A spatial scanning, modeling and positioning device based on multi-modal vision fusion

Abstract

The application provides a space scanning, modeling and positioning device based on multi-modal visual fusion, belongs to the technical field of power construction, and comprises an airborne modeling device, an airborne device base is arranged below the airborne modeling device, a support connecting frame is connected to the airborne modeling device via the airborne device base, a steering box is arranged below the support connecting frame, a plug is arranged below the support connecting frame, and the steering box is connected to the support connecting frame via the plug. The application solves the problems of low measurement accuracy, high power consumption, large size and the fact that some airborne modeling devices are placed by changing structures. However, the current changing structures do not match some scenes, are not conducive to changing the illumination viewing angle of the airborne modeling device, have limitations, and cannot change the illumination and placement viewing angle in multiple directions on some uneven placement surfaces.

Description

Technical Field

[0001] This invention belongs to the field of power construction technology, specifically relating to a spatial scanning, modeling, and positioning device based on multimodal visual fusion. Background Technology

[0002] Traditional power system operations rely on visual inspection and manual operation. Due to the limitations of human eyes and hand tools, it is difficult to accurately measure and comprehensively model complex equipment such as cables and surge arresters. In the process of inspecting critical equipment such as cables and surge arresters, the equipment layout is complex, space is limited, and manual operation is difficult and prone to errors.

[0003] Existing automated testing equipment often suffers from problems such as high cost, complex operation, and poor adaptability. While some high-end testing equipment can achieve high-precision measurement, they are expensive and difficult to promote and apply on a large scale; while some simple equipment has shortcomings such as limited functionality and limited measurement range, and cannot meet the complex and ever-changing needs of power operations.

[0004] In recent years, the maturity of advanced sensor technologies such as LiDAR, RGB binocular cameras, and depth cameras has made it possible to reconstruct the 3D structure of power equipment. However, existing detection and modeling equipment is still limited to a single sensor, which cannot collect large amounts of high-precision 3D data in real time and construct accurate 3D models of target objects. Furthermore, there are some problems in daily use. Some airborne modeling equipment is placed by changing the structure, but the current method of changing the structure is not suitable for some scenarios, which is not conducive to changing the illumination angle of the airborne modeling equipment and has limitations. In addition, it is not possible to change the illumination and placement angle from multiple directions on some uneven surfaces. Therefore, a spatial scanning, modeling, and positioning device based on multimodal visual fusion is proposed. Summary of the Invention

[0005] This invention provides a spatial scanning, modeling, and positioning device based on multimodal visual fusion. Its purpose is to solve the problems of low measurement accuracy, high power consumption, large size, and the fact that some airborne modeling devices are placed by changing the structure, but the current structure changes are not suitable for some scenarios, which is not conducive to changing the illumination angle of the airborne modeling device and has limitations. In addition, it is not possible to change the illumination and placement angle from multiple directions on some uneven placement surfaces.

[0006] This invention provides a spatial scanning, modeling, and positioning device based on multimodal visual fusion, comprising an airborne modeling device, an airborne device base mounted below the airborne modeling device, a support frame connected to the airborne modeling device via the airborne device base, a steering box mounted below the support frame, a plug mounted below the support frame, the steering box connected to the support frame via the plug, a motor assembled in the steering box, the output end of the motor connected to a shaft protruding from the body of the steering box, and the support frame connected to the shaft;

[0007] A dustproof plate is fixed to the top plate of the airborne modeling equipment. An optical radar is fixed to the center of the front panel of the airborne modeling equipment. Industrial camera lenses are installed on both sides of the airborne modeling equipment, and the front of each industrial camera lens passes through a pre-drilled circular hole in the front panel. A magnetic connector is installed under the front panel of the airborne modeling equipment to connect the optical radar and the protective cover of the airborne modeling equipment. A depth camera is installed between the optical radar and the magnetic connector.

[0008] The airborne modeling equipment has network status indicator lights installed on both sides, and dense heat dissipation holes installed below the network status indicator lights. The dustproof plate on the airborne modeling equipment has knobs and guide grooves installed on the left and right sides respectively, and the knobs are installed in the guide grooves.

[0009] Furthermore, the airborne modeling device is equipped with a power board, an AI computing board is installed on the right side of the power board, a cooling fan is installed on the right side of the AI ​​computing board, an industrial camera is installed inside the airborne modeling device, a built-in key lock is installed on the lower side of the industrial camera, and mirrored heat sinks are installed on both sides of the rear panel of the airborne modeling device. A power input interface is installed on the upper left side of the heat sink, and a network output interface is installed on the upper right side of the heat sink. The power input interface and the network output interface are mirrored. The airborne modeling device is covered with a dust cover, and the guide groove is located on the dust cover.

[0010] The steering box has a change structure installed on both sides;

[0011] The alteration structure includes alteration rods mirror-mounted on both sides of the steering box, with four alteration rods mirror-mounted on each side.

[0012] Support bars are installed on both sides of the steering box, and support rods are fixedly connected to the bottom of the support bars;

[0013] Fixed platform one, mirror image mounted on both sides of the steering box, four fixed platforms one, the lower part of the changing rod and the upper part of fixed platform one are fixedly connected;

[0014] Four support strips are mirror-mounted, and two support rods are mirror-mounted. The radial span of the support rod exceeds the radial span of the variable cylinder, and the span at both ends of the support rod exceeds the span at both ends of the steering box.

[0015] Fixed platform 2 is installed on both sides of the steering box. Fixed platform 2 is fixedly connected to the steering box. The number of fixed platform 2 is compatible with that of fixed platform 1. The top of the changing rod is fixedly connected to fixed platform 2.

[0016] A sliding stage is installed around the periphery of the changing rod, and a fixing plate is connected to the outer side of the sliding stage;

[0017] The stop strip is fixed on top of the fixing plate, and a through opening is reserved inside the stop strip;

[0018] The tilt angle changing unit is installed on both sides of the steering box. The tilt angle changing unit includes a rotating rod, which is located inside the fixed plate. The rotating rod and the fixed plate are screwed together. The variable cylinder has a reserved stop opening.

[0019] A vertical adjustment unit is installed on the side of the adjustment rod. The vertical adjustment unit includes a cooperation port. A suppression platform is installed inside the sliding stage in a mirror image. The suppression platform and the cooperation port are interlocked.

[0020] Furthermore, the number of the fixed plates and the sliding stage are adapted to each other, the fixed plates and the sliding stage are fixedly connected, the side of the rotating rod is fixedly connected to the variable cylinder, and the end of the support bar farther from the support rod is fixedly connected to the variable cylinder.

[0021] Furthermore, the through-hole is located in the central area of ​​the stop bar, and the stop platform is slidably connected inside the through-hole. The stop platform and the stop opening are interlocked. Several stop openings are reserved. The stop opening is located in the central area of ​​the side of the rotating rod. Four or more stop openings are installed. The stop openings are installed in a fan shape at equal intervals.

[0022] Furthermore, the stop platform is a magnet, and the stop opening is made of metal.

[0023] Furthermore, the sliding stage and the changing rod are slidably connected. The sliding stage has a vertically reserved sliding opening inside, and the changing rod has a reserved cooperation opening on its side. The cooperation openings are installed at equal intervals, and the number of cooperation openings is four or more.

[0024] Furthermore, the changing rod and the sliding port are slidably connected, and an inner recess is reserved in the central area inside the sliding stage. The inner recess and the sliding port are connected to each other. The inner recess is mirror-mounted, and the number of inner recesses is two or more.

[0025] Furthermore, one side of the suppression stage is outside the recessed opening, the suppression stage and the recessed opening are slidably connected, and the inside of the recessed opening, further away from the suppression stage, is fixedly connected to the counteracting plate.

[0026] Furthermore, the mating edge of the cooperative port is arched, and the side of the suppression platform closer to the cooperative port is also arched, with the suppression platform and the cooperative port being interlocked.

[0027] Furthermore, a spiral beryllium copper wire is fixedly connected to the side of the suppression stage further from the changing rod. One end of the spiral beryllium copper wire is fixedly connected to the suppression stage, and the other end is fixedly connected to the extinguishing plate. There are two or more spiral beryllium copper wires.

[0028] The beneficial effects of this invention are as follows:

[0029] 1. This invention utilizes multi-sensor fusion technology, including optical radar, binocular cameras, and depth cameras, to improve the accuracy and richness of data acquisition, enhance the precision and accuracy of scene reconstruction, and ensure that the three-dimensional models of power facilities such as cables and surge arresters are more accurate, providing a reliable basis for subsequent maintenance, repair, and operation.

[0030] 2. Enhanced dustproof and protective design, using dustproof panels to ensure more reliable dustproof effect, effectively preventing dust, water vapor and other pollutants from entering the equipment, reducing maintenance frequency, extending equipment life, avoiding safety hazards caused by dust accumulation and short circuits inside the equipment, and improving operational safety.

[0031] 3. The use of a steering box changes the pitch direction, increases operational responsiveness, and the wider steering range allows the equipment to meet various operational needs and reduce operation time.

[0032] 4. The heat dissipation system is composed of heat dissipation holes, cooling fans, heat dissipation slots, etc., to ensure that the optical radar, industrial camera and AI computing board maintain a safe and stable state when running under high load, improve the high temperature resistance, ensure stable operation of the equipment in high temperature environment, and extend service life.

[0033] 5. The AI ​​computing board is used to achieve real-time fusion and processing of image and point cloud data. Data acquisition and modeling are carried out simultaneously, which significantly improves the efficiency of application.

[0034] 6. The airborne modeling equipment is connected to the airborne equipment base and the steering box. The steering box also has holes on the bottom, which can be connected to the power operation robot. Thus, the power operation robot can work with the airborne modeling equipment, or the steering box can be placed on a suitable working surface by changing its structure.

[0035] 7. Initially, pull one side of the stop plate upwards, allowing it to separate inside the stop opening. Then, rotate one side of the support bar, causing it to pull the rotating cylinder on the rotating rod. After rotating to a specific position, position the stop opening at the tail of the stop plate. Next, insert the stop plate inwards, allowing it to engage inside the stop opening. The stop plate is made of magnet, and the stop opening is made of metal, which facilitates stability during insertion, reducing the occurrence of stop plate wobbling and separation. Furthermore, changing the support bars on both sides allows for a change in the vertical orientation of the steering box. The purpose is to cause the steering box to tilt when only one side of the support bar is changed, or when the swing amplitude of the two support bars is different. This allows it to adapt to the needs of various placement surfaces, making tilting and lateral switching more convenient and changing the degree of tilt simpler. It also provides better adaptability when facing various placement surfaces, solving the problem of difficulty in changing the tilt degree of the airborne modeling equipment during use on the work surface, and the limitation of changing the position of the airborne modeling equipment to adapt to the work surface in various working conditions.

[0036] 8. In its initial state, the spiral beryllium copper wire presses against the suppressing platform, causing the suppressing platforms on both sides to shift towards the central area, facilitating the insertion of the suppressing platform into the cooperating port. Several spiral beryllium copper wires can be installed, ensuring that, without other interference, the suppressing platform can press against the changing rod. Thus, due to the mass of the steering box body, the sliding platform cannot slide. When a vertical change in position is required, the operator pulls the support bar downwards. Because the stop platform constrains the changing cylinder, the support bar can pull the sliding platform downwards via the changing cylinder, allowing the suppressing platform to separate from the cooperating port. In this way, the suppressing platform can press against the spiral beryllium copper wire. When the suppressing platform moves to the rear cooperating port, the force of the spiral beryllium copper wire continues to pull the suppressing platform to contact the changing rod, allowing the position of the sliding platform to be changed as needed, achieving the purpose of vertical position change of the sliding platform. This allows the steering box to change its vertical operating position, making the steering box easier to use.

[0037] 9. When the airborne modeling equipment is not in operation, the sliding table can be moved to the top and the support bars on both sides can be rotated to fit tightly against the sides of the steering box. This facilitates the storage of the support bars, requires less space, and makes it easier to carry the airborne modeling equipment with you during operation.

[0038] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0039] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0040] Figure 1 is a front view schematic diagram of the airborne modeling equipment and steering box according to an embodiment of the present invention;

[0041] Figure 2 is a front view structural diagram of the airborne modeling equipment according to an embodiment of the present invention;

[0042] Figure 3 is a schematic diagram of the left-side structure of the airborne modeling device according to an embodiment of the present invention.

[0043] Figure 4 is a schematic diagram of the structure of the left-side BB of the airborne modeling device according to an embodiment of the present invention.

[0044] Figure 5 is a rear view schematic diagram of the airborne modeling equipment according to an embodiment of the present invention.

[0045] Figure 6 is a schematic diagram of the right-side cross-sectional structure of the airborne modeling device according to an embodiment of the present invention.

[0046] Figure 7 is a schematic diagram of the structure of the airborne modeling device AA according to an embodiment of the present invention.

[0047] Figure 8 is a perspective view of the airborne modeling equipment according to an embodiment of the present invention;

[0048] Figure 9 This is a schematic diagram of the airborne equipment base and support strip structure according to an embodiment of the present invention;

[0049] Figure 10 This is a schematic diagram of the sliding stage structure according to an embodiment of the present invention;

[0050] Figure 11 This is a schematic diagram of the stop bar structure according to an embodiment of the present invention;

[0051] Figure 12 Embodiments of the present invention Figure 9 Schematic diagram of the structure at point X;

[0052] Figure 13 Embodiments of the present invention Figure 9 Schematic diagram of the structure at point Y;

[0053] Figure 14 This is a frontal cross-sectional structural diagram of an embodiment of the present invention;

[0054] Figure 15 Embodiments of the present invention Figure 14 A schematic diagram of the structure at point Z;

[0055] Figure 16 This is a schematic diagram of the tilted shape structure of the steering box according to an embodiment of the present invention;

[0056] Figure 17 This is a schematic diagram of the support strip tilt angle changing structure according to an embodiment of the present invention;

[0057] Figure 18 This is a schematic diagram of the support strip from another perspective according to an embodiment of the present invention;

[0058] Figure 19 This is a schematic diagram of the dustproof plate retraction mechanism according to an embodiment of the present invention;

[0059] Figure 20 This is a schematic diagram of the dustproof plate retraction mechanism according to an embodiment of the present invention;

[0060] Figure reference numerals: 111, Airborne modeling equipment; 112, Airborne equipment base; 113, Support connecting frame; 114, End cap; 115, Turning box; 116, Dustproof plate; 117, LiDAR; 118, Industrial camera lens; 119, Magnetic component; 1110, Depth camera; 1111, Network status indicator light; 1112, Knob; 1113, Guide groove; 1114, Heat dissipation hole; 1116, Power board; 1117, AI computing board; 1118, Cooling fan; 1119, Power input interface; 1120, Heat dissipation slot; 11 21. Network output interface; 1122. Industrial camera; 1123. Built-in key lock; 1125. Dust cover; 13. Changing rod; 14. Supporting strip; 15. Supporting rod; 16. Fixed platform one; 17. Fixed platform two; 18. Sliding stage; 19. Fixed plate; 120. Rotating rod; 121. Variable cylinder; 122. Stop bar; 123. Through port; 124. Stop platform; 125. Stop port; 126. Sliding port; 127. Cooperative port; 128. Recessed port; 129. Suppression platform; 130. Cancellation plate; 131. Spiral beryllium copper wire. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0062] Reference Figure 1-18This invention proposes a spatial scanning, modeling, and positioning device based on multimodal visual fusion, comprising an airborne modeling device 111, an airborne device base 112 mounted below the airborne modeling device 111, a support frame 113 connected to the airborne modeling device 111 via the airborne device base 112, a steering box 115 mounted below the support frame 113, a plug 114 mounted below the support frame 113, the steering box 115 connected to the support frame 113 via the plug 114, a motor assembled in the steering box 115, the output end of the motor connected to a shaft protruding from the body of the steering box 115, and the support frame 113 connected to the shaft.

[0063] A dustproof plate 116 is fixedly connected to the top plate of the airborne modeling equipment 111. An optical radar 117 is fixedly connected to the center of the front panel of the airborne modeling equipment 111. An industrial camera lens 118 is installed on each side of the airborne modeling equipment 111, and the industrial camera lens 118 is installed on each side of the optical radar 117. The front of the industrial camera lens 118 passes through the pre-reserved circular hole on the front panel. A magnetic suction component 119 is installed under the front panel of the airborne modeling equipment 111 to connect the optical radar 117 and the protective cover of the airborne modeling equipment 111. A depth camera 1110 is installed between the optical radar 117 and the magnetic suction component 119.

[0064] The airborne modeling equipment 111 has network status indicator lights 1111 installed on both sides. Below the network status indicator lights 1111, there are dense heat dissipation holes 1114. On the dustproof plate 116 on the airborne modeling equipment 111, there are knobs 1112 and guide grooves 1113 on the left and right sides respectively. The knobs 1112 are installed in the guide grooves 1113.

[0065] The airborne modeling device 111 houses a power board 1116, an AI computing board 1117 is mounted to the right of the power board 1116, a cooling fan 1118 is mounted to the right of the AI ​​computing board 1117, an industrial camera 1122 is mounted inside the airborne modeling device 111, a built-in key lock 1123 is mounted below the industrial camera 1122, and mirrored heat sinks 1120 are mounted on both sides of the rear panel of the airborne modeling device 111. A power input interface 1119 is mounted on the upper left side of the heat sink 1120, and a network output interface 1121 is mounted above the heat sink 1120 on the right side. The power input interface 1119 and the network output interface 1121 are mirrored. The airborne modeling device 111 is covered by a dust cover 1125, and a guide groove 1113 is located on the dust cover 1125.

[0066] The cooling fan 1118 is installed on the right side of the AI ​​computing board 1117, and the structure is changed on both sides of the steering box 115.

[0067] When the equipment is in use, it collects three-dimensional point cloud information of cables and surge arresters in the power scenario through optical radar 117, collects image information of the target object through industrial camera lens 118, and improves the binocular measurement accuracy through depth camera 1110. The point cloud information is transmitted to AI computing board 1117, and the data is processed by the vision processing algorithm built into AI computing board 1117 to finally generate a three-dimensional model of cables and surge arresters.

[0068] During the change of equipment tilt angle, the pitch of the steering box 115 is changed, and the steering box 115 is pulled by the support connecting frame 113 to change the pitch of the airborne modeling equipment 111.

[0069] When the airborne modeling equipment 111 is in a dormant state, the dust cover 1125 on the airborne modeling equipment 111 provides dust protection for the entire machine. When performing the dust protection action, the dust cover 1125 guides the equipment to move towards the lens in the guide groove 1113. When the equipment reaches the front end of the guide groove 1113, the knob 1112 is turned downwards. After being turned to the designated position, the dust cover 116 is connected to the protective cover of the airborne modeling equipment 111 via the magnetic attachment 119. The dust cover 116 is connected to the protective cover of the airborne modeling equipment 111 on both sides. The snap-fit ​​structure engages and locks, securing the dustproof plate 116. When the airborne modeling equipment 111 is in use, the dustproof plate 116 rotates upwards in the opposite direction. The dustproof cover 1125 has a groove reserved to accommodate the dustproof plate 116. The dustproof plate 116 is moved into the groove and locked by the snap-fit ​​structure inside the dustproof cover 1125, thus being stored inside the dustproof cover 1125. The dustproof cover 1125 protects the airborne modeling equipment 111, thereby improving the dustproof and anti-interference capabilities of the airborne modeling equipment 111 and ensuring the accuracy of scene surveying.

[0070] When working in hot summer weather or for extended periods of time, the airborne modeling equipment 111 has heat dissipation holes 1114 on both sides. External air enters the airborne modeling equipment 111 through the heat dissipation holes 1114 and the heat dissipation slots 1120. When the equipment is in use, the cooling fan 1118 starts to work, thereby dissipating heat and cooling the instrument and improving the airborne modeling equipment 111's working ability in hot weather.

[0071] During actual operation, the airborne modeling equipment 111 is connected to the airborne equipment base 112 and the steering box 115. The steering box 115 also has holes installed on its bottom, which can be connected to the power operation robot. Thus, the power operation robot can work together with the airborne modeling equipment 111, or the steering box 115 can be placed on a suitable working surface by changing its structure.

[0072] Figure 9The middle steering box 115 is in a simplified state. The modified structure includes four changing rods 13 mirror-mounted on both sides of the steering box 115.

[0073] Support strip 14 is installed on both sides of steering box 115, and support rod 15 is fixedly connected to the bottom of support strip 14;

[0074] Fixed platform 16 is mirrored and installed on both sides of the lower part of the steering box 115. Fixed platform 16 has 4 fixed components, which are fixed to the lower part of the changing rod 13 and the upper part of fixed platform 16.

[0075] Four support bars 14 are mirror-mounted, and two support rods 15 are mirror-mounted. The radial span of the support rods 15 exceeds the radial span of the variable cylinder 121, and the spans at both ends of the support rods 15 exceed the spans at both ends of the steering box 115.

[0076] Fixed platform 2 17 is installed on both sides of the steering box 115. Fixed platform 2 17 and steering box 115 are fixedly connected. The number of fixed platform 2 17 is compatible with fixed platform 1 16. The top of the changing rod 13 is fixedly connected to fixed platform 2 17.

[0077] The sliding stage 18 is installed on the periphery of the changing rod 13, and the outer side of the sliding stage 18 is connected to the fixing plate 19.

[0078] The stop bar 122 is fixed above the fixing piece 19, and the stop bar 122 has a through opening 123 reserved inside;

[0079] The tilt angle changing unit is installed on both sides of the steering box 115. The tilt angle changing unit includes a rotating rod 120, which is located inside the fixed plate 19. The rotating rod 120 and the fixed plate 19 are screwed together. The variable cylinder 121 has a stop port 125 reserved.

[0080] The number of fixed plates 19 and the sliding stage 18 are matched. The fixed plates 19 and the sliding stage 18 are fixedly connected. The rotating rod 120 is fixedly connected to the side of the rotating cylinder 121. The end of the support bar 14 further away from the support rod 15 is fixedly connected to the rotating cylinder 121.

[0081] The through-hole 123 is located in the central area of ​​the stop bar 122. The stop platform 124 is slidably connected inside the through-hole 123. The stop platform 124 and the stop port 125 are interlocked. Several stop ports 125 are reserved. The stop ports 125 are located in the central area of ​​the side of the rotating rod 120. Four or more stop ports 125 are installed. The stop ports 125 are installed in a fan shape at equal intervals.

[0082] During use, first pull one of the stop platforms 124 upwards so that the stop platform 124 separates inside the stop opening 125. Then rotate one of the support bars 14 so that the support bar 14 pulls the variable cylinder 121 to rotate on the rotating rod 120. After rotating to a specific position, the stop opening 125 is at the tail of the stop platform 124. Then insert the stop platform 124 inward so that the stop platform 124 is fitted into the inside of the stop opening 125.

[0083] The stop platform 124 is a magnet, and the stop opening 125 is made of metal, which helps to stabilize the stop platform 124 during insertion, reduces the occurrence of shaking and separation of the stop platform 124, and can achieve the purpose of changing the vertical position of the steering box 115 when changing the support strips 14 on both sides.

[0084] When only one side of the support bar 14 is changed, or when the swing amplitude of the two support bars 14 is different, the placement position of the steering box 115 is tilted, thereby adapting to the needs of various placement surfaces, making tilting and lateral switching more convenient, making changes in the degree of tilt simple, and providing better adaptability when facing various placement surfaces.

[0085] The vertical adjustment unit is installed on the side of the adjustment rod 13. The vertical adjustment unit includes a cooperation port 127. The suppression stage 129 is installed inside the sliding stage 18 in a mirror image. The suppression stage 129 and the cooperation port 127 are connected together.

[0086] The sliding table 18 and the changing rod 13 are slidably connected. The sliding table 18 has a vertically reserved sliding port 126 inside, and the changing rod 13 has a reserved cooperation port 127 on its side. The cooperation ports 127 are installed at equal intervals, and the number of cooperation ports 127 is 4 or more.

[0087] The changing rod 13 and the sliding port 126 are slidably connected. The inner central area of ​​the sliding table 18 has a recessed opening 128. The recessed opening 128 and the sliding port 126 are connected to each other. The recessed opening 128 is mirrored and there are two or more recessed openings 128.

[0088] One side of the suppression stage 129 is outside the recess 128. The suppression stage 129 and the recess 128 are slidably connected. The inside of the recess 128, further away from the suppression stage 129, is fixedly connected to the canceling plate 130.

[0089] The mating edge of the cooperation port 127 is arched, and the side of the suppression platform 129 closer to the cooperation port 127 is also arched. The suppression platform 129 and the cooperation port 127 are interlocked.

[0090] A spiral beryllium copper wire 131 is fixedly connected to the side of the suppression stage 129 further away from the change rod 13. One end of the spiral beryllium copper wire 131 is fixedly connected to the suppression stage 129, and the other end of the spiral beryllium copper wire 131 is fixedly connected to the canceling plate 130. There are two or more spiral beryllium copper wires 131.

[0091] In its initial state, the spiral beryllium copper wire 131 acts to press against the suppression platform 129, causing the suppression platforms 129 on both sides to shift towards the central area, which facilitates the insertion of the suppression platform 129 into the cooperation port 127. Several spiral beryllium copper wires 131 can be installed so that, without the intervention of other factors, the suppression platform 129 can press against the changing rod 13. In this way, due to the mass of the steering box 115 body, the sliding platform 18 cannot slide.

[0092] During the process of changing the vertical orientation, the operator pulls the support bar 14 downwards. Because the stop platform 124 constrains the variable cylinder 121, the support bar 14 can pull the sliding platform 18 downwards via the variable cylinder 121, allowing the suppression platform 129 to separate from the inside of the cooperation port 127. In this way, the suppression platform 129 can press the spiral beryllium copper wire 131. When the suppression platform 129 moves to the rear cooperation port 127, the force of the spiral beryllium copper wire 131 then pulls the suppression platform 129 to contact the changing bar 13, which can change the orientation of the sliding platform 18 as needed, achieving the purpose of changing the vertical orientation of the sliding platform 18. This can change the vertical operating orientation of the steering box 115, making the steering box 115 easier to use.

[0093] The specific implementation method is as follows: During use, firstly, pull one side of the stop platform 124 upwards so that the stop platform 124 separates inside the stop opening 125. Then, rotate one side of the support strip 14 so that the support strip 14 pulls the variable cylinder 121 to rotate on the rotating rod 120. After rotating to a specific position, the stop opening 125 is placed at the tail of the stop platform 124. Then, insert the stop platform 124 inward so that the stop platform 124 is fitted into the inside of the stop opening 125.

[0094] The stop platform 124 is a magnet, and the stop opening 125 is made of metal, which facilitates the stability of the stop platform 124 during insertion, reduces the occurrence of shaking and separation of the stop platform 124, and can achieve the purpose of changing the vertical position of the steering box 115 by changing the support strips 14 on both sides. When only one side of the support strip 14 is changed, or when the swing amplitude of the two support strips 14 is different, the placement position of the steering box 115 is tilted, thereby adapting to the needs of various placement surfaces, making tilting and lateral switching more convenient, making the change of tilt degree simple, and providing better adaptability when facing various placement surfaces.

[0095] In its initial state, the spiral beryllium copper wire 131 acts to press against the suppression platform 129, causing the suppression platforms 129 on both sides to shift towards the central area, which facilitates the insertion of the suppression platform 129 into the cooperation port 127. Several spiral beryllium copper wires 131 can be installed so that, without the intervention of other factors, the suppression platform 129 can press against the changing rod 13. In this way, due to the mass of the steering box 115 body, the sliding platform 18 cannot slide.

[0096] During the process of changing the vertical orientation, the operator pulls the support bar 14 downwards. Because the stop platform 124 constrains the moving cylinder 121, the support bar 14 can pull the sliding platform 18 downwards via the moving cylinder 121, allowing the suppression platform 129 to separate from the inside of the cooperation port 127.

[0097] In this way, the suppression platform 129 can compress the spiral beryllium copper wire 131. When the suppression platform 129 is displaced to the subsequent cooperation port 127, the force of the spiral beryllium copper wire 131 then pulls the suppression platform 129 to contact the changing rod 13, which can change the position of the sliding platform 18 as needed, so as to achieve the purpose of changing the vertical position of the sliding platform 18. This can change the vertical operation position of the steering box 115, making the steering box 115 easy to use.

[0098] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A spatial scanning, modeling, and positioning device based on multimodal visual fusion, comprising an airborne modeling device (111), characterized in that, The airborne modeling equipment (111) is mounted on an airborne equipment base (112). The airborne modeling equipment (111) is connected to a support frame (113) via the airborne equipment base (112). A steering box (115) is mounted on the underside of the support frame (113). A plug (114) is mounted on the underside of the support frame (113). The steering box (115) is connected to the support frame (113) via the plug (114). A motor is installed in the steering box (115). The output end of the motor is connected to a shaft that protrudes from the body of the steering box (115). The support frame (113) is connected to the shaft. A dustproof plate (116) is fixedly connected to the top plate of the airborne modeling equipment (111). An optical radar (117) is fixedly connected to the center of the front panel of the airborne modeling equipment (111). An industrial camera lens (118) is installed on each side of the airborne modeling equipment (111), and the industrial camera lens (118) is installed on each side of the optical radar (117). The front of the industrial camera lens (118) passes through a pre-reserved circular hole on the front panel. A magnetic suction piece (119) is installed under the front panel of the airborne modeling equipment (111) to connect the optical radar (117) and the protective cover of the airborne modeling equipment (111). A depth camera (1110) is installed between the optical radar (117) and the magnetic suction piece (119). The airborne modeling device (111) is equipped with network status indicator lights (1111) on both sides. Dense heat dissipation holes (1114) are installed below the network status indicator lights (1111). A knob (1112) and a guide groove (1113) are installed on the left and right sides of the dustproof plate (116) on the airborne modeling device (111). The knob (1112) is installed in the guide groove (1113). The airborne modeling device (111) houses a power board (1116), an AI computing board (1117) is mounted to the right of the power board (1116), a cooling fan (1118) is mounted to the right of the AI ​​computing board (1117), an industrial camera (1122) is mounted inside the airborne modeling device (111), a built-in key lock (1123) is mounted on the lower side of the industrial camera (1122), and a power supply fan (1118) is mounted on each side of the rear panel of the airborne modeling device (111). The heat sink (1120) is mirror-mounted. A power input interface (1119) is mounted on the upper left side of the heat sink (1120), and a network output interface (1121) is mounted on the upper right side of the heat sink (1120). The power input interface (1119) and the network output interface (1121) are mirror-mounted. The airborne modeling equipment (111) is covered with a dust cover (1125), and the guide groove (1113) is located on the dust cover (1125). The steering box (115) has a change structure installed on both sides; The alteration structure includes alteration rods (13) mirror-mounted on both sides of the steering box (115), and four alteration rods (13) mirror-mounted. Supporting strips (14) are installed on both sides of the steering box (115), and supporting rods (15) are fixedly connected to the underside of the supporting strips (14). Fixed platform one (16) is mirrored and installed on both sides of the steering box (115). Four fixed platforms one (16) are installed, and the lower part of the changing rod (13) and the upper part of the fixed platform one (16) are fixedly connected. Four support bars (14) are mirror-mounted, and two support rods (15) are mirror-mounted. The radial span of the support rods (15) exceeds the radial span of the variable cylinder (121), and the span at both ends of the support rods (15) exceeds the span at both ends of the steering box (115). Fixed platform 2 (17) is installed on both sides of the steering box (115). Fixed platform 2 (17) and steering box (115) are fixedly connected. The number of fixed platform 2 (17) is adapted to fixed platform 1 (16). The top of the changing rod (13) is fixedly connected to fixed platform 2 (17). A sliding stage (18) is installed on the periphery of the changing rod (13), and a fixing plate (19) is connected to the outer side of the sliding stage (18). The stop bar (122) is fixed on the top of the fixing piece (19), and the stop bar (122) has a through opening (123) reserved inside. The tilt angle changing unit is installed on both sides of the steering box (115). The tilt angle changing unit includes a rotating rod (120). The rotating rod (120) is located inside the fixed plate (19). The rotating rod (120) and the fixed plate (19) are screwed together. The variable cylinder (121) has a stop port (125) reserved. A vertical adjustment unit is installed on the side of the adjustment rod (13). The vertical adjustment unit includes a cooperation port (127). A suppression platform (129) is installed inside the sliding stage (18) in a mirror image. The suppression platform (129) and the cooperation port (127) are connected in an interlocking manner. The changing rod (13) and the sliding port (126) are slidably connected. The sliding platform (18) has a recessed opening (128) reserved in the central area inside. The recessed opening (128) and the sliding port (126) are connected to each other. The recessed opening (128) is mirror-mounted. The number of recessed openings (128) is two or more. One side of the suppression platform (129) is outside the recess (128), the suppression platform (129) and the recess (128) are slidably connected, and the inside of the recess (128) is fixed to the side further away from the suppression platform (129) with the counteracting piece (130). The mating edge of the cooperation port (127) is arched, and the side of the suppression platform (129) closer to the cooperation port (127) is arched. The suppression platform (129) and the cooperation port (127) are interlocked. The suppression platform (129) is fixed to a spiral beryllium copper wire (131) on the side farther from the change rod (13). One end of the spiral beryllium copper wire (131) is fixed to the suppression platform (129), and the other end of the spiral beryllium copper wire (131) is fixed to the counteracting plate (130). The number of spiral beryllium copper wires (131) is two or more.

2. The spatial scanning, modeling, and positioning device based on multimodal visual fusion according to claim 1, characterized in that: The number of the fixed plates (19) and the sliding stage (18) are adapted to each other. The fixed plates (19) and the sliding stage (18) are fixedly connected. The rotating rod (120) is fixedly connected to the side of the rotating cylinder (121). The end of the supporting strip (14) further away from the supporting rod (15) is fixedly connected to the rotating cylinder (121).

3. The spatial scanning, modeling, and positioning device based on multimodal visual fusion according to claim 2, characterized in that: The through-hole (123) is located in the central area of ​​the stop bar (122). The inside of the through-hole (123) is slidably connected to the stop platform (124). The stop platform (124) and the stop port (125) are interlocked. Several stop ports (125) are reserved. The stop ports (125) are located in the central area of ​​the side of the rotating rod (120). Four or more stop ports (125) are installed. The stop ports (125) are installed in a fan shape at equal intervals.

4. The spatial scanning, modeling, and positioning device based on multimodal visual fusion according to claim 3, characterized in that: The stop platform (124) is a magnet, and the stop opening (125) is made of metal.

5. A spatial scanning, modeling, and positioning device based on multimodal visual fusion according to claim 4, characterized in that: The sliding platform (18) and the changing rod (13) are slidably connected. The sliding platform (18) has a vertically reserved sliding port (126) inside, and the changing rod (13) has a reserved cooperation port (127) on its side. The cooperation ports (127) are installed at equal intervals, and the number of cooperation ports (127) is 4 or more.

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