UAV Displacement Monitoring Device Based on Navigation System

Abstract

The present invention discloses a displacement monitoring device for an unmanned aerial vehicle based on a navigation system, including an unmanned aerial vehicle. A pan-tilt head is connected below the unmanned aerial vehicle. The pan-tilt head has a fixed disk. A connecting frame is provided below the fixed disk. A camera is installed on the connecting frame. A transmission device is installed below the fixed disk. The top of the transmission device has a first fixing plate. The bottom of the transmission device forms a deepening foot, and the deepening foot forms a second fixing plate. Bolts penetrate through the first fixing plate and the second fixing plate to fix two adjacent transmission devices. The camera, the navigation system and the antenna structure are communicatively connected to monitor the displacement change of the target position. The above structure uses the unmanned aerial vehicle to carry the monitoring device, providing a better solution for machine vision in the displacement monitoring of large-span steel structures. At the same time, to cope with the changeable outdoor environment, the antenna adopts a splicing design of multiple transmission devices to ensure the real-time and stable transmission of monitoring data.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) displacement monitoring, and particularly to a UAV displacement monitoring device based on a navigation system. Background Art

[0002] With the continuous development of the social economy, large-span and even super-large-span steel structure infrastructure such as stadiums, airports, exhibition halls, and bridges has rapidly emerged and become important strategic or landmark buildings. These structures often involve 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 complex and changeable construction process, there are uncertain factors such as node displacement and structural deformation during the hoisting of steel structures. Moreover, these factors are difficult to fully predict during the structural design. If the construction control is not strict, it will pose a serious threat to the structural operation safety. Therefore, the monitoring work during the hoisting stage of large-span steel structures is of crucial importance.

[0004] Currently, manual monitoring is still the mainstream method, and in some areas, strain sensors or total stations are also used for data collection and structural state analysis. On this basis, in "Monitoring of the Construction Hoisting Process of a Certain Steel Structure Corridor Bridge", scholars such as Luo Yaozhi proposed a stress and acceleration monitoring system based on wireless sensing technology, combined with a fully automatic measuring robot, to achieve real-time monitoring of stress, vibration, and deformation during the entire hoisting construction process; in "Experimental Study on Dynamic Monitoring of Bridge Structures Based on Automatic Total Stations", Yu Jiayong et al. used automatic total stations to monitor the displacement and vibration frequency of bridge structures, and carried out simulation and field monitoring experiments in the NGB Laboratory of the University of Nottingham in the UK and the Wilford Suspension Bridge in Nottingham.

[0005] However, in practical applications, the above technologies face challenges. Especially, as the device spacing increases, the resolution decreases, making it difficult to meet the flexible and high-precision monitoring requirements. To address this problem, the present invention proposes a UAV displacement monitoring device based on a navigation system, aiming to optimize the displacement monitoring during the hoisting process of large-span steel structures and solve the limitations of the 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. By using a UAV to carry a monitoring device, it provides a better solution for machine vision in the displacement monitoring of large-span steel structures. At the same time, to cope with the changeable 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, the antenna structure is placed in the middle position, which not only ensures the transmission effect but also plays a counterweight role, thus maintaining the stability of the pan-tilt head.

[0007] To achieve the above object, the UAV displacement monitoring device based on a navigation system according to the present invention includes a UAV, a pan-tilt, a camera, and a transmission device. A pan-tilt is connected below the UAV. The pan-tilt has a fixed disk connected below the UAV. The outer periphery of the fixed disk extends downward to form a connecting frame. The above-mentioned camera is installed on the connecting frame and acquires an image of the target position. The transmission device is installed below the fixed disk and has a certain weight. The top of the transmission device has a first fixing plate extending inward. The bottom of the transmission device extends downward to form a deepening foot. The deepening foot extends inward to form a second fixing plate. Bolts penetrate through the first fixing plate and the second fixing plate to fix adjacent two 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 change of the target position.

[0008] As a further optimization of the above solution, the transmission device is composed of several transmission units arranged in a circular pattern, and the transmission unit shrinks from the outside to the inside to form a fan-shaped structure.

[0009] As a further optimization of the above solution, the lowermost transmission device is connected to the support plate by bolts. A gap is formed between the support feet of the lowermost transmission device and the support plate. A filling space is formed between adjacent two deepening feet in the gap. A heat dissipation fan penetrates into the filling space and the blowing part of the heat dissipation fan penetrates into the cylindrical antenna structure. And the blowing part blows air upward and the above-mentioned transmission device is located on the air supply path.

[0010] As a further optimization of the above solution, both the first fixing plate and the deepening foot are provided with heat sinks.

[0011] As a further optimization of the above solution, several support members are installed at one end of the cylindrical antenna structure facing away from the support plate. The support members are fixed on the above-mentioned fixed disk and support the cylindrical antenna structure away from the fixed disk, so as to form a flow channel for air to flow out between the fixed disk and the cylindrical antenna structure.

[0012] As a further optimization of the above solution, there are four support feet arranged in an annular array between the fixed disk and the lower surface of the UAV.

[0013] As a further optimization of the above solution, the support feet are equipped with mounting blocks arranged horizontally with flat top surfaces. Connecting blocks are installed on the mounting blocks. Hemispherical arc blocks are fixed above the connecting blocks and are 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 that of the arc block. The top of the support block is connected to a support pad. The other end of the support pad is connected to the bottom surface of the UAV. The support block and the support pad are fixed by bolts.

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

[0015] As a further optimization of the above solution, connection holes are provided at the centers of the above-mentioned mounting block, connection block, arc block, support block, and support pad. The locking member passes through the above-mentioned connection holes and connects the mounting block, connection block, arc block, support block, and support pad together.

[0016] As a further optimization of the above solution, the connection block is a nut and the connection block is in threaded fit with the locking member.

[0017] The drone displacement monitoring device based on the navigation system of the present invention has the following beneficial effects:

[0018] The drone displacement monitoring device based on the navigation system of the present invention utilizes drone technology, assembles a gimbal, a high-definition camera, and an efficient transmission device to construct an efficient and flexible displacement monitoring device. In the design of the gimbal, the combination of the fixed disk and the 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.

[0019] The drone displacement monitoring device based on the navigation system of the present invention is composed of several circularly arranged transmission units, forming a fan-shaped structure. Then, through the mutual connection of multiple transmission devices, a cylindrical antenna structure is formed. While ensuring the high stability and efficiency of data transmission, it effectively deals with the possible interference of the outdoor complex environment on data transmission. In addition, the antenna structure is communicatively connected to the navigation system, and can track and monitor the displacement changes of the target position in real time, providing a solid technical support for the application of machine vision in the field of large-span steel structure displacement monitoring.

[0020] The drone displacement monitoring device based on the navigation system of the present invention fully meets the heat dissipation requirements of the monitoring device during long-term operation through the integration of a cooling fan, heat sinks, and a structure designed with a flow channel. The cooling fan is designed to deeply fill the space, thereby directly performing air cooling on the transmission device, greatly improving the heat dissipation efficiency, and then ensuring the stability of the device operation and extending the service life. In addition, during the upward floating process of the airflow generated by the cooling fan, it can form an auxiliary supporting force on the central area of the fixed disk, helping the antenna structure to be firmly fixed at the position of the fixed disk and enhancing the stability of the overall structure.

[0021] The UAV displacement monitoring device based on the navigation system of the present invention constructs a relatively stable support structure through the combination of multi-stage support feet, mounting blocks, connecting blocks, arc-shaped blocks, and support blocks. When the attitude of the UAV itself tilts, this support structure can, with the synergistic effect of the arc-shaped blocks and the counterweight structure, ensure that the bottom pan-tilt structure remains fixed without deflection, while only the UAV fuselage generates corresponding deflection. This effectively avoids the negative impact of UAV attitude changes on the monitoring accuracy, thereby ensuring the accuracy of the monitoring results.

[0022] Referring to the following description and the accompanying drawings, specific embodiments of the present invention are disclosed in detail, indicating the ways in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope thereby, and the embodiments of the present invention include many changes, modifications, and equivalents. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structure schematic diagram of the UAV displacement monitoring device based on the navigation system;

[0024] Figure 2 It is a front view structure schematic diagram of the UAV displacement monitoring device based on the navigation system;

[0025] Figure 3 It is a three-dimensional structure schematic diagram of the transmission device in the present invention;

[0026] Figure 4 It is a sectional structure schematic diagram of the transmission device in the present invention;

[0027] Figure 5 It is a top view structure schematic diagram of the transmission device in the present invention;

[0028] Figure 6 It is a three-dimensional structure schematic diagram of the support feet in the present invention;

[0029] Figure 7 It is a front view structure schematic diagram of the support feet in the present invention;

[0030] Figure 8 It is a three-dimensional structure schematic diagram of the locking member in the present invention;

[0031] Figure 9 It is a sectional structure schematic diagram of the support feet in the present invention;

[0032] Figure 10 It is a sectional structure schematic diagram of the support block in the present invention;

[0033] Figure 11 It is a three-dimensional structure schematic diagram of the first fixing plate in the present invention;

[0034] Figure 12This is a three-dimensional structural schematic diagram of the second fixed plate in the present invention.

[0035] In the figure: 1, unmanned aerial vehicle; 2, gimbal; 21, fixed disc; 22, connecting frame; 3, camera; 4, transmission device; 41, first fixed plate; 42, deepening foot; 43, second fixed plate; 44, transmission unit; 45, support plate; 46, gap; 47, heat dissipation fan; 48, heat sink; 49, support member; 5, support foot; 51, mounting block; 52, connecting block; 521, limiting retaining frame; 53, arc-shaped block; 54, support block; 541, arc-shaped groove; 55, support pad; 56, connecting hole; 57, locking member. Specific embodiments

[0036] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be 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 used to limit the scope of the present invention.

[0037] It should be noted that when an element is referred to as "arranged on, provided with" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected, connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. "Fixed connection" means a fixed connection, and there are many ways of fixed connection, which are not the scope of protection of this article. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this article are only for the purpose of illustration and do not represent the only implementation manner.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein 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 of the related listed items;

[0039] Please refer to the attached specification Figures 1-12 In the first embodiment of the displacement monitoring device for unmanned aerial vehicles based on the navigation system provided by the present invention, in this embodiment, the displacement monitoring device integrates unmanned aerial vehicle 1 technology, gimbal 2 stability, high-definition camera technology and an efficient data transmission system, so as to create an efficient and flexible displacement monitoring solution.

[0040] As shown below, the main structures and components of the displacement monitoring device in this embodiment are as follows:

[0041] Unmanned Aerial Vehicle 1: In this embodiment, the model of the unmanned aerial vehicle 1 can adopt common models of unmanned aerial vehicles 1 on the market, such as the DJI phantom 4 PRO unmanned aerial vehicle and other models of unmanned aerial vehicles 1. The lower part of the unmanned aerial vehicle 1 is the irradiation space, and the flight path is preset in the ground control system to ensure that the unmanned aerial vehicle 1 flies through the autopilot program and image acquisition is carried out according to the parameters. Of course, the unmanned aerial vehicle 1 can also be manually controlled, and this embodiment does not elaborate on the details of the control of the unmanned aerial vehicle 1.

[0042] Gimbal 2: The gimbal 2 is equipped below the unmanned aerial vehicle 1 in this embodiment, providing a stable platform for subsequent camera shooting and data transmission. The gimbal 2 includes a fixed disc 21 connected to the lower part of the unmanned aerial vehicle 1. Preferably, in this embodiment, the fixed disc 21 is fixed to the unmanned aerial vehicle 1 through fasteners such as bolts and pins.

[0043] The lower part of the above-mentioned fixed disc 21 extends downward and forms 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 can be provided on the connecting frame 22.

[0044] Camera 3: The camera 3 is connected to the connecting frame 22 and is responsible for capturing precise images of the target position, providing visual data for displacement monitoring. In some examples, the camera 3 can be selected as a camera with the model FC6310 or a Sony DSC-RX1RMS camera, and the focal length is 8.8 mm.

[0045] Navigation system, the GPU of this navigation system is configured as RTX-3070, and the memory is 8g. The virtual environment for program operation is constructed based on the scheme recommended by the Engineering Research Center for Disaster Mitigation of Western Civil Engineering of the Ministry of Education. The Python 3.8.0 version is installed using Anaconda software, and the PyTorch 1.11.0 framework is equipped.

[0046] In terms of data processing, the navigation system adopts a preset training data set and uses the YOLOX object detection framework for training. During the training process, the number of iterations is set to 300 rounds, each batch (batch size) contains 4 samples, the initial learning rate is set to 0.0001, and the learning rate is dynamically adjusted through the Adam algorithm.

[0047] Among them, the visual algorithm adopted by the navigation integrates the CBAM attention mechanism and takes the YOLOX object detection algorithm proposed by scholars such as Zheng Ge in the paper "YOLOX: Exceeding YOLOSeries in 2021" as the core. This algorithm not only inherits the advantages of the YOLO series of networks, but also innovatively adds a decoupled head with a faster convergence speed and higher accuracy, and introduces an anchor-free method and a simOTA dynamic positive sample matching strategy. This enables the navigation system to achieve high-precision and fast target detection and recognition, providing reliable technical support for the navigation task.

[0048] Transmission device 4: This transmission device 4 is located at the center below the fixed disk 21 and has a certain weight. While achieving transmission, it has a certain weight to enhance stability. The top of this transmission device 4 is designed with a first fixing plate 41 extending inwards, and the bottom of this transmission device 4 extends downwards and forms a deepening foot 42. A second fixing plate 43 with the same number as the first fixing plate 41 is connected to the deepening foot 42. The first fixing plate 41 and the second fixing plate 43 are connected by locking parts such as bolts 57, thereby realizing the locking work between adjacent two transmission devices 4. The mutual connection of multiple transmission devices 4 jointly forms a cylindrical antenna structure, and this antenna structure is respectively communicatively connected to the camera 3 and the navigation system, thereby monitoring the displacement change of the target position.

[0049] It should be noted that with the increase in the stacking quantity of the above-mentioned transmission devices 4, 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 for the target performance and price according to actual needs.

[0050] Furthermore, in this embodiment, the transmission device 4 is composed of several transmission units 44 arranged in a circular pattern. The above-mentioned transmission units 44 gradually shrink from the outside to the inside, forming a fan-shaped structure. By splicing multiple fan-shaped transmission units 44 with each other, a ring-shaped transmission device 4 is formed, optimizing the space utilization and enhancing the stability and efficiency of data transmission.

[0051] Furthermore, for the transmission unit 44 in this embodiment, in this embodiment, the transmission unit 44 includes a fan-shaped housing. A receiving module, a signal processing unit, and a transmitting module are installed inside the fan-shaped housing. Among them, the transmitting module is installed on the outer circumferential surface of the above-mentioned housing to obtain a better transmitting effect.

[0052] After the camera 3 captures the image information, it 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 processing and is then transmitted to the transmitting module. Finally, the transmitting module is responsible for sending the processed signal to the navigation system. It should be noted that during the entire transmission process, the signal can be exchanged in either digital or analog form.

[0053] This antenna structure is composed of several transmission units 44 combined in a circular arrangement, thus forming a fan-shaped structure. Through the mutual connection of multiple transmission devices 4, a cylindrical overall structure is finally formed. This ensures a high degree of stability and efficiency in data transmission while effectively resisting the interference that the complex outdoor environment may cause to data transmission.

[0054] To cope with the heat generated during long-term operation, in this embodiment, a cooling fan 47 is designed between the lowermost transmission device 4 and the support plate 45. The blowing part of the fan extends deep into the cylindrical antenna structure and blows upward to ensure that the monitoring device is on the air supply path, thereby effectively improving the heat dissipation efficiency.

[0055] Furthermore, heat sinks 48 are installed on both the first fixing plate 41 and the insertion feet 42, further enhancing the heat dissipation effect. At the same time, several support members 49 are installed at one end of the cylindrical antenna structure. The above support members 49 hold the cylindrical antenna structure away from the fixed disc 21, forming a flow channel for air to flow out, ensuring the timely dissipation of heat. Thus, through the integrated cooling fan 47, heat sinks 48, and the presence of a flow channel, the heat dissipation challenges during long-term operation are comprehensively addressed. The cooling fan 47 is designed to deeply fill the space and directly implement air cooling on the monitoring device, significantly improving the heat dissipation efficiency and effectively ensuring the stability of equipment operation and extending its service life. It is particularly worth mentioning that the airflow generated by the cooling fan 47 during operation can naturally form an auxiliary supporting effect on the central area of the fixed disc 21 during the upward flow process, helping the antenna structure to firmly maintain the position of the fixed disc 21, thereby enhancing the structural stability of the entire system.

[0056] The drone displacement monitoring device based on the navigation system provided by this embodiment works as follows:

[0057] S1. The drone 1 takes off and positions itself. The drone 1 takes off according to a preset flight path that has been pre-planned in the ground control system. The drone 1 can fly autonomously or be manually controlled to ensure flight and image acquisition according to the established parameters.

[0058] S2. Image acquisition: The camera 3 installed below the pan-tilt head 2 is responsible for capturing precise images of the target position. The camera 3 is fixed to the pan-tilt head 2 through the connecting frame 22. The pan-tilt head 2 provides a stable shooting platform to ensure that the image quality is not affected by the bumps during the flight of the drone 1. Optional models of the camera 3 such as FC6310 or Sony DSC-RX1RMS have specific focal length settings to obtain clear image data.

[0059] 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. This data transmission system ensures the real-time and accuracy of the data, providing a basis for subsequent image processing and displacement monitoring.

[0060] S4. Image processing and recognition: After receiving the image data, the navigation system uses the built-in YOLOX object detection framework for image processing. This framework is based on deep learning algorithms and integrates the CBAM attention mechanism, which can quickly and accurately identify the target position. Through the pre-trained dataset and specific training parameters (such as the number of iterations, learning rate, etc.), the navigation system can achieve high-precision detection and recognition of the target.

[0061] 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 regularly for further analysis and decision-making.

[0062] The working principle of the drone displacement monitoring device based on the navigation system provided by this embodiment is as follows:

[0063] Drone 1 and pan-tilt head 2 technology: The drone 1 serves as an image acquisition platform, featuring high flexibility and mobility. The pan-tilt head 2 provides a stable shooting environment, ensuring the quality and stability of image acquisition.

[0064] High-definition camera technology: The high-definition camera 3 can capture precise images of the target position, providing reliable visual data for displacement monitoring. The selection of the focal length and model of the camera 3 is crucial for image quality and recognition accuracy.

[0065] 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 for processing in a timely and complete manner.

[0066] Deep learning algorithm: The YOLOX object detection framework adopted by the navigation system is based on deep learning algorithms, which can quickly and accurately identify the target position. This algorithm learns and optimizes through the training dataset, improving the accuracy and efficiency of target detection and recognition.

[0067] Displacement Calculation and Reporting: The navigation system calculates the displacement change of the target using specific algorithms based on the recognized target position information. These displacement data can be used for further analysis, early warning, and decision-making support.

[0068] In summary, the UAV displacement monitoring device based on the navigation system provided in this embodiment combines UAV 1 technology, the stability of the pan-tilt 2, high-definition camera technology, an efficient data transmission system, and deep learning algorithms to achieve high-precision displacement monitoring of the target position.

[0069] Please refer to the attached Figures 1-12 description. The present invention provides a second embodiment of the UAV displacement monitoring device based on the navigation system. On the basis of the structure of the first embodiment, more detailed improvements are made to the stability of the pan-tilt 2. The specific structure of the UAV 1 displacement monitoring device in this embodiment is as follows:

[0070] A pan-tilt 2 is connected below the UAV 1. The pan-tilt 2 has a fixed disk 21 connected below the UAV 1. The outer periphery of the fixed disk 21 extends downward to form a connecting frame 22. The above camera 3 is installed on the connecting frame 22 to obtain an image of the target position. The transmission device 4 is installed below the fixed disk 21 and has a certain weight. The top of the transmission device 4 has a first fixing plate 41 extending inward. The bottom of the monitoring device extends downward to form a deepening foot 42. The deepening foot 42 extends inward to form a second fixing plate 43. Bolts penetrate through the first fixing plate 41 and the second fixing plate 43 to fix adjacent two 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.

[0071] Further, the transmission device 4 is composed of several transmission units 44 arranged in a circular pattern, and the transmission unit 44 shrinks from the outside to the inside to form a fan-shaped structure.

[0072] Further, the lowermost transmission device 4 is connected to the support plate 45 by bolts. A gap 46 is formed between the support feet 5 of the lowermost transmission device 4 and the support plate 45. A filling space is formed between adjacent two deepening feet 42 in the gap 46. The cooling fan 47 penetrates into the filling space and makes the blowing part of the cooling fan 47 penetrate into the inside of the cylindrical antenna structure, and the blowing part blows air upward and the above monitoring device is located on the air supply path.

[0073] Further, heat sinks 48 are provided on both the first fixing plate 41 and the deepening foot 42.

[0074] Furthermore, several support members 49 are installed at one end of the cylindrical antenna structure facing away from the support plate 45. The support members 49 are fixed on the fixed disk 21 and hold the cylindrical antenna structure away from the fixed disk 21, forming a flow channel for air to flow out between the fixed disk 21 and the cylindrical antenna structure.

[0075] Furthermore, four support feet 5 are provided between the fixed disk 21 and the lower surface of the drone 1. These four support feet 5 are arranged in a circular array. The top of the support feet 5 is equipped with a horizontal mounting block 51 with a flat top surface. Above the mounting block 51, there is a connecting block 52. Above the connecting block 52, a hemispherical arc block 53 is fixed, and they are tightly connected to each other through bolts. Above the arc block 53, there is a support block 54. An arc groove 541 for accommodating the arc block 53 is designed inside the support block 54, 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. The support block 54 and the support pad 55 are also tightly connected through bolts.

[0076] Furthermore, the connecting block 52 is designed in a rectangular shape, and a limiting 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 at the centers of the mounting block 51, the connecting block 52, the arc block 53, the support block 54, and the support pad 55. Through the locking member 57 passing through these connecting holes 56, the components are firmly connected together.

[0077] It should be noted that the connecting block 52 is designed 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.

[0078] The above structure further optimizes the stability of the pan-tilt 2. Through the combined design of multiple support feet 5, mounting blocks 51, connecting blocks 52, arc blocks 53, and support blocks 54, a highly stable support structure is constructed. When the attitude of the drone 1 itself tilts, the support structure can effectively maintain the stability of the bottom pan-tilt 2 structure by the synergistic effect of the arc block 53 and the counterweight structure, avoiding its deflection and only allowing the fuselage of the drone 1 to generate corresponding deflection. This design significantly reduces the negative impact of the attitude change of the drone 1 on the monitoring accuracy, thus ensuring the accuracy and reliability of the monitoring results.

[0079] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, or improvements made within the spirit and principles of the present invention shall 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), wherein the unmanned aerial vehicle (1) is connected to a gimbal (2) below, the gimbal (2) has a fixed disc (21) connected to the bottom of the unmanned aerial vehicle (1), the bottom periphery of the fixed disc (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 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 transmission device (4) 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) 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 in communication with the antenna structure to monitor the displacement change of the target position; The transmission device (4) is composed of a plurality of transmission units (44) arranged in a circular shape, and the transmission units (44) contract from the outside to the inside to form a fan-shaped structure; There are four supporting feet (5) arranged in a circular array between the fixed disc (21) and the lower surface of the drone (1).

2. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 1 is characterized by: The transmission device (4) at the bottom is connected to the support plate (45) by bolts, and a gap (46) is formed between the transmission device (4) at the bottom through the support foot (5) and the support plate (45), and a filling space is formed between two adjacent deep feet (42) in the gap (46), and the heat dissipation fan (47) penetrates into the filling space and the blowing part of the heat dissipation fan (47) penetrates into the cylindrical antenna structure, and the blowing part supplies air upwards and the transmission device (4) is located on the air supply path.

3. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 2 is characterized in that: The first fixing plate (41) and the deep-inserted foot (42) are both provided with heat sinks (48).

4. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 3 is characterized by: A plurality of support members (49) are installed at one end of the cylindrical antenna structure that faces away from the support plate (45); the support members (49) are fixed to the fixed disk (21) and support the cylindrical antenna structure away from the fixed disk (21), so that a flow channel for air to flow out is formed between the fixed disk (21) and the cylindrical antenna structure.

5. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 4 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.

6. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 5 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).

7. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 6 is characterized by: 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.

8. The unmanned aerial vehicle displacement monitoring device based on the navigation system according to claim 7 is characterized by: The connection block (52) is a nut, and the connection block (52) and the locking piece (57) are threadedly matched.

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