Unmanned aerial vehicle visual calibration target and visual calibration suite

Abstract

The utility model provides an unmanned aerial vehicle visual calibration target and a visual calibration kit, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle visual calibration target provided by the utility model comprises a support, an adapter, an arm support and a calibration plate; the arm frame and the support are hinged and locked through an adapter so as to adjust the included angle between the arm frame and the horizontal plane. The calibration plate is slidably connected to the arm frame so as to adjust the position height of the calibration plate. The height and angle adjusting function of the calibration plate is achieved, the requirements for various heights and angles of the calibration plate during unmanned aerial vehicle visual calibration can be met, the calibration plate can be adjusted conveniently, and the stability of the calibration plate is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle vision calibration target and a vision calibration kit. Background Art

[0002] For the vision calibration of an unmanned aerial vehicle, a calibration board needs to be set at a specific height and angle, and it is necessary to ensure that the calibration board is stably installed. However, most of the existing unmanned aerial vehicle vision calibration targets are difficult to have both height and angle adjustment functions, and there is a hidden danger of the calibration board becoming loose, thus affecting the accuracy of vision calibration. Summary of the Utility Model

[0003] The purpose of the utility model is to provide an unmanned aerial vehicle vision calibration target and a vision calibration kit, so as to have both height and angle adjustment functions of the calibration board.

[0004] In a first aspect, the unmanned aerial vehicle vision calibration target provided by the utility model includes: a bracket, an adapter, an arm and a calibration board;

[0005] The arm is hinged and locked with the bracket through the adapter to adjust the included angle between the arm and the horizontal plane;

[0006] The calibration board is slidably connected to the arm to adjust the position height of the calibration board.

[0007] In combination with the first aspect, the utility model provides a first possible implementation manner of the first aspect, wherein the adapter has a first arc-shaped slideway;

[0008] A first connecting piece connecting the arm is slidably fitted in the first arc-shaped slideway.

[0009] In combination with the first possible implementation manner of the first aspect, the utility model provides a second possible implementation manner of the first aspect, wherein the adapter further has a second arc-shaped chute, and the first arc-shaped slideway and the second arc-shaped chute are coaxially arranged;

[0010] A second connecting piece connecting the arm is slidably fitted in the second arc-shaped chute.

[0011] In combination with the first aspect, the utility model provides a third possible implementation manner of the first aspect, wherein the bracket is connected with two of the adapters, and the two adapters are arranged at intervals and are respectively connected with the arm in a matching manner.

[0012] In combination with the first aspect, the utility model provides a fourth possible implementation manner of the first aspect, wherein the arm includes: a support arm and a frame body, and the support arm is connected with the frame body;

[0013] The support arm is hinged and locked to the bracket through the adapter, and the calibration plate is slidably connected to the frame.

[0014] Combined with the first aspect, the present utility model provides a fifth possible implementation manner of the first aspect, wherein the calibration plate includes: a plate body and a sliding member connecting the plate body, and the sliding member is slidably connected to the boom.

[0015] Combined with the fifth possible implementation manner of the first aspect, the present utility model provides a sixth possible implementation manner of the first aspect, wherein a locking member is connected to the sliding member, and the locking member abuts against the boom to fix the sliding member relative to the boom.

[0016] Combined with the first aspect, the present utility model provides a seventh possible implementation manner of the first aspect, wherein the bracket includes: a vertical bracket and a cantilever bracket, and the boom is connected to the cantilever bracket through the adapter;

[0017] The cantilever bracket is slidably engaged with the vertical bracket to adjust the position height of the cantilever bracket;

[0018] Alternatively, the vertical bracket has a plurality of installation stations arranged at intervals from bottom to top, and the cantilever bracket is connected to one of the installation stations.

[0019] In the second aspect, the vision calibration kit provided by the present utility model is configured with a plurality of the drone vision calibration targets described in the first aspect, and the plurality of drone vision calibration targets are arranged at intervals around the calibration area.

[0020] Combined with the second aspect, among any two of the drone vision calibration targets, the position heights of the two calibration plates are different and / or the angles of the two calibration plates relative to the horizontal plane are different.

[0021] The embodiments of the present utility model bring the following beneficial effects: The boom and the bracket are hinged and locked through the adapter to adjust the angle between the boom and the horizontal plane, and the position height of the calibration plate is adjusted by slidably connecting the calibration plate to the boom, which has both the height and angle adjustment functions of the calibration plate and can meet various height and angle requirements for the calibration plate during drone vision calibration.

[0022] To make the above objects, features and advantages of the present utility model more obvious and understandable, the following specific preferred embodiments are given below in conjunction with the accompanying drawings for detailed description. Description of the Drawings

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in related technologies, the following will briefly introduce the drawings required for use in the description of the specific embodiments or related technologies. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Schematic diagram of the UAV vision calibration target provided by the embodiment of the present invention;

[0025] Figure 2 Loss diagram of the adapter of the UAV vision calibration target provided by the embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the boom of the UAV vision calibration target provided by the embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the calibration plate of the UAV vision calibration target provided by the embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the vision calibration kit provided by the embodiment of the present invention.

[0029] Icon: 100 - Bracket; 110 - Upright frame; 120 - Cantilever frame; 200 - Adapter; 201 - First arc-shaped slideway; 202 - Second arc-shaped chute; 203 - First connecting piece; 204 - Second connecting piece; 300 - Boom; 310 - Support arm; 320 - Frame; 400 - Calibration plate; 410 - Plate body; 420 - Sliding piece; 430 - Locking piece. Specific embodiments

[0030] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the drawings. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used to describe name differences and cannot be understood as indicating or implying relative importance. For the physical quantities in the formula, if not separately marked, they should be understood as the basic quantities of the basic units of the International System of Units, or the derived quantities derived from the basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0032] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0033] As Figure 1 shown, the UAV vision calibration target provided by the embodiment of the present utility model includes: a bracket 100, an adapter 200, a boom 300, and a calibration plate 400; the boom 300 is hinged and locked to the bracket 100 through the adapter 200 to adjust the angle between the boom 300 and the horizontal plane; the calibration plate 400 is slidably connected to the boom 300 to adjust the position height of the calibration plate 400.

[0034] Among them, the adapter 200 can adopt structures such as shaft hinges or hinges to realize the swing of the boom 300 relative to the adapter 200 around an axis parallel to the horizontal plane, and use structures such as buckles or bolts to lock the boom 300, so as to keep the calibration plate 400 at a specific angle. In addition, the calibration plate 400 can slide relative to the boom 300 to realize the adjustment of the height position. Thus, the functions of adjusting the height and angle of the calibration plate 400 recorded in this embodiment of the UAV vision calibration target can meet various height and angle requirements for the calibration plate 400 during UAV vision calibration.

[0035] As Figure 1 and Figure 2 shown, in the embodiment of the present utility model, the adapter 200 has a first arc-shaped slideway 201; a first connecting member 203 connecting the boom 300 is slidably fitted in the first arc-shaped slideway 201.

[0036] Among them, the adapter 200 is made of a plate structure and is connected to the bracket 100. The first connecting member 203 can be a pin shaft or a screw, and the first connecting member 203 connects the boom 300. By sliding the first connecting member 203 along the first arc-shaped slideway 201, the boom 300 and the calibration plate 400 connected to the boom 300 can be swung along the first arc-shaped slideway 201, thereby realizing the angle adjustment of the calibration plate 400. In addition, the first connecting member 203 further includes a nut or a spring buckle, etc., for pressing and fixing the boom 300 and the adapter 200, thereby realizing the locking of the angle of the adapter 200.

[0037] In an alternative embodiment, the adapter 200 further has a second arc-shaped chute 202, and the first arc-shaped slideway 201 and the second arc-shaped chute 202 are coaxially arranged; a second connecting member 204 connecting the boom 300 is slidably engaged in the second arc-shaped chute 202.

[0038] Both the second connecting member 204 and the first connecting member 203 can be a pin shaft or a screw. The first connecting member 203 slides along the first arc-shaped slideway 201, the second connecting member 204 slides along the second arc-shaped chute 202, and both the first connecting member 203 and the second connecting member 204 connect the boom 300. By sliding the first connecting member 203 and the second connecting member 204 respectively, not only can the boom 300 be swung to a specific angle, but also the stability of the boom 300 is improved. By using a threaded fit or an elastic pressing method to lock the second connecting member 204 and the first connecting member 203 simultaneously, it can ensure that the boom 300 and the calibration plate 400 are maintained at a specific angle.

[0039] Furthermore, two adapters 200 are connected to the bracket 100. The two adapters 200 are spaced apart and are respectively connected and cooperated with the boom 300. By connecting the boom 300 jointly through the two oppositely arranged adapters 200, the structural stability can be improved.

[0040] As Figure 1 and Figure 3 shown, the boom 300 includes: a support arm 310 and a frame 320, and the support arm 310 is connected to the frame 320; the support arm 310 is hinged and locked to the bracket 100 through the adapter 200, and the calibration plate 400 is slidably connected to the frame 320.

[0041] Among them, the frame 320 can be configured as a rectangular structure and is connected with two parallel support arms 310, and the two support arms 310 are respectively connected to the bracket 100 through the adapter 200.

[0042] See Figure 1 and Figure 4 , the calibration plate 400 includes: a plate body 410 and a slider 420 connecting the plate body 410, and the slider 420 is slidably connected to the boom 300.

[0043] like Figure 1 , Figure 2 and Figure 4 As shown, in an optional embodiment, the first connecting member 203 slides along the first arc-shaped slide 201, the second connecting member 204 slides along the second arc-shaped slide 202, and the sliding member 420 slides along the arm 300. The locking after sliding can be achieved by interference fit or setting a frosted surface at the sliding fit. This can simplify the structure of the instrument and use friction resistance to achieve height and angle locking.

[0044] like Figure 1 , Figure 3 and Figure 4 As shown, a locking member 430 is connected to the sliding member 420, and the locking member 430 abuts against the arm frame 300, so that the sliding member 420 is fixed relative to the arm frame 300. Among them, the frame body 320 adopts a profile structure to form a rectangular frame, and the sliding member 420 can be slidably matched with the frame body 320. The locking member 430 is configured as a bolt or a spring pin. In the unlocked state, the locking member 430 slides along the groove on the surface of the profile, and is locked by tightening the bolt or the spring pin rebounding. In the locked state, the locking member 430 abuts against the frame body 320, so that the sliding member 420 is fixed relative to the frame body 320.

[0045] In this embodiment, the plate body 410 is clamped between the frame body 320 and the sliding member 420 by using the pressing force of the locking member 430 , without causing damage to the plate body 410 and reducing the shielding area of ​​the plate body 410 .

[0046] like Figure 1 As shown, the bracket 100 includes: a stand 110 and a cantilever frame 120, and the arm 300 is connected to the cantilever frame 120 through an adapter 200; the cantilever frame 120 is slidably matched with the stand 110 to adjust the position height of the cantilever frame 120; or, the stand 110 has a plurality of installation stations arranged at intervals from bottom to top, and the cantilever frame 120 is connected to one of the installation stations. Among them, the cantilever frame 120 can be configured as a triangular frame structure to improve the structural stability. By adjusting the position height of the cantilever frame 120 on the stand 110, the position height of the adapter 200, the arm 300 and the calibration plate 400 can be adjusted as a whole, thereby improving the height adjustment range of the calibration plate 400.

[0047] like Figure 1 and Figure 5 As shown, the visual calibration kit provided by the embodiment of the utility model is configured with a plurality of UAV visual calibration targets recorded in the above-mentioned embodiments, and the plurality of UAV visual calibration targets are arranged at intervals around the calibration area, and a variety of height and angle states can be provided during calibration.

[0048] In the embodiments of the present utility model, among any two UAV vision calibration targets, the position heights of the two calibration plates 400 are different, or the angles of the two calibration plates 400 relative to the horizontal plane are different, or the position heights and the angles relative to the horizontal plane of the two calibration plates 400 can also be made different, so as to increase the diversity of the position heights and angles of the calibration plates 400, and improve the accuracy of vision calibration by increasing the diversity of the states of calibration materials.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A UAV visual calibration target, characterized in that: include: A bracket (100), an adapter (200), an arm (300) and a calibration plate (400); The arm (300) and the bracket (100) are hinged and locked via the adapter (200) to adjust the angle between the arm (300) and a horizontal plane; The calibration plate (400) is slidably connected to the arm (300) to adjust the position height of the calibration plate (400).

2. The UAV visual calibration target according to claim 1, characterized in that: The adapter (200) has a first arc-shaped slideway (201); A first connecting piece (203) connected to the arm (300) is slidably fitted in the first arc-shaped slideway (201).

3. The UAV visual calibration target according to claim 2, characterized in that: The adapter (200) further comprises a second arc-shaped slide groove (202), and the first arc-shaped slide groove (201) and the second arc-shaped slide groove (202) are coaxially arranged; A second connecting piece (204) connected to the arm bracket (300) is slidably matched in the second arc-shaped sliding groove (202).

4. The UAV visual calibration target according to any one of claims 1 to 3, characterized in that: The bracket (100) is connected to two adapters (200), and the two adapters (200) are arranged at intervals and are respectively connected to the arm bracket (300).

5. The UAV visual calibration target according to claim 1, characterized in that: The arm support (300) comprises: a support arm (310) and a frame (320), wherein the support arm (310) is connected to the frame (320); The support arm (310) and the bracket (100) are hinged and locked via the adapter (200), and the calibration plate (400) is slidably connected to the frame (320).

6. The UAV visual calibration target according to claim 1, characterized in that: The calibration plate (400) comprises: a plate body (410) and a sliding member (420) connected to the plate body (410), and the sliding member (420) is slidably connected to the arm frame (300).

7. The UAV visual calibration target according to claim 6, characterized in that: The sliding member (420) is connected to a locking member (430), and the locking member (430) abuts against the arm frame (300) so that the sliding member (420) is fixed relative to the arm frame (300).

8. The UAV visual calibration target according to claim 1, characterized in that: The support (100) comprises: a stand (110) and a cantilever frame (120), and the arm frame (300) is connected to the cantilever frame (120) via the adapter (200); The cantilever frame (120) is slidably matched with the stand frame (110) to adjust the position height of the cantilever frame (120); Alternatively, the stand (110) has a plurality of installation stations spaced apart from bottom to top, and the cantilever frame (120) is connected to one of the installation stations.

9. A visual calibration kit, characterized in that: The visual calibration kit is configured with a plurality of UAV visual calibration targets according to any one of claims 1 to 8, and the plurality of UAV visual calibration targets are arranged at intervals around a calibration area.

10. The visual calibration kit according to claim 9, characterized in that: In any two of the drone visual calibration targets, the two calibration plates (400) are located at different heights and / or the two calibration plates (400) are located at different angles relative to the horizontal plane.

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