 1 away from the lens 2 is provided with a photosensitive plate mounting groove 115, which is used to calculate the position deviation between the corresponding points of the two images, thereby obtaining the three-dimensional geometric information of the object to be measured.

[0120] Specifically, the photosensitive component 5 includes a photosensitive back plate 51 and a photosensitive element 52 . The photosensitive back plate 51 is connected to the beam body 1 , and the photosensitive element 52 is installed on the photosensitive back plate 51 so as to align with the lens 2 .

[0121] An embodiment of the present application also provides a drone, which includes the binocular vision device of the present application.

[0122] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A beam, characterized in that: include: A crossbeam body (1), wherein first mounting holes (110) are respectively formed at both ends of the crossbeam body (1); An angle adjustment component (3), the angle adjustment component (3) comprising a piezoelectric stack (31), the piezoelectric stack (31) being mounted on the crossbeam body (1) and configured to deform upon power-on to drive the crossbeam body (1) to move, thereby adjusting the angle between the axes of the two first mounting holes (110) so that the axes of the two first mounting holes (110) are parallel; A bracket (4), the bracket (4) being connected to the crossbeam body (1); The crossbeam body (1) comprises two symmetrically arranged cross plates (11), with a gap (111) between the two cross plates (11); The two first mounting holes (110) are respectively opened at one end of the two transverse plates (11) away from the gap (111); The piezoelectric stack (31) is used to deform after being energized to drive the transverse plate (11) to move along the gap (111) to adjust the angle between the axes of the two first mounting holes (110) so that the axes of the two first mounting holes (110) are parallel.

2. The crossbeam according to claim 1, characterized in that The beam body (1) further comprises: Fixed beam (12); Two side beams (13), with two ends of each side beam (13) respectively connected to the fixed beam (12) and the transverse plate (11); An accommodating cavity (123) is formed between the fixed beam (12), the two side beams (13) and the two transverse plates (11); the piezoelectric stack (31) is installed in the accommodating cavity (123).

3. The crossbeam according to claim 2, characterized in that A first thinning portion (132) is provided at the connection between the side beam (13) and the fixed beam (12).

4. The crossbeam according to claim 2, characterized in that The crossbeam body (1) further comprises: A connecting plate (14) connecting the two transverse plates (11), wherein the connecting plate (14) is arranged at the position of the gap (111); The connecting plate (14) is used to deform under the deformation drive of the piezoelectric stack (31) to drive the two transverse plates (11) to move along the gap (111).

5. The crossbeam according to claim 4, characterized in that A second thinning portion (141) is provided at the connection between the connecting plate (14) and the transverse plate (11).

6. The crossbeam according to claim 4, characterized in that The angle adjustment component (3) further includes: A partition (32) is sandwiched between the piezoelectric stack (31) and the fixed beam (12) and / or between the piezoelectric stack (31) and the connecting plate (14).

7. The crossbeam according to claim 6, characterized in that The partition plate (32) has an I-shaped cross section and comprises a first flexible plate (321) and a second flexible plate (322) that are parallel to each other, wherein the first flexible plate (321) and the second flexible plate (322) are connected via a connecting beam (323).

8. The crossbeam according to claim 7, characterized in that The thickness of the first flexible plate (321) and the second flexible plate (322) are both 0.2-0.5 mm; the height of the connecting beam (323) is 0.5-1 mm.

9. The beam according to claim 1, wherein: A weight-reducing groove (113) is provided on the transverse plate (11), and the weight-reducing groove (113) is arranged at one end of the transverse plate (11) close to the gap (111); A first reinforcing rib (114) is provided in the weight-reducing groove (113).

10. The beam according to claim 1, wherein The bracket (4) comprises a first mounting plate (41), a connecting plate (42) and a second mounting plate (43); one end of the connecting plate (42) is connected to the first mounting plate (41), and the other end is connected to the second mounting plate (43); the first mounting plate (41) is connected to the crossbeam body (1).

11. A binocular vision device, characterized in that: include: The beam according to any one of claims 1 to 10; Two lenses (2) are respectively installed in the first installation holes (110).

12. The binocular vision device according to claim 11, wherein: Also includes: A photosensitive component (5), the photosensitive component (5) being mounted on a side of the beam body (1) facing away from the lens (2); The photosensitive component (5) comprises a photosensitive back plate (51) and a photosensitive element (52), wherein the photosensitive back plate (51) is connected to the crossbeam body (1), and the photosensitive element (52) is mounted on the photosensitive back plate (51) in alignment with the lens (2).

13. A drone, characterized in that: Comprising the binocular vision device according to claim 11 or 12.

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