Multi-module unmanned aerial vehicle hanger for block protection mapping

Abstract

The application discloses a multi-module unmanned aerial vehicle (UAV) hanger for block protection surveying and mapping, and relates to the technical field of UAV mounting equipment. The hanger is installed below the UAV body and comprises a hanger main body, a deflection driving mechanism and a counterweight adjusting mechanism. The hanger main body is of a frame structure, and different installation surfaces are respectively arranged with multiple groups of wide-angle, micro-distance and other camera modules. The deflection driving mechanism drives the hanger to deflect by using an electric telescopic rod and a hinged component, so that the hanger can be switched to a wall-attached operation posture and high-precision mapping of a close-range wall surface is realized. The counterweight adjusting mechanism is provided with a sliding battery compartment, synchronous action of a linkage transmission assembly and the electric telescopic rod is achieved, the battery compartment slides reversely when the hanger deflects, and the gravity center of the whole machine is automatically maintained stable. The application integrates multiple-module camera arrangement, wall-attached parking and shooting and linkage counterweight functions, there is no air flow disturbance in the wall-attached state, the shooting precision is high, the block and building facade mapping efficiency can be significantly improved, the structure is compact, the endurance is longer and the safety is good.

Description

Technical Field

[0001] This invention relates to the field of drone mounting equipment technology, specifically a multi-module drone mount for street protection and surveying. Background Technology

[0002] In fields such as streetscape conservation mapping and building facade damage detection, especially in the preservation of historical districts and ancient buildings, mapping work typically requires obtaining information on the overall shape and detailed damage of building facades. Currently, rotary-wing drones are partially applied in streetscape mapping, enabling close-up photography and inspection of building walls using drones equipped with cameras and sensors. Traditional drone mounts usually fix the camera module directly below or in front of the drone, meeting the needs for vertical downward or forward shooting during normal flight. However, existing technologies still have the following prominent problems: First, conventional mounting structures are fixed, making it impossible to keep the camera module close to the wall for operation. Even if the drone hovers close to the wall, there is still a certain distance between the camera module and the wall. Being close to the wall makes it susceptible to airflow, which limits the shooting accuracy. This is especially true for macro detection needs such as wall cracks and material damage, where it is difficult to obtain images that meet the accuracy requirements.

[0003] Secondly, although some existing solutions achieve the adjustment of the mounting angle through gimbals or tilting mechanisms, the center of gravity of the entire drone will shift as the mounting deflects during the adjustment process, affecting the flight stability of the drone. Especially when operating close to a wall, the shift in the center of gravity may cause the drone to lose control of its attitude or even collide with the wall, posing a safety hazard.

[0004] Furthermore, existing mounting brackets typically integrate only a single type of camera module, making it impossible to simultaneously utilize multiple sensor modules such as macro, infrared, and acoustic sensors for collaborative detection when mounted on a wall. This limited functionality makes it difficult to meet the multi-source data acquisition requirements of street protection surveying.

[0005] Therefore, there is an urgent need for a drone mount that can operate stably in a wall-hugging posture, maintain the stability of the overall center of gravity, and support the collaborative operation of multiple modules. In response to the above problems, in-depth research was conducted, which led to this case. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-module UAV mount for street protection surveying, in order to solve the problems mentioned in the background art, such as the inability of the mount to operate close to the wall or the insufficient stability of the whole machine when operating close to the wall.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a multi-module UAV mounting bracket for street protection surveying, installed under the UAV body, comprising: The main body of the bracket is a frame structure, with at least one first camera module and at least one second camera module arranged on different mounting surfaces; A deflection drive mechanism is connected between the main body of the pylon and the body of the UAV. It is used to drive the main body of the pylon to deflect relative to the body. It includes at least one electric telescopic rod and a hinge assembly. The two ends of the electric telescopic rod are respectively hinged to one end of the body and one end of the pylon. The counterweight adjustment mechanism includes a movable battery compartment and a linkage transmission component. The movable battery compartment is slidably mounted on the machine body, and the linkage transmission component is connected between the electric telescopic rod and the movable battery compartment. The main body of the bracket has a wall-mounted working posture: the deflection drive mechanism drives it to deflect to a mounting surface parallel to the wall surface to be measured, so that the second camera module is close to the wall surface to complete close-range mapping; while the electric telescopic rod drives the bracket to deflect, it drives the movable battery compartment to slide in the opposite direction through the linkage transmission component to maintain the stability of the whole machine's center of gravity.

[0008] Preferably, the linkage transmission component is a gear and rack transmission pair, which includes a drive gear fixed to the telescopic end of the electric telescopic rod and a driven rack fixed to the movable battery compartment. The drive gear deflects as the electric telescopic rod extends and retracts, driving the driven rack to cause the movable battery compartment to slide in the opposite direction. This structure has high transmission efficiency and rapid response, enabling real-time synchronous linkage between the deflection of the bracket and the sliding of the counterweight.

[0009] Preferably, the movable battery compartment is slidably mounted on a guide rail, which is fixed to the bottom of the drone body and extends along the front-rear direction of the drone body. When the electric telescopic rod extends and drives the main body of the mounting bracket to deflect forward, the movable battery compartment slides backward along the guide rail. By arranging the guide rail along the front-rear direction of the drone body, the direction of the counterweight sliding is exactly opposite to the direction of the center of gravity shift caused by the deflection of the mounting bracket, thus maximizing the counterbalancing of the center of gravity change caused by the deflection.

[0010] Preferably, the rear end face of the movable battery compartment has a ventilation opening, and the rear section of the guide rail has an auxiliary heat dissipation area corresponding to the ventilation opening. When the movable battery compartment slides to the rear position, the ventilation opening aligns with the auxiliary heat dissipation area, utilizing the airflow to provide auxiliary heat dissipation for the battery compartment's interior. This design organically combines counterweight sliding with heat dissipation. When multiple mapping modules are operating at high power against a wall, the battery compartment automatically opens the heat dissipation channel as it moves backward, improving the overall system efficiency.

[0011] Preferably, the main body of the mounting bracket is a polygonal frame structure with at least one side mounting surface and multiple bottom mounting surfaces. The first camera module is fixed to the side mounting surface for frontal shooting during normal flight. At least one second camera module is fixed to one of the bottom mounting surfaces. In the wall-hugging operation posture, the bottom mounting surface with the second camera module is deflected to be parallel to the wall. By distinguishing the functional positioning of the side mounting surface and the bottom mounting surface, normal flight mapping and wall-hugging mapping can be switched in an orderly manner.

[0012] Preferably, the deflection drive mechanism drives the main body of the mounting bracket to deflect within a range of 0° to 90°. When at the 0° position, the side mounting surface faces forward and the bottom mounting surface faces downward. When deflected to the 90° position, the bottom mounting surface where the second camera module is fixed faces forward and is perpendicular to the horizontal plane, which is the wall-hugging posture. During the deflection process, the orientations of the first and second camera modules change synchronously, achieving automatic switching. This angle range can cover all working conditions from normal flight to complete wall-hugging.

[0013] Preferably, the first camera module is a wide-angle lens module used to acquire an overall image of the building facade; the second camera module is a macro lens module used to photograph wall cracks and damage details close to the wall; the mounting bracket body also has a reserved mounting position for auxiliary modules such as a ranging module or a warning module on the side facing away from the wall. Through the division of labor and cooperation between the wide-angle lens and the macro lens, both macroscopic facade information and microscopic damage details can be acquired simultaneously.

[0014] Preferably, the UAV body adopts a three-rotor or two-rotor configuration, and the main body of the pylon is suspended below the adjacent rotors of the UAV body in a wall-hugging operating posture, so that the airflow of the rotor on the wall-hugging side is not disturbed by the deflected pylon main body. The asymmetrical rotor configuration provides more space for the pylon deflection, reduces aerodynamic interference, and is conducive to attitude stability during wall-hugging operations.

[0015] Preferably, the camera and sensing modules installed on the mounting bracket include at least two or more combinations of wide-angle camera modules, macro camera modules, infrared thermal imaging modules, laser ranging modules, and ultrasonic detection modules. Each module is fixed to a different mounting surface, and the data interfaces of each module are uniformly connected to the flight control system of the UAV or an independent image processing unit via an integrated wiring harness. The collaborative operation of multiple modules enables the simultaneous acquisition of visible light images, thermal infrared images, distance information, and acoustic data of internal defects on building walls, significantly improving the efficiency of street mapping.

[0016] Preferably, a buffer pad is provided on the side of the bracket body that contacts the wall. The end face of the buffer pad protrudes beyond the outermost end face of the camera module fixed on the mounting surface of that side, ensuring that the buffer pad contacts the wall before the camera module when the bracket is attached to the wall. The buffer pad can be made of rubber or foam material to provide shock absorption and protection, preventing the camera module from being damaged by a hard impact when it is attached to the wall.

[0017] Compared with existing technologies, the multi-module UAV mount for street protection surveying has the following advantages: 1. The main body of the pylon adopts a polygonal frame structure, distinguishing between the side mounting surface and the bottom mounting surface, realizing the switching between normal flight mapping and wall-mounted mapping modes, and supporting the flexible arrangement of various sensor modules. 2. The wall-mounted operation posture of the main body of the bracket is switched by the deflection drive mechanism, so that the second camera module can closely follow the wall surface to carry out close-range mapping and shooting, which significantly improves the accuracy of wall damage detection; 3. By setting up a counterweight adjustment mechanism, the movable battery compartment is driven to slide in the opposite direction while the pylon deflects, which effectively maintains the stability of the aircraft's center of gravity and solves the problem of the center of gravity shift caused by the pylon deflection affecting flight safety. 4. The mechanical linkage and synchronous action of deflection and counterweight are achieved by using a gear and rack transmission pair. The whole machine can maintain the stability of the center of gravity in real time without the need for additional intervention of the flight control system or additional drive structure adjustment. The structure is compact and highly reliable. 5. The heat dissipation duct is opened simultaneously during the counterweight sliding process. The heat dissipation channel is automatically opened and closed by the movement of the battery compartment. It has a high degree of functional integration, which facilitates the operation of multiple modules at high power and extends the battery life. 6. The wide-angle lens and macro lens work together to meet the multi-scale detection needs from the overall facade to micro-cracks. It can also be expanded with modules such as infrared thermal imaging and acoustic wave detection, which are suitable for multi-source data acquisition scenarios in street protection surveying. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the UAV mounting bracket of the present invention in normal flight attitude; Figure 2 This is a schematic diagram of the overall structure of the UAV mount of the present invention from another perspective in normal flight attitude; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point a; Figure 4 This is a schematic diagram of the main body of the mounting bracket of the present invention in a normal flight attitude; Figure 5 This is a schematic diagram of the overall structure of the UAV mount of the present invention in a wall-hugging working posture; Figure 6 For the present invention Figure 5 Enlarged structural diagram at point b; Figure 7 This is a schematic diagram of the overall structure of the drone mounting bracket of the present invention in a wall-hugging working posture from another perspective; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point c; Figure 9 For the present invention Figure 7 Enlarged structural diagram at point d; Figure 10 This is a schematic diagram of the structure of the main body of the bracket of the present invention in the wall-mounted working posture.

[0019] In the diagram: 1. UAV body; 2. Mounting bracket; 21. Side mounting surface; 22. Bottom mounting surface; 23. Buffer pad; 31. First camera module; 32. Second camera module; 4. Deflection drive mechanism; 41. Electric telescopic rod; 42. Hinge assembly; 5. Counterweight adjustment mechanism; 51. Movable battery compartment; 511. Ventilation vent; 52. Linkage transmission assembly; 521. Drive gear; 522. Driven rack; 53. Guide rail. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0021] Please see Figures 1 to 10 This embodiment provides a multi-module UAV mount for street protection surveying, which is installed below the UAV body 1 and mainly includes three parts: the mount body 2, the deflection drive mechanism 4, and the counterweight adjustment mechanism 5.

[0022] I. Structure of the main body 2 of the hanging bracket The main body 2 of the mounting bracket is a polygonal frame structure; in this embodiment, a quadrilateral frame is used as an example. This quadrilateral frame is constructed from multiple rods joined together or formed as a single piece, and has one side mounting surface 21 and multiple bottom mounting surfaces 22. In normal flight attitude (i.e., when the mounting bracket is not deflected), the side mounting surface 21 faces directly forward of the UAV body 1, and the bottom mounting surfaces 22 face directly downward.

[0023] The first camera module 31 is fixed to the side mounting surface 21 and is used to take frontal photos of buildings in normal flight. In this embodiment, the first camera module 31 is a wide-angle lens module, which can acquire an overall image of the building facade, facilitating the surveying and recording of the overall shape of the street.

[0024] The second camera module 32 is fixed to one of the bottom mounting surfaces 22. In this embodiment, the second camera module 32 is a macro lens module, specifically designed for capturing microscopic details such as wall cracks and material damage while close to the wall. In normal flight attitude, the bottom mounting surface 22 faces downwards, and the second camera module 32 does not directly participate in wall imaging; only when the main body 2 of the bracket is tilted to the wall-close working attitude, the bottom mounting surface 22 flips to be approximately parallel to the wall, and the second camera module 32 enters the working position.

[0025] It should be noted that, in addition to the first camera module 31 and the second camera module 32, one or more combinations of auxiliary sensing modules such as infrared thermal imaging modules, laser ranging modules, and ultrasonic detection modules can be flexibly added to other spare mounting surfaces according to actual surveying needs. The data interfaces of each module are uniformly connected to the flight control system of the UAV body 1 or an independent image processing unit through an integrated wiring harness to realize the synchronous acquisition and transmission of multi-source data.

[0026] A buffer pad 23 is provided on the side of the bracket body 2 that contacts the wall (i.e., the side facing the wall when mounted). The end face of the buffer pad 23 protrudes beyond the outermost end face of the second camera module 32 fixed on the mounting surface of that side. Thus, when the bracket body 2 is against the wall, the buffer pad 23 will contact the wall before the second camera module 32, providing cushioning and shock absorption to prevent damage to the camera module from hard impacts. The buffer pad 23 can be made of elastic materials such as rubber, silicone, or polyurethane foam; in this embodiment, rubber is used.

[0027] II. Structure of Deflection Drive Mechanism 4 The deflection drive mechanism 4 is connected between the main body 2 of the pylon and the UAV body 1. It is used to drive the main body 2 of the pylon to deflect relative to the UAV body 1 in the pitch direction, so as to switch between normal flight attitude and wall-hugging operation attitude.

[0028] The deflection drive mechanism 4 includes at least one electrically operated telescopic rod 41 and a hinge assembly 42. In this embodiment, an electrically operated telescopic rod 41 is provided and arranged between the hanger body 2 and the drone body 1. One end of the electrically operated telescopic rod 41 is hinged to a corresponding hinge seat on the lower part of the drone body 1, and the other end is hinged to one end of the hanger body 2. The hinge assembly 42 is disposed between the other end of the hanger body 2 and the drone body 1, serving as the hinge axis for the deflection of the hanger body 2.

[0029] When the electric telescopic pole 41 is in the retracted state, the main body 2 of the mounting bracket is at the 0° position (i.e., normal flight posture): the side mounting surface 21 faces directly forward, and the bottom mounting surface 22 faces directly downward. The first camera module 31 can be used to shoot the building facade from the front. When the electric telescopic pole 41 extends, its telescopic end pushes the main body 2 of the mounting bracket to deflect forward and downward around the hinge axis of the hinge assembly 42; when it extends to its maximum stroke, the main body 2 of the mounting bracket deflects to the 90° position (i.e., wall-hugging posture): the bottom mounting surface 22, which was originally facing downward, flips to face directly forward and is perpendicular to the horizontal plane, and the second camera module 32 fixed on it faces the wall. The entire deflection process is continuously adjustable within the range of 0° to 90°, and the operator can precisely control the deflection angle according to the actual wall distance and shooting requirements. During the deflection process, as the orientation of the first camera module 31 deflects, the orientation of the second camera module 32 gradually shifts from directly downward to directly forward. The orientations of both modules change synchronously, enabling automatic switching between the camera module for aerial photography and the camera module for wall-mounted photography without human intervention.

[0030] III. Structure of the Counterweight Adjustment Mechanism 5 When the main body 2 of the mounting bracket deflects forward from its normal flight attitude to a wall-hugging operating attitude, the overall center of gravity of the main body 2 of the mounting bracket and the various camera modules mounted on it will shift forward. If no compensation is made, the forward shift of the overall center of gravity will cause the drone to generate a forward tilting moment, affecting flight stability. Especially in situations like wall-hugging operations that require precise attitude control, the shift in the center of gravity may cause safety hazards.

[0031] To this end, this embodiment is equipped with a counterweight adjustment mechanism 5, which uses the battery carried by the drone itself as a counterweight. When the hanger deflects, the battery is driven to move in the opposite direction to counteract the change in center of gravity caused by the hanger deflection and maintain the stability of the overall center of gravity.

[0032] The counterweight adjustment mechanism 5 includes a movable battery compartment 51 and a linkage transmission assembly 52. ​​The movable battery compartment 51 is used to house the drone's power battery and is slidably mounted on the bottom of the drone body 1. Specifically, a guide rail 53 is fixed to the bottom of the drone body 1, and the guide rail 53 extends along the front-rear direction of the body. The movable battery compartment 51 is slidably engaged with the guide rail 53 by a slider or roller, so that the movable battery compartment 51 can slide back and forth along the guide rail 53 in the front-rear direction of the body.

[0033] The linkage transmission assembly 52 connects the telescopic end of the electric telescopic rod 41 and the movable battery compartment 51, and is used to synchronously transmit the telescopic movement of the electric telescopic rod 41 to the movable battery compartment 51, so that the two generate reverse linkage. In this embodiment, the linkage transmission assembly 52 adopts a gear and rack transmission pair. Specifically, a drive gear 521 is fixedly installed at the telescopic end of the electric telescopic rod 41, and a driven rack 522 is fixedly installed on the side of the movable battery compartment 51. The drive gear 521 and the driven rack 522 mesh with each other. The driven rack 522 extends along the guide rail 53, and its engagement length is sufficient to cover the sliding adjustment stroke of the movable battery compartment 51.

[0034] When the electric telescopic rod 41 extends and drives the main body 2 of the hanger to deflect forward, the drive gear 521 fixed to the telescopic end moves accordingly. The rotation of the drive gear 521 and its meshing driven rack 522 produce a counter-movement, which in turn drives the movable battery compartment 51 to slide backward along the guide rail 53. The weight of the rearward movement of the battery compartment just compensates for the forward shift of the center of gravity caused by the forward deflection of the hanger, thus achieving dynamic balance of the center of gravity. Conversely, when the electric telescopic rod 41 retracts and returns the main body 2 of the hanger to its original position, the drive gear 521 moves backward, driving the driven rack 522 to move the movable battery compartment 51 to reset forward. The entire linkage process is completely mechanically driven by the telescopic movement of the electric telescopic rod 41, without the need for additional motors or control systems, resulting in a compact structure, synchronous response, and high reliability.

[0035] IV. Heat Dissipation Structure Furthermore, this embodiment cleverly utilizes the rearward movement of the movable battery compartment 51 to integrate auxiliary heat dissipation functionality. Specifically, a vent 511 is provided on the rear end face of the movable battery compartment 51, and an auxiliary heat dissipation area corresponding to the position of the vent 511 is provided in the rear section of the guide rail 53. The auxiliary heat dissipation area helps to further utilize the airflow generated during flight.

[0036] In normal flight attitude, the movable battery compartment 51 is positioned at the front of the guide rail 53, with the vent 511 offset from the auxiliary heat dissipation area, and the heat dissipation channel does not need to be opened. When the main body 2 of the pylon is tilted to a wall-hugging working attitude for multi-module high-power mapping, the movable battery compartment 51 simultaneously slides to the rear of the guide rail 53, and the vent 511 is aligned with the auxiliary heat dissipation area. At this time, the airflow from the flight or the internal cooling airflow of the fuselage can enter the battery compartment through the auxiliary heat dissipation area and the vent 511 to provide auxiliary cooling for the battery.

[0037] This design is particularly advantageous for wall-mounted surveying operations: during wall-mounted operations, the second camera module 32 (macro lens) and other auxiliary sensing modules (such as infrared thermal imaging, ultrasonic detection, etc.) are usually operating at high power, resulting in a large battery discharge current and increased heat generation. The rearward movement of the battery compartment automatically opens the heat dissipation channel, effectively controlling the battery temperature, extending battery life, and ensuring the continuous execution of long-term surveying tasks.

[0038] V. Unmanned Aerial Vehicle (UAV) Airframe Layout In this embodiment, the UAV body 1 adopts a tri-rotor layout. Compared with the traditional quadcopter layout, the tri-rotor layout leaves a larger space margin between adjacent rotors on both sides below the body. The main body 2 of the mounting bracket is suspended below the adjacent rotors of the UAV body 1 via a deflection drive mechanism 4. When the main body 2 of the mounting bracket deflects to a wall-hugging operating posture, since the main body 2 of the mounting bracket is located within the projection area of ​​the gap between adjacent rotors, the downwash airflow of the rotor on the wall-hugging side will not be significantly disturbed by the deflected main body 2 of the mounting bracket, which is conducive to maintaining the attitude stability and the relative stability of the airflow environment on the wall during wall-hugging operations.

[0039] It should be noted that the rotor layout is not limited to a three-rotor layout. A two-rotor layout or other asymmetrical rotor layouts can also be adopted according to the actual needs of the aircraft model, as long as sufficient deflection space is provided for the main body 2 of the mounting frame on the side against the wall and the interference of rotor airflow is reduced.

[0040] VI. Work Process The working process of the present invention will be fully described below with reference to the accompanying drawings.

[0041] (I) Normal Flight Surveying Phase like Figures 1-4 As shown, during normal flight mapping, the electric telescopic boom 41 is in the retracted state, and the main body 2 of the mounting bracket is at 0°. At this time, the side mounting surface 21 faces directly forward of the UAV, and the first camera module 31 (wide-angle lens module) is used to take a full frontal shot of the building facade in front, obtaining information on the overall shape and spatial relationship of the street buildings. The bottom mounting surface 22 faces directly downward, and the second camera module 32 (macro lens module) does not participate in the wall shooting work at this time. The movable battery compartment 51 is located at the front of the guide rail 53, and the center of gravity of the entire UAV is at the designed balance position, allowing the UAV to fly normally.

[0042] The operator can control the drone to fly along the street by remote control or preset route, and use the first camera module 31 to systematically shoot and record the facades of the building complex to obtain complete street image data.

[0043] (II) Wall-hugging operation posture switching stage like Figures 5-10As shown, when a close-range detailed inspection of a specific building wall is required (such as damage assessment of wall cracks, surface weathering, coating peeling, etc.), the operator controls the drone to fly to the vicinity of the target wall and keep it hovering. Then, the operator issues a command through the flight control system to make the electric telescopic pole 41 start to extend.

[0044] The electric telescopic rod 41 extends while two simultaneous actions occur: First, the front end of the telescopic rod pushes the main body 2 of the bracket to deflect forward and downward around the hinge axis of the hinge assembly 42, and the main body 2 of the bracket gradually transitions from the 0° position to the 90° position. Second, the drive gear 521 fixed to the telescopic end moves accordingly, driving the driven rack 522 to move the movable battery compartment 51 to slide backward along the guide rail 53.

[0045] As the deflection angle increases, the bottom mounting surface 22 gradually flips from facing downwards to facing forwards, and the second camera module 32 gradually faces the wall. When the electric telescopic rod 41 extends to its maximum stroke, the main body 2 of the bracket reaches a 90° position and enters the wall-mounted working posture. At this time, the bottom mounting surface 22, on which the second camera module 32 is fixed, faces directly forward and is perpendicular to the horizontal plane, and the second camera module 32 faces the wall to be tested. The movable battery compartment 51 simultaneously slides to the rear position of the guide rail 53, completing the counterweight center of gravity compensation. At the same time, the vent 511 aligns with the auxiliary heat dissipation area, and the heat dissipation channel automatically opens.

[0046] (III) Wall-mounted surveying stage In the wall-hugging position, the operator guides the drone to slowly approach the wall until the buffer pad 23 on the front side of the main body 2 of the mounting bracket lightly touches the wall. At this time, the second camera module 32 (macro lens module) maintains a very small fixed distance from the wall, enabling high-precision macro photography of the wall in a stable, close-fitting state, clearly capturing the width, direction, and depth of wall cracks, as well as subtle damage features such as material weathering and peeling.

[0047] Meanwhile, on the auxiliary module installation position reserved on the side of the main body 2 facing away from the wall, an infrared thermal imaging module can be installed as needed to detect areas of abnormal wall temperature (which may correspond to internal hollow areas or water seepage areas), or a laser ranging module can be installed to accurately measure the distance between the bracket and the wall for auxiliary positioning. An alarm module can also be installed to send work alert signals to the surrounding area. All modules work together to acquire multi-source data from the wall, including visible light macro images, thermal infrared images, and distance information, all transmitted back to the flight control system or image processing unit via an integrated wiring harness. This provides complete data support for subsequent damage assessment and repair plan development.

[0048] During wall-mounted operation, the counterweight adjustment mechanism 5 keeps the center of gravity of the entire drone in a stable position, so the drone does not need to consume additional attitude adjustment power to counteract the shift in the center of gravity; the heat dissipation channel automatically opens to provide effective cooling for the battery under high power operation; the buffer pad 23 gently transmits the contact force between the drone and the wall, avoiding damage to the equipment and the wall caused by hard impact.

[0049] (iv) Recovery phase After the wall-mounted mapping task is completed, the operator slowly maneuvers the drone away from the wall and then issues a return command through the flight control system, causing the electric telescopic boom 41 to retract. As the electric telescopic boom 41 retracts, the drive gear 521 moves backward, causing the driven rack 522 and the movable battery compartment 51 to return to their original position forward. Simultaneously, the main body 2 of the mounting bracket rotates around the hinge assembly 42 to the 0° position, restoring its normal flight attitude. The vent 511 is offset from the auxiliary heat dissipation area, and the heat dissipation channel is closed. The drone enters normal flight mode and can continue to the next inspection point to perform its mission or return to base.

[0050] VII. Other Implementation Methods It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention.

[0051] In specific implementations, the main body 2 of the mounting bracket is not limited to a quadrilateral frame; it can also adopt other polygonal frame structures such as hexagons and octagons to provide more mounting surfaces and meet the needs of simultaneous installation of multiple modules. The number of electric telescopic rods 41 can be one, two, or more, flexibly selected according to the size of the mounting bracket and load requirements. In addition to gear and rack transmission pairs, the linkage transmission component 52 can also adopt other mechanical transmission methods that can achieve reverse linkage, such as synchronous belt pulley transmission and linkage transmission, as long as it can achieve synchronous linkage between the telescopic movement of the electric telescopic rod 41 and the reverse sliding of the movable battery compartment 51, all of which fall within the protection scope of this invention.

[0052] The camera module is not limited to wide-angle and macro lenses; telephoto lenses, fisheye lenses, multispectral lenses, etc., can be flexibly selected according to specific surveying needs. The selection and combination of auxiliary sensing modules can also be freely configured according to the inspection task.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and not restrictive in all respects. The scope of the invention is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0054] Contents not described in detail in this specification are prior art known to those skilled in the art. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-module UAV mounting bracket for street protection surveying, installed below the UAV body (1), characterized in that, include: The main body of the bracket (2) is a frame structure, with at least one first camera module (31) and at least one second camera module (32) arranged on different mounting surfaces. The deflection drive mechanism (4) is connected between the main body of the hanger (2) and the body of the UAV (1) and is used to drive the main body of the hanger (2) to deflect relative to the body. It includes at least one electric telescopic rod (41) and a hinge assembly (42). The two ends of the electric telescopic rod (41) are respectively hinged to one end of the body and one end of the hanger (2). The counterweight adjustment mechanism (5) includes a movable battery compartment (51) and a linkage transmission assembly (52). The movable battery compartment (51) is slidably mounted on the machine body, and the linkage transmission assembly (52) is connected between the electric telescopic rod (41) and the movable battery compartment (51). The main body (2) of the bracket has a wall-mounted working posture: the deflection drive mechanism (4) drives it to deflect to a mounting surface parallel to the wall surface to be measured, so that the second camera module (32) is close to the wall surface to complete close-range mapping; while the electric telescopic rod (41) drives the bracket to deflect, it drives the movable battery compartment (51) to slide in the opposite direction through the linkage transmission component (52) to maintain the stability of the center of gravity of the whole machine.

2. The multi-module UAV mount for street protection surveying according to claim 1, characterized in that: The linkage transmission assembly (52) is a gear and rack transmission pair, which includes a drive gear (521) fixed to the telescopic end of the electric telescopic rod (41) and a driven rack (522) fixed to the movable battery compartment (51). The drive gear (521) drives the driven rack (522) to slide in the opposite direction as the electric telescopic rod (41) telescopically extends and deflects.

3. A multi-module UAV mount for street protection surveying according to claim 2, characterized in that: The movable battery compartment (51) is slidably mounted on a guide rail (53), which is fixed to the bottom of the UAV body (1) and extends along the front-rear direction of the UAV body (1). When the electric telescopic rod (41) extends and drives the hanger body (2) to deflect forward, the movable battery compartment (51) slides backward along the guide rail (53).

4. A multi-module UAV mount for street protection surveying according to claim 3, characterized in that: The rear end face of the movable battery compartment (51) is provided with a vent (511), and the rear section of the guide rail (53) is provided with an auxiliary heat dissipation area corresponding to the vent (511). When the movable battery compartment (51) slides to the rear position, the vent (511) is aligned with the auxiliary heat dissipation area, and the airflow of the flight is used to assist in heat dissipation inside the battery compartment.

5. A multi-module UAV mount for street protection surveying according to claim 1, characterized in that: The main body (2) of the bracket is a polygonal frame structure, which has at least one side mounting surface (21) and multiple bottom mounting surfaces (22). The first camera module (31) is fixed on the side mounting surface (21) for frontal shooting in normal flight state; at least one second camera module (32) is fixed on one of the bottom mounting surfaces (22); in the wall-hugging operation posture, the bottom mounting surface (22) on which the second camera module (32) is fixed is deflected to be parallel to the wall.

6. A multi-module UAV mount for street protection surveying according to claim 5, characterized in that: The deflection drive mechanism (4) drives the main body (2) of the bracket to deflect within the range of 0° to 90°. When it is at the 0° position, the side mounting surface (21) faces forward and the bottom mounting surface (22) faces downward. When it deflects to the 90° position, the bottom mounting surface (22) on which the second camera module (32) is fixed faces forward and is perpendicular to the horizontal plane, which is the wall-mounted operation posture. During the deflection process, the orientation of the first camera module (31) and the second camera module (32) changes synchronously to achieve automatic switching.

7. A multi-module UAV mount for street protection surveying according to claim 6, characterized in that: The first camera module (31) is a wide-angle lens module used to acquire an overall image of the building facade; the second camera module (32) is a macro lens module used to photograph wall cracks and damage details close to the wall; the main body (2) of the bracket also has a reserved installation position for auxiliary modules such as a distance measuring module or a warning module on the side away from the wall.

8. A multi-module UAV mount for street protection surveying according to claim 1, characterized in that: The UAV body (1) adopts a three-rotor or two-rotor layout. The main body (2) of the mounting bracket is suspended below the adjacent rotors of the UAV body (1) in a wall-hugging working posture, so that the airflow of the rotor on the wall-hugging side is not disturbed by the deflected main body (2).

9. A multi-module UAV mount for street protection surveying according to claim 1, characterized in that: The camera and sensing modules installed on the main body (2) include at least two or more combinations of wide-angle camera module, macro camera module, infrared thermal imaging module, laser ranging module and ultrasonic detection module. Each module is fixed on a different mounting surface, and the data interface of each module is uniformly connected to the flight control system or independent image processing unit of the UAV body (1) through an integrated wiring harness.

10. A multi-module UAV mount for street protection surveying according to claim 1, characterized in that: A buffer pad (23) is provided on the side of the bracket body (2) that contacts the wall. The end face of the buffer pad (23) protrudes beyond the outermost end face of the camera module fixed on the mounting surface on that side, ensuring that the buffer pad (23) contacts the wall before the camera module when it is attached to the wall.

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