Device for extracting three-dimensional topographic information of stereoscopic image pair of multispectral image

Abstract

The utility model relates to the technical field of multispectral image acquisition, and particularly discloses a multispectral image stereo image pair three-dimensional topographic information extraction device. The device comprises a supporting frame and a multispectral camera, a clamping mechanism is arranged at the top end of the supporting frame, and the clamping mechanism is composed of four sets of rectangular through holes which are symmetrically distributed, guide rods penetrating through the through holes, a clamping frame arranged on the guide rods in a sleeving mode, a first two-way screw and a second two-way screw, and the first two-way screw and the second two-way screw are perpendicular to each other. The clamping frame comprises a square plate and an arc-shaped clamping block with a curved rubber plate, the square plate is meshed with the two-way screw through threads, and the radian of the curved surface of the arc-shaped clamping block is matched with the shell of the multispectral camera. Synchronous displacement of the clamping frame along the guide rod is achieved through rotation of the two-way screw rod, the four-way linkage mechanism can adjust the clamping distance in a self-adaptive mode, and the elastic contact face of the rubber plate provides stable clamping force and meanwhile avoids damage to the surface of equipment. The structure can effectively prevent the camera from falling during high-altitude operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned surveying machine technical field especially relates to a kind of multispectral image stereo pair three-dimensional terrain information extraction device. BACKGROUND

[0002] Multispectral image stereo pair three-dimensional terrain information extraction device is a kind of high-precision remote sensing equipment integrated multispectral imaging technology and unmanned aerial vehicle platform, mainly used to obtain multispectral image data of ground surface and extract three-dimensional terrain information.

[0003] The existing equipment often fixes multispectral camera and unmanned aerial vehicle platform, this connection mode guarantees the stability of camera, but there is certain limitation in practical application.For example, when three-dimensional terrain information extraction is carried out on complex terrain, different models or functions of multispectral camera often need to be replaced according to task demand, and fixed connection mode usually needs to be disassembled screw or connecting piece by means of tool, so that camera replacement process is tedious and time-consuming, and work efficiency is reduced. UTILITY MODEL CONTENTS

[0004] In order to solve the above technical problems, the utility model provides a kind of multispectral image stereo pair three-dimensional terrain information extraction device.

[0005] The utility model provides a kind of multispectral image stereo pair three-dimensional terrain information extraction device, including support frame and multispectral camera;

[0006] The support frame top is equipped with clamping mechanism, and the clamping mechanism includes:

[0007] Four rectangular through holes radially symmetrically opened in support frame top, a guide rod is fixedly connected in each rectangular through hole;

[0008] Clamping frame is slidably sleeved on the guide rod, and the clamping frame is composed of square plate and arc clamping block;

[0009] First bidirectional screw rod and second bidirectional screw rod are vertically arranged, and the extension direction is same with the rectangular through hole, and the square plate is screwed with the first bidirectional screw rod or the second bidirectional screw rod through the rectangular through hole;

[0010] Rubber plate is arranged in the inner arc surface of arc clamping block, and the curvature of the surface of rubber plate matches the arc of multispectral camera shell.

[0011] Optionally, the square plate and the arc clamping block are detachably connected.

[0012] Optionally, the support frame top is equipped with detachable protective shell, and the protective shell is fixed with support frame by bolt.

[0013] Optionally, the protective shell is transparent.

[0014] Optionally, the operating end of the first bidirectional screw and the second bidirectional screw is provided with a rotating head.

[0015] Optionally, the surface of the rubber plate is provided with a protrusion extending along the circumference of the arc surface.

[0016] Optionally, the bottom end of the support frame is provided with an elastic support rod.

[0017] The embodiments of the present application have the following technical effects:

[0018] The device realizes precise and stable clamping of the multi-spectrum camera through the cooperation of the bidirectional screw and the guide rod. The symmetrical design of the bidirectional screw ensures the synchronous movement of the left and right clamping frames, avoiding the uneven stress caused by traditional single-side adjustment. The rigid constraint of the guide rod effectively suppresses the lateral deviation during clamping. Even in the high-frequency vibration environment of the unmanned aerial vehicle, the clamping frame can still maintain a straight motion trajectory. The curved clamping block and the curved surface of the camera shell are designed to match, and the elastic properties of the rubber plate form a self-adaptive clamping interface: the rubber material deforms uniformly under pressure, which can fully match the subtle profile differences of the device shell and can also offset external impact through material resilience. The four-way linkage structure breaks through the rigid limitation of the traditional fixed support, and the inertial force generated during the climbing or turning of the aircraft is flexibly absorbed by the rubber layer, fundamentally solving the falling hazards caused by loose bolts. While ensuring the stability of clamping, the device retains the quick disassembly feature, and only needs to rotate the bidirectional screw to release the clamping during maintenance, greatly improving the efficiency of field operations. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0020] Fig. 1 A multi-spectrum image stereo pair three-dimensional terrain information extraction device structure steel schematic diagram provided by the embodiments of the present application;

[0021] Fig. 2 Another multi-spectrum image stereo pair three-dimensional terrain information extraction device structure steel schematic diagram provided by the embodiments of the present application;

[0022] Fig. 3 Another multi-spectrum image stereo pair three-dimensional terrain information extraction device structure steel schematic diagram provided by the embodiments of the present application.

[0023] Reference signs

[0024] 1, support frame; 101, protective shell; 102, bolt; 103, rectangular through hole; 2, connecting frame; 201, support rod; 3, servo motor; 4, propeller; 5, multispectral camera; 6, controller; 7, battery; 8, clamping mechanism; 801, first bidirectional screw; 802, second bidirectional screw; 803, rotating head; 804, rubber plate; 805, clamping frame; 806, guide rod; 807, protrusion; 815, square plate; 825, arc-shaped clamping block. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme of the utility model will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope protected by the utility model.

[0026] Figs. 1-3 A structural steel schematic view of a multispectral image stereo pair three-dimensional terrain information extraction device provided for the embodiments of the utility model comprises a support frame 1 and a multispectral camera 5.

[0027] The support frame 1 top end is equipped with a clamping mechanism 8, and the clamping mechanism 8 comprises:

[0028] Four rectangular through holes 103 radially symmetrically arranged at the support frame 1 top end, and a guide rod 806 is fixedly connected in each rectangular through hole 103.

[0029] The clamping frame 805 is sleeved on the guide rod 806 and is composed of a square plate 815 and an arc-shaped clamping block 825.

[0030] The first bidirectional screw 801 and the second bidirectional screw 802 are arranged perpendicularly to each other, and the extension direction is the same as the rectangular through hole 103, and the square plate 815 is screwed with the first bidirectional screw 801 or the second bidirectional screw 802 through the rectangular through hole 103.

[0031] The rubber plate 804 is arranged on the inner arc surface of the arc-shaped clamping block 825, and the curvature of the rubber plate 804 is matched with the arc of the multispectral camera 5 shell.

[0032] Specifically, the support frame 1 can be formed by a whole casting process, and four rectangular through holes 103 symmetrically distributed in a cross shape are machined at the top end. Each rectangular through hole 103 can be fixedly installed with a guide rod 806 by interference fit, and the guide rod 806 can be made of an alloy steel rod with a hard chromium plated surface, and the diameter of the rod body is matched with the width of the rectangular through hole 103. The clamping frame 805 is composed of a square plate 815 and an arc-shaped clamping block 825, the square plate 815 is provided with linear bearing mounting holes at four corners, and the inner ring of the bearing is in sliding fit with the guide rod 806. The first and second bidirectional screws 801 and 802 penetrate through the front and rear sides of the support frame 1 perpendicularly. The inner arc surface of the arc-shaped clamping block 825 can be fixed with a rubber plate 804 by an adhesive, and the curved surface of the rubber plate 804 can be obtained by three-dimensional scanning reverse engineering, and is in full circumferential contact with the shell profile of the multispectral camera 5. When the operator rotates the bidirectional screws 801 / 802, the four sets of clamping frames 805 move synchronously and centripetally along the guide rods 806, the elastic deformation of the rubber plate 804 automatically compensates for the manufacturing tolerance of the camera shell, and uniform radial clamping force is formed, which can also prevent the multispectral camera 5 from being scratched.

[0033] Based on the above scheme, the structure can better fix the multispectral camera 5 and prevent the multispectral camera 5 from falling off.

[0034] In some embodiments, the square plate 815 and the arc-shaped clamping block 825 are detachably connected.

[0035] Specifically, the square plate 815 and the arc-shaped clamping block 825 can adopt a modular split structure. When the rubber plate 804 is worn out, the clamping block 825 can be individually disassembled and replaced without adjusting the guide mechanism. In addition, different shapes of arc-shaped clamping blocks 825 can be adapted based on the shape of the multispectral camera 5.

[0036] In some embodiments, the support frame 1 is provided with a detachable protective shell 101, and the protective shell 101 is fixed to the support frame 1 by bolts 102.

[0037] The protective shell 101 can be formed by hot pressing of a transparent polycarbonate plate, and the edge is bent to form a mounting flange with a sealing groove. The bolts 102 can be uniformly distributed in the circumferential direction of the protective shell 101, and a fluororubber sealing ring can be arranged at the root of the bolt 102. When mounted, the sealing groove of the protective shell 101 is precisely embedded in the sealing flange of the support frame 1 to form a sealing structure, which effectively prevents rain and dust from entering the interior of the equipment. The dome part of the protective shell 101 can be designed with an airflow guide groove to form a negative pressure ventilation by using the relative wind speed during flight of the equipment, so as to avoid accumulation of internal heat.

[0038] In some embodiments, the protective shell 101 is made of transparent material.

[0039] Specifically, the material of the transparent protective shell 101 can be subjected to special optical processing, and ultraviolet absorbers and antistatic agents are added in the substrate. The surface of the shell is subjected to a multi-layer coating process to form a wear-resistant hardening layer, an anti-fog coating layer and an anti-reflection film in sequence. The anti-fog coating layer actively absorbs ambient moisture through hydrophilic groups to form a uniform water film to prevent dewing in low temperature environments. The anti-reflection film can eliminate the reflection of light on the surface of the shell by using the principle of optical interference, so that the imaging of the multi-spectral camera 5 is not disturbed by external stray light. The light guide structure at the edge of the shell guides the external environmental light to the key observation area through the principle of total reflection. The transparent shell design allows the operator to observe the working state of the clamping mechanism 8 without opening the cover.

[0040] In some embodiments, the operating end of the first bidirectional screw 801 and the second bidirectional screw 802 is provided with a rotating head 803.

[0041] The rotating head 803 can be manufactured by a bimetal composite casting process, the base body is a high-strength aluminum alloy, and the operating end is coated with a high-friction coefficient silicone rubber. The rotating head 803 is processed with a cross-shaped operation groove with a gradually changing depth on the end face, and the groove wall is designed as a streamline curve to adapt to standard tools. The surface of the silicone rubber is molded with radial anti-slip convex patterns, and a sweat guide groove is provided at the root of the convex pattern. When a rotating torque is applied, the elastic deformation of the silicone rubber layer increases the contact area, the anti-slip convex pattern and the operator's fingers form mechanical interlocking, effectively transmitting the operating torque. The copper-based bearing reduces the rotation resistance and ensures that there is no jamming during long-term use.

[0042] In some embodiments, the surface of the rubber plate 804 is provided with a convex 807 extending along the arc surface in the circumferential direction.

[0043] The surface of the rubber plate 804 is processed by a mold to form a multi-directional anti-slip pattern, and the pattern is composed of alternating continuous wave-shaped convexes 807 and depressions. The top of the convex 807 is designed as a flat contact area, and the bottom of the depression is provided with a flow guide channel. When the clamping force acts, the convex 807 produces elastic deformation to increase the actual contact area, and the depression forms a chip removal channel to timely remove foreign matter. The rubber material can adopt a gradient vulcanization process, the surface layer has a higher hardness to ensure wear resistance, and the inner layer has a lower hardness to provide a cushioning effect.

[0044] In some embodiments, the bottom end of the support frame 1 is provided with an elastic support rod 201.

[0045] The elastic support rod 201 can adopt a multi-stage buffering design, the outer tube can be a thin-walled alloy steel tube, and the inner core can be a high polymer damping material. A hemispherical contact pad can be installed at the bottom of the support rod 201, and the pad body is filled with a shear thickening fluid. When the device lands, the impact energy is transmitted to the damping material through the outer tube, and the viscoelastic deformation of the high molecular chain absorbs the main impact. The shear thickening fluid has a sharp viscosity increase under instantaneous high pressure, converting the remaining kinetic energy into heat energy dissipation. A universal adjusting mechanism can be designed at the top of the support rod 201 to allow the device to maintain a stable posture on uneven ground. The multi-stage buffering mechanism effectively isolates the flight vibration and ground impact, protecting the precision imaging elements from mechanical damage.

[0046] In addition, the device in the embodiment of the utility model still can include connecting frame 2, servo motor 3, propeller 4, controller 6 and battery 7. Connecting frame 2 is connected at the four corners of support frame 1, and the top end of connecting frame 2 is away from the side of support frame 1, and is equipped with servo motor 3, and the output shaft of servo motor 3 is connected with propeller 4, and the inner bottom end of support frame 1 is equipped with controller 6. The controller 6 controls the servo motor 3 to drive the propeller 4 to rotate, and then drives the device to ascend, and the controller 6 adjusts the rotating speed of the four servo motors 3, and then controls the thrust of the propeller 4, realizes the stable flight and attitude adjustment of the unmanned aerial vehicle. The inner bottom end of support frame 1 is equipped with battery 7, and servo motor 3, battery 7 are electrically connected with controller 6, and battery 7 is used as power supply for servo motor 3 and controller 6.

[0047] It should be noted that the terms used in the utility model are only for describing specific embodiments, and not limiting the scope of the application. As shown in the specification of the utility model, unless the context clearly indicates otherwise, "one", "a", "one" and / or "the" do not refer to a single number, but also include plural. The terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent in such process, method or device. Without more limitation, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method or device including the element.

[0048] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting" and the like should be broadly understood, for example, they can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application.

Claims

1. A device for extracting three-dimensional terrain information from a multi-spectral stereo image pair, characterized by: Including support frame (1) and multispectral camera (5); The support frame (1) top is equipped with clamping mechanism (8), the clamping mechanism (8) includes: Four rectangular through holes (103) radially symmetrically arranged in the top of support frame (1), each rectangular through hole (103) is fixedly connected with guide rod (806); Clamping frame (805) is sleeved on the guide rod (806), the clamping frame (805) is composed of square plate (815) and arc clamping block (825); First bidirectional screw (801) and second bidirectional screw (802) are arranged perpendicularly, and the extension direction is same with the rectangular through hole (103), the square plate (815) is screwed with the first bidirectional screw (801) or the second bidirectional screw (802) through the rectangular through hole (103); Rubber plate (804) is arranged in the inner arc surface of arc clamping block (825), the curvature of the curved surface of rubber plate (804) is matched with the arc of the shell of multispectral camera (5).

2. The apparatus of claim 1, wherein, The square plate (815) and the arc clamping block (825) are detachably connected.

3. The apparatus of claim 1, wherein, The top of support frame (1) is equipped with detachable protective shell (101), and the protective shell (101) is fixed with support frame (1) by bolt (102).

4. The apparatus of claim 3, wherein, The protective shell (101) is transparent material.

5. The apparatus of claim 1, wherein, The operating end of the first bidirectional screw (801) and the second bidirectional screw (802) is equipped with rotary head (803).

6. The apparatus of claim 1, wherein, The surface of the rubber plate (804) is provided with convex (807) extending along the circumferential direction of the arc surface.

7. The apparatus of claim 1, wherein, The bottom of support frame (1) is equipped with elastic support rod (201).

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