Unmanned aerial vehicle displacement monitoring equipment based on navigation system

Abstract

The invention discloses unmanned aerial vehicle displacement monitoring equipment based on a navigation system, and the equipment comprises an unmanned aerial vehicle, a holder is connected below the unmanned aerial vehicle, the holder is provided with a fixed disc, a connecting frame is arranged below the fixed disc, a camera is installed on the connecting frame, a transmission device is installed below the fixed disc, and the top of the transmission device is provided with a first fixed plate. The bottoms of the transmission devices form deep feet, the deep feet form second fixing plates, bolts penetrate through the first fixing plates and the second fixing plates and fix the two adjacent transmission devices, and the camera, the navigation system and the antenna structure are in communication connection to monitor the displacement change of the target position. According to the structure, the unmanned aerial vehicle is used for carrying monitoring equipment, and a better scheme is provided for machine vision in the aspect of large-span steel structure displacement monitoring. Meanwhile, in order to cope with the outdoor changeable environment, the antenna adopts the splicing design of a plurality of transmission devices, so that the real-time stable transmission of monitoring data is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle displacement monitoring, and in particular to unmanned aerial vehicle displacement monitoring equipment based on a navigation system. Background Art

[0002] With the continuous development of social economy, large-span and even super-large-span steel structure infrastructures such as stadiums, airports, exhibition halls, and bridges have rapidly emerged and become important strategic or landmark buildings. These structures often require huge investments and long construction periods. Once an accident occurs, it will lead to immeasurable disasters, casualties, economic losses, and social impacts. Therefore, the engineering quality during the construction of large-span steel structures is directly related to the effectiveness and safety of building use.

[0003] Given the complexity and variability of the construction process, there are uncertainties such as node displacement and structural deformation during steel structure hoisting, and these factors are difficult to fully foresee during structural design. If the construction control is not strict, it will pose a serious threat to the safety of structural operation. Therefore, monitoring work during the hoisting stage of large-span steel structures is extremely important.

[0004] At present, manual monitoring is still the mainstream method, and some areas also use strain sensors or total stations for data collection and structural status analysis. On this basis, in "Monitoring the hoisting process of a steel structure bridge construction", Luo Yaozhi and other scholars proposed a stress and acceleration monitoring system based on wireless sensing technology, combined with a fully automatic measurement robot, to achieve real-time monitoring of stress, vibration and deformation during the entire hoisting construction process; in "Dynamic monitoring experiment of bridge structure based on automatic total station", Yu Jiayong and others used automatic total stations to monitor the displacement and vibration frequency of bridge structures, and conducted simulation and field monitoring tests at the NGB laboratory of the University of Nottingham and the Nottingham Wilford Suspension Bridge in the UK.

[0005] However, in practical applications, the above technology faces challenges, especially the increase in device spacing leads to a decrease in resolution, which makes it difficult to meet the flexible and high-precision monitoring needs. To address this problem, the present invention proposes a UAV displacement monitoring device based on a navigation system, which aims to optimize the displacement monitoring during the hoisting process of large-span steel structures and solve the limitations of existing technologies. Summary of the invention

[0006] In view of the problems existing in the above-mentioned prior art, the present invention provides a UAV displacement monitoring device based on a navigation system, which uses a UAV to carry the monitoring device to provide a better solution for machine vision in the displacement monitoring of large-span steel structures. At the same time, in order to cope with the changing outdoor environment, the antenna adopts a splicing design of multiple transmission devices to ensure the real-time and stable transmission of monitoring data. In addition, placing the antenna structure in the middle position not only ensures the transmission effect, but also acts as a counterweight, thereby maintaining the stability of the gimbal.

[0007] In order to achieve the above-mentioned purpose, the unmanned aerial vehicle displacement monitoring equipment based on the navigation system adopted by the present invention includes a unmanned aerial vehicle, a gimbal, a camera and a transmission device. The unmanned aerial vehicle is connected to a gimbal below, and the gimbal has a fixed disc connected to the bottom of the unmanned aerial vehicle. The outer periphery below the fixed disc extends downward to form a connecting frame. The camera is installed on the connecting frame and obtains the target position image. The transmission device is installed below the fixed disc and has a certain weight. The top of the transmission device has a first fixed plate extending inward, and the bottom of the transmission device extends downward to form a penetration foot, which extends inward to form a second fixed plate. Bolts penetrate the first fixed plate and the second fixed plate and fix two adjacent transmission devices. Multiple transmission devices are connected to each other to form a cylindrical antenna structure. The camera, the navigation system and the antenna structure are communicatively connected to monitor the displacement changes of the target position.

[0008] As a further optimization of the above solution, the transmission device is composed of a plurality of transmission units arranged in a circle, and the transmission units shrink from the outside to the inside to form a fan-shaped structure.

[0009] As a further optimization of the above scheme, the lowest transmission device is connected to the support plate by bolts, and a gap is formed between the support legs and the support plate through the lowest transmission device, and a filling space is formed between two adjacent deep legs in the gap, and the cooling fan penetrates into the filling space and the blowing part of the cooling fan penetrates into the cylindrical structure, and the blowing part supplies air upward and the above transmission device is located on the above air supply path.

[0010] As a further optimization of the above solution, the first fixing plate and the deep-inserted feet are both provided with heat sinks.

[0011] As a further optimization of the above solution, a plurality of support members are installed at one end of the cylindrical structure away from the support plate. The support members are fixed on the fixed disc and support the cylindrical structure away from the fixed disc, so that a flow channel for air to flow out is formed between the fixed disc and the cylindrical structure.

[0012] As a further optimization of the above solution, there are four supporting feet arranged in a circular array between the fixed disc and the lower surface of the drone.

[0013] As a further optimization of the above scheme, the support foot is equipped with a horizontally arranged mounting block with a flat top surface, a connecting block is installed on the mounting block, a hemispherical arc block is fixed above the connecting block and connected to each other by bolts, a support block is arranged above the arc block, the support block contains an arc groove for accommodating the arc block, the diameter of the arc groove is larger than the arc block, the top of the support block is connected to the support pad, the other end of the support pad is connected to the bottom surface of the drone, and the support block and the support pad are fixed by bolts.

[0014] As a further optimization of the above solution, the connecting block is rectangular, and the outer surface of the connecting block has a limiting stop frame for limiting the connecting block.

[0015] As a further optimization of the above scheme, connecting holes are opened at the centers of the above-mentioned mounting blocks, connecting blocks, arc blocks, supporting blocks and supporting pads, and locking pieces pass through the above-mentioned connecting holes and connect the mounting blocks, connecting blocks, arc blocks, supporting blocks and supporting pads together.

[0016] As a further optimization of the above solution, the connecting block is a nut and the connecting block and the locking piece are threadedly matched.

[0017] The unmanned aerial vehicle displacement monitoring device based on the navigation system of the present invention has the following beneficial effects: 1. The navigation system-based drone displacement monitoring device of the present invention utilizes drone technology, assembles a pan-tilt, a high-definition camera, and an efficient transmission device to construct an efficient and flexible displacement monitoring device. In the pan-tilt design, the combination of a fixed disc and a connecting frame provides a stable placement foundation for the camera, thereby ensuring the accuracy of capturing the target position image. In addition, the introduction of the transmission device effectively enhances the stability of the overall system and significantly improves the accuracy of displacement monitoring.

[0018] 2. The navigation system-based drone displacement monitoring device of the present invention is composed of several transmission units arranged in a circle to form a fan-shaped structure, and then a cylindrical antenna structure is formed through the interconnection of multiple transmission devices. While ensuring the high stability and efficiency of data transmission, it effectively copes with the interference that may be caused to data transmission by complex outdoor environments. In addition, the antenna structure is connected to the navigation system for communication, and can track and monitor the displacement changes of the target position in real time, providing solid technical support for the application of machine vision in the field of large-span steel structure displacement monitoring.

[0019] 3. The navigation system-based drone displacement monitoring device of the present invention fully meets the heat dissipation requirements of the monitoring equipment during long-term operation by integrating a heat dissipation fan, a heat sink, and a structure designed with a flow channel. The heat dissipation fan is designed to fill the space deeply, so as to directly cool the transmission device, which greatly improves the heat dissipation efficiency, thereby ensuring the stability of the equipment operation and extending the service life. In addition, the airflow generated by the heat dissipation fan can form an auxiliary supporting force on the central area of ​​the fixed disc during the process of floating upward, which helps the antenna structure to firmly fix the disc position and enhance the stability of the overall structure.

[0020] 4. The navigation system-based drone displacement monitoring device of the present invention constructs a relatively stable support structure through the combination of multi-level support feet, mounting blocks, connecting blocks, arc blocks and support blocks. When the drone's own posture tilts, the support structure can ensure that the bottom gimbal structure remains fixed and does not deflect, and only the drone body produces corresponding deflection by virtue of the synergy of the arc blocks and the counterweight structure. The negative impact of the drone's posture change on the monitoring accuracy is effectively avoided, thereby ensuring the accuracy of the monitoring results.

[0021] With reference to the following description and drawings, a specific embodiment of the present invention is disclosed in detail, indicating the manner in which the principle of the present invention can be adopted. It should be understood that the scope of the embodiment of the present invention is not limited thereby, and the embodiment of the present invention includes many changes, modifications and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the UAV displacement monitoring device based on the navigation system; Figure 2 It is a schematic diagram of the main structure of the UAV displacement monitoring device based on the navigation system; Figure 3 It is a schematic diagram of the three-dimensional structure of the transmission device in the present invention; Figure 4 It is a cross-sectional structural schematic diagram of the transmission device in the present invention; Figure 5 It is a schematic diagram of the top view of the transmission device in the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the supporting foot in the present invention; Figure 7 This is a schematic diagram of the main structure of the supporting foot in the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the locking member in the present invention; Fig. 9 It is a schematic cross-sectional structure diagram of the supporting foot in the present invention; Fig.10 is a schematic cross-sectional structural diagram of a support block in the present invention; Fig.11 is a schematic diagram of the three-dimensional structure of the first fixing plate in the present invention; Fig.12 It is a schematic diagram of the three-dimensional structure of the second fixing plate in the present invention.

[0023] In the figure: 1. UAV; 2. gimbal; 21. fixed disc; 22. connecting frame; 3. camera; 4. transmission device; 41. first fixing plate; 42. penetration foot; 43. second fixing plate; 44. transmission unit; 45. support plate; 46. gap; 47. cooling fan; 48. heat sink; 49. support member; 5. support foot; 51. mounting block; 52. connecting block; 521. limit stop frame; 53. arc block; 54. support block; 541. arc groove; 55. support pad; 56. connecting hole; 57. locking member. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below through the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0025] It should be noted that when an element is referred to as being "disposed on, provided with" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected, connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. "Fixed connection" means a fixed connection. There are many ways of fixed connection, which are not within the scope of protection of this article. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are for illustrative purposes only and do not represent the only implementation method.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. The terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. Please refer to the instruction manual Figure 1-12 The present invention provides a first embodiment of a UAV displacement monitoring device based on a navigation system. In this embodiment, the displacement monitoring device integrates UAV 1 technology, gimbal 2 stability, high-definition camera technology and an efficient data transmission system to create an efficient and flexible displacement monitoring solution.

[0027] As shown below, the main structure and components of the displacement monitoring device in this embodiment are as follows: Drone 1: In this embodiment, the model of drone 1 can be a common drone 1 model on the market, such as DJI phantom 4 PRO drone 1. The bottom of the drone 1 is an irradiation space, and the flight path is pre-formed in the ground control system to ensure that the drone 1 flies and the image acquisition is carried out according to the parameters through the automatic driving program. Of course, the drone 1 can also be manually controlled. This embodiment does not elaborate on the control of the drone 1 in detail.

[0028] Gimbal 2: The gimbal 2 is disposed under the drone 1 in this embodiment to provide a stable platform for subsequent video recording and data transmission. The gimbal 2 includes a fixed disc 21 connected to the bottom of the drone 1. Preferably, in this embodiment, the fixed disc 21 is fixed to the drone 1 by fasteners such as bolts and pins.

[0029] The bottom of the fixed disc 21 extends downward to form a connecting frame 22 for fixing structures such as the camera 3 . Preferably, a rotating shaft structure for adjusting the angle of the camera 3 may be provided on the connecting frame 22 .

[0030] Camera 3: The camera 3 is connected to the connecting frame 22 and is responsible for capturing accurate images of the target position to provide visual data for displacement monitoring. In some examples, the camera 3 may be a FC6310 camera or a Sony DSC-RX1RMS camera with a focal length of 8.8 mm.

[0031] Navigation system, the navigation system has a GPU configuration of RTX-3070 and a memory of 8G. The virtual environment in which the program runs is built based on the scheme recommended by the Engineering Research Center for Disaster Prevention and Mitigation of Civil Engineering in Western China, the Ministry of Education, and the Python 3.8.0 version is installed using Anaconda software, and is equipped with the PyTorch 1.11.0 framework.

[0032] In terms of data processing, the navigation system uses a preset training data set and is trained using the YOLOX object detection framework. During the training process, the number of iterations is set to 300 rounds, each batch size contains 4 samples, the initial learning rate is set to 0.0001, and the Adam algorithm is used to dynamically adjust the learning rate.

[0033] Among them, the visual algorithm used in navigation integrates the CBAM attention mechanism, with the YOLOX target detection algorithm proposed by Zheng Ge and other scholars in the paper "YOLOX: Exceeding YOLOSeries in 2021" as the core. This algorithm not only inherits the advantages of the YOLO series network, but also further innovatively adds a decoupling head with faster convergence speed and higher accuracy, and introduces the anchor-free frame method and simOTA dynamic positive sample matching strategy. This enables the navigation system to achieve high-precision rapid target detection and recognition, providing reliable technical support for navigation tasks.

[0034] Transmission device 4: The transmission device 4 is located at the center below the fixed disk 21 and has a certain weight. While realizing transmission, it has a certain weight to enhance stability, and the top of the transmission device 4 is designed with a first fixed plate 41 extending inward, and the bottom of the transmission device 4 extends downward to form a deep foot 42, and the deep foot 42 is connected with a second fixed plate 43 of the same number as the first fixed plate 41. The first fixed plate 41 and the second fixed plate 43 are connected by locking members 57 such as bolts, so as to realize the locking work between two adjacent transmission devices 4. Multiple transmission devices 4 are interconnected to form a cylindrical antenna structure, which realizes communication connection with the camera 3 and the navigation system respectively, so as to implement the monitoring of displacement changes of the target position.

[0035] It should be noted that as the number of stacked transmission devices 4 increases, the transmission range of the signal expands and the accuracy of the transmission performance is improved, but the cost will also increase accordingly. Therefore, the user can configure the antenna structure required by the target performance and price according to actual needs.

[0036] Furthermore, in this embodiment, the transmission device 4 is composed of several transmission units 44 arranged in a circle. The transmission units 44 gradually shrink from the outside to the inside to form a fan-shaped structure. A plurality of fan-shaped transmission units 44 are spliced ​​together to form a circular ring-shaped transmission device 4, which optimizes space utilization and enhances the stability and efficiency of data transmission.

[0037] Furthermore, with respect to the transmission unit 44 in this embodiment, in this embodiment, the transmission unit 44 includes a fan-shaped shell, and a receiving module, a signal processing unit, and a transmitting module are installed inside the fan-shaped shell, wherein the transmitting module is installed on the outer circumferential surface of the above-mentioned shell to obtain a better transmission effect.

[0038] After capturing the image information, the camera 3 immediately transmits the signal to the receiving module. The receiving module then receives the signal and forwards it to the signal processing unit. At the signal processing unit, the signal undergoes frequency conversion and is then transmitted to the transmitting module. Finally, the transmitting module is responsible for sending the processed signal to the navigation system. It is worth noting that during the entire transmission process, the signal can be exchanged in digital or analog form.

[0039] The antenna structure is composed of several transmission units 44 arranged in a circular manner, thereby forming a fan-shaped structure. Through the interconnection of multiple transmission devices 4, a cylindrical overall structure is finally formed. This ensures that data transmission has high stability and efficiency while effectively resisting the interference that may be caused to data transmission by complex outdoor environments.

[0040] In order to cope with the heat that may be generated by long-term work, this embodiment designs a cooling fan 47 between the bottom transmission device 4 and the support plate 45. The blowing part of the fan goes deep into the cylindrical structure and blows air upward to ensure that the monitoring device is located on the air supply path, thereby effectively improving the heat dissipation efficiency.

[0041] Furthermore, the first fixed plate 41 and the deep-inserted foot 42 are both equipped with heat sinks 48, which further enhance the heat dissipation effect. At the same time, a number of support members 49 are installed at one end of the cylindrical structure, and the support members 49 support the cylindrical structure away from the fixed disc 21 to form a flow channel for air to flow out, thereby ensuring the timely dissipation of heat, thereby comprehensively coping with the heat dissipation challenge under long-term operation through the integrated heat dissipation fan 47, heat sink 48 and flow channel. The heat dissipation fan 47 is designed to fill the space deeply, directly implement air cooling on the monitoring device, significantly improve the heat dissipation efficiency, effectively ensure the stability of the equipment operation and extend its service life. It is particularly worth mentioning that the airflow generated by the heat dissipation fan 47 during operation can naturally form an auxiliary support effect on the central area of ​​the fixed disc 21 during the upward flow process, which helps the antenna structure to firmly maintain the position of the fixed disc 21, thereby enhancing the structural stability of the entire system.

[0042] The working process of the drone displacement monitoring device based on the navigation system provided in this embodiment is as follows: S1. Takeoff and positioning of UAV 1. UAV 1 takes off according to a preset flight path, which has been pre-planned in the ground control system. UAV 1 can be automatically driven or manually controlled to ensure that the flight and image acquisition are carried out according to the established parameters.

[0043] S2. Image acquisition, the camera 3 installed under the gimbal 2 is responsible for capturing accurate images of the target location. The camera 3 is fixed to the gimbal 2 through the connecting frame 22, and the gimbal 2 provides a stable shooting platform to ensure that the image quality is not affected by the turbulence during the flight of the drone 1. The camera 3 can be an optional model such as FC6310 or Sony DSC-RX1RMS, with a specific focal length setting to obtain clear image data.

[0044] S3. Data transmission: The image data captured by the camera 3 is transmitted to the navigation system in real time through an efficient data transmission system. The data transmission system ensures the real-time and accuracy of the data, and provides a basis for subsequent image processing and displacement monitoring.

[0045] S4. Image processing and recognition. After receiving the image data, the navigation system uses the built-in YOLOX target detection framework for image processing. This framework is based on a deep learning algorithm and incorporates the CBAM attention mechanism to quickly and accurately identify the target location. Through pre-trained data sets and specific training parameters (such as the number of iterations, learning rate, etc.), the navigation system can achieve high-precision detection and recognition of targets.

[0046] S5. Displacement monitoring and reporting: The navigation system calculates the displacement change of the target based on the identified target position information. These displacement data can be reported to the ground control system in real time or periodically for further analysis and decision-making.

[0047] The working principle of the drone displacement monitoring device based on the navigation system provided in this embodiment is as follows: Drone 1 and PTZ 2 technology: Drone 1, as an image acquisition platform, has high flexibility and maneuverability. PTZ 2 provides a stable shooting environment, ensuring the quality and stability of image acquisition.

[0048] HD camera technology: HD camera 3 can capture precise images of target locations, providing reliable visual data for displacement monitoring. The focal length and model selection of camera 3 are critical to image quality and recognition accuracy.

[0049] Efficient data transmission system: Real-time and accurate data transmission is the key to displacement monitoring. The efficient data transmission system ensures that the image data can be transmitted to the navigation system in a timely and complete manner for processing.

[0050] Deep learning algorithm: The YOLOX target detection framework used by the navigation system is based on a deep learning algorithm that can quickly and accurately identify the target location. The algorithm learns and optimizes through training data sets, improving the accuracy and efficiency of target detection and recognition.

[0051] Displacement calculation and reporting: The navigation system uses a specific algorithm to calculate the displacement change of the target based on the identified target position information. These displacement data can be used for further analysis, early warning and decision support.

[0052] In summary, the navigation system-based drone displacement monitoring device provided in this embodiment combines drone 1 technology, gimbal 2 stability, high-definition camera technology, efficient data transmission system and deep learning algorithm to achieve high-precision displacement monitoring of the target position.

[0053] Please refer to the instruction manual Figure 1-12 The present invention provides a second embodiment of a drone displacement monitoring device based on a navigation system. This embodiment makes more detailed improvements on the stability of the gimbal 2 on the basis of the structure of the first embodiment. The specific structure of the drone 1 displacement monitoring device of this embodiment is as follows: A gimbal 2 is connected to the bottom of the drone 1. The gimbal 2 has a fixed disc 21 connected to the bottom of the drone 1. The outer periphery of the bottom of the fixed disc 21 extends downward to form a connecting frame 22. The camera 3 is installed on the connecting frame 22 and obtains the target position image. The transmission device 4 is installed under the fixed disc 21 and has a certain weight. The top of the transmission device 4 has a first fixed plate 41 extending inward. The bottom of the monitoring device extends downward to form a penetration foot 42. The penetration foot 42 extends inward to form a second fixed plate 43. Bolts penetrate the first fixed plate 41 and the second fixed plate 43 to fix two adjacent monitoring devices. Multiple transmission devices 4 are connected to each other to form a cylindrical antenna structure. The navigation system is communicatively connected to the antenna structure to monitor the displacement change of the target position.

[0054] Furthermore, the transmission device 4 is composed of a plurality of transmission units 44 arranged in a circle, and the transmission units 44 shrink from the outside to the inside to form a fan-shaped structure.

[0055] Furthermore, the lowest transmission device 4 is connected to the support plate 45 by bolts, and a gap 46 is formed between the lowest transmission device 4 and the support plate 45 through the support legs 5, and a filling space is formed between two adjacent deep legs 42 in the gap 46, and the cooling fan 47 penetrates into the filling space and the blowing part of the cooling fan 47 penetrates into the cylindrical structure, and the blowing part supplies air upward and the above-mentioned monitoring device is located on the above-mentioned air supply path.

[0056] Furthermore, the first fixing plate 41 and the deep-inserted legs 42 both have heat sinks 48 .

[0057] Furthermore, a plurality of support members 49 are installed at one end of the cylindrical structure away from the support plate 45. The support members 49 are fixed on the fixed disc 21 and support the cylindrical structure away from the fixed disc 21, so that a flow channel for air to flow out is formed between the fixed disc 21 and the cylindrical structure.

[0058] Furthermore, four support feet 5 are arranged between the fixed disc 21 and the lower surface of the drone 1, and the four support feet 5 are distributed in a circular array. A horizontal mounting block 51 with a flat top surface is mounted on the top of the support foot 5, and a connecting block 52 is arranged on the mounting block 51. A hemispherical arc block 53 is fixed on the top of the connecting block 52, and the connection between them is achieved by bolts. A support block 54 is arranged above the arc block 53, and an arc groove 541 is designed inside the support block 54 to accommodate the arc block 53, and the diameter of the arc groove 541 is larger than that of the arc block 53 to ensure that it can be smoothly embedded. The top of the support block 54 is connected to the support pad 55, and the other end of the support pad 55 is fixed to the bottom surface of the drone 1, and the support block 54 and the support pad 55 are also fastened by bolts.

[0059] Furthermore, the connecting block 52 is designed to be rectangular in shape, and a limit stop frame 521 is added to its outer surface to limit the movement of the connecting block 52. In addition, connecting holes 56 are opened in the centers of the mounting block 51, the connecting block 52, the arc block 53, the support block 54 and the support pad 55. Locking pieces 57 penetrate these connecting holes 56 to firmly connect the components together.

[0060] It should be noted that the connection block 52 is designed to be in the shape of a nut, and forms a threaded fit with the locking member 57, thereby enhancing the stability and firmness of the connection.

[0061] The above structure further optimizes the stability of the gimbal 2, and a highly stable support structure is constructed through the combined design of the multi-level support feet 5, the mounting block 51, the connecting block 52, the arc block 53 and the support block 54. When the attitude of the drone 1 itself tilts, the support structure can effectively maintain the stability of the bottom gimbal 2 structure by utilizing the synergy of the arc block 53 and the counterweight structure, and prevent it from deflecting, and only allow the drone 1 fuselage to produce corresponding deflection. This design significantly reduces the negative impact of the attitude change of the drone 1 on the monitoring accuracy, thereby ensuring the accuracy and reliability of the monitoring results.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent substitution or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. UAV displacement monitoring equipment based on navigation system, characterized in that: The invention comprises an unmanned aerial vehicle (1), a gimbal (2), a camera (3) and a transmission device (4). The unmanned aerial vehicle (1) is connected to a gimbal (2) below. The gimbal (2) has a fixed disk (21) connected to the bottom of the unmanned aerial vehicle (1). The bottom periphery of the fixed disk (21) extends downward to form a connecting frame (22). The camera (3) is mounted on the connecting frame (22) and acquires an image of a target position. The transmission device (4) is mounted below the fixed disk (21) and has a certain weight. The top of the transmission device (4) has a first fixed plate (41) extending inward. The bottom of the transmission device (4) extends downward to form a deep-insertion foot (42). The deep-insertion foot (42) extends inward to form a second fixed plate (43). Bolts penetrate the first fixed plate (41) and the second fixed plate (43) and fix two adjacent transmission devices (4). A plurality of transmission devices (4) are connected to each other to form a cylindrical antenna structure. The camera (3) and the navigation system are connected to the antenna structure in communication to monitor the displacement change of the target position.

2. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 1 is characterized by: The transmission device (4) is composed of a plurality of transmission units (44) arranged in a circle, and the transmission units (44) contract from the outside to the inside to form a fan-shaped structure.

3. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 2 is characterized in that: The transmission device (4) at the bottom is connected to the support plate (45) by bolts. A gap (46) is formed between the support foot (5) and the support plate (45) of the transmission device (4) at the bottom. A filling space is formed between two adjacent deep feet (42) in the gap (46). The heat dissipation fan (47) penetrates into the filling space and the blowing part of the heat dissipation fan (47) penetrates into the cylindrical structure. The blowing part supplies air upward and the transmission device (4) is located on the air supply path.

4. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 3 is characterized by: The first fixing plate (41) and the deep-inserted foot (42) are both provided with heat sinks (48).

5. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 4 is characterized by: A plurality of support members (49) are installed at one end of the cylindrical structure that is away from the support plate (45); the support members (49) are fixed to the fixed disc (21) and support the cylindrical structure away from the fixed disc (21), so that a flow channel for air to flow out is formed between the fixed disc (21) and the cylindrical structure.

6. The unmanned aerial vehicle displacement monitoring device based on a navigation system according to any one of claims 1 to 5, characterized in that: There are four supporting feet (5) arranged in a circular array between the fixed disc (21) and the lower surface of the drone (1).

7. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 6 is characterized by: The support foot (5) is equipped with a horizontally arranged mounting block (51) with a flat top surface, a connecting block (52) is mounted on the mounting block (51), a hemispherical arc block (53) is fixed above the connecting block (52) and connected to each other by bolts, a supporting block (54) is arranged above the arc block (53), the supporting block (54) contains an arc groove (541) for accommodating the arc block (53), the diameter of the arc groove (541) is larger than that of the arc block (53), the top of the supporting block (54) is connected to a supporting pad (55), the other end of the supporting pad (55) is connected to the bottom surface of the drone (1), and the supporting block (54) and the supporting pad (55) are fixed by bolts.

8. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 7 is characterized by: The connecting block (52) is rectangular, and the outer surface of the connecting block (52) is provided with a limiting stop frame (521) for limiting the connecting block (52).

9. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 8, characterized in that: The installation block (51), the connection block (52), the arc block (53), the support block (54) and the support pad (55) are all provided with a connection hole (56) at the center thereof, and the locking member (57) passes through the connection hole (56) and connects the installation block (51), the connection block (52), the arc block (53), the support block (54) and the support pad (55) together.

10. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 9, characterized in that: The connection block (52) is a nut, and the connection block (52) and the locking piece (57) are threadedly matched.

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