Monocular vision displacement measuring device for unmanned aerial vehicle

Abstract

The utility model relates to the technical field of bridge displacement monitoring, in particular to an unmanned aerial vehicle monocular vision displacement measuring device which comprises an unmanned aerial vehicle body. The rack is arranged on the unmanned aerial vehicle body; the image sensor is adjustably arranged on the rack through a mounting bracket; the processor is arranged on the machine frame through a fixing support. The unmanned aerial vehicle monocular vision displacement measuring device has the advantages that the large-load unmanned aerial vehicle serves as a platform, the image sensor and the processor are integrated, and the unmanned aerial vehicle monocular vision displacement measuring device capable of being used for bridge high-frequency vibration displacement measurement is formed. According to the device, the unmanned aerial vehicle frame is improved, the image sensor and the processor are installed on the frame, and the frame integrates camera shooting sampling and unmanned aerial vehicle flying take-off and landing, so that the device can operate stably and reliably, and the requirement of bridge high-frequency vibration displacement measurement can be met.

Description

TECHNICAL FIELD

[0001] The utility model relates to bridge displacement monitoring technical field, concretely relates to unmanned aerial vehicle monocular vision displacement measuring device. BACKGROUND

[0002] At present, the unmanned aerial vehicle technology has shown great application potential in many fields, however, in the specific scene of bridge high-frequency vibration displacement measurement, the existing unmanned aerial vehicle monocular vision measuring device is not satisfactory, the main reasons include: 1. The market demand of unmanned aerial vehicle bridge high-frequency vibration displacement measurement is small, and there is lack of relevant mature products; 2. The existing aerial survey unmanned aerial vehicle mostly has the problem of low camera sampling frame rate, and cannot meet the requirements of bridge high-frequency vibration measurement; 3. The volume and weight of high-speed camera are large, and a larger load unmanned aerial vehicle platform is needed.

[0003] In summary, there is an urgent need for an unmanned aerial vehicle monocular vision displacement measuring device to solve the problems in the prior art. UTILITY MODEL CONTENT

[0004] The utility model aims at providing unmanned aerial vehicle monocular vision displacement measuring device, specific technical scheme is as follows:

[0005] The unmanned aerial vehicle monocular vision displacement measuring device comprises:

[0006] The unmanned aerial vehicle body;

[0007] The rack is arranged on the unmanned aerial vehicle body;

[0008] The image sensor is adjustably arranged on the rack through the mounting bracket;

[0009] The processor is arranged on the rack through the fixing bracket.

[0010] Optionally, the rack comprises at least two rack units arranged in parallel, and the rack units are arranged below the unmanned aerial vehicle body.

[0011] Optionally, the upper portion of the rack unit is connected to the unmanned aerial vehicle body, and the lower portion of the rack unit comprises a raised portion composed of a horizontal section and an inclined section, the image sensor is arranged on the horizontal section through the mounting bracket, and the processor is arranged on the inclined section through the fixing bracket.

[0012] Optionally, the mounting bracket comprises buckles, supporting members and an adjuster, the buckles are adjustably arranged along the length direction of the horizontal section, one buckle is arranged on each rack unit, the two ends of the supporting member are connected to the two buckles to realize fixation, the adjuster is adjustably arranged along the length direction of the supporting member, and the image sensor is arranged on the adjuster.

[0013] Optionally, the support member comprises at least two parallel arranged circular tubes.

[0014] Optionally, the buckle is a hoop buckle, and the adjustable setting of the buckle along the length direction of the horizontal section is realized by adjusting the tightness of the hoop.

[0015] Optionally, a rubber soft plug is arranged between the adjuster and the image sensor.

[0016] The technical scheme of the utility model has the following beneficial effects:

[0017] The utility model discloses a kind of unmanned aerial vehicle monocular vision displacement measuring devices, with high load unmanned aerial vehicle as platform, high-speed camera is integrated with airborne computer, forms unmanned aerial vehicle monocular vision displacement measuring device that can be used for bridge high-frequency vibration displacement measurement.It is measured by actual measurement, camera can reach 200Hz under full resolution condition Maximum sampling frame rate;The device of the utility model improves unmanned aerial vehicle rack, camera and airborne computer are installed in the bulge position of rack bottom, camera shooting sampling and unmanned aerial vehicle flight take-off and landing are considered, so that device can stably and reliably operate, simultaneously, the high-speed camera of the utility model is set to adjustable installation form, can satisfy the demand of bridge high-frequency vibration displacement measurement.

[0018] In addition to the purposes, features and advantages described above, the utility model has other purposes, features and advantages. The utility model will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings that form part of the present application are used to provide further understanding of the utility model, and the illustrative embodiment of the utility model and its description are used to explain the utility model, and do not constitute undue limitation on the utility model. In the drawings:

[0020] Figure 1 It is the structure schematic view of unmanned aerial vehicle monocular vision displacement measuring device in preferred embodiment of the utility model;

[0021] Figure 2 It is the enlarged schematic view of rack position in preferred embodiment of the utility model.

[0022] Wherein, 1-unmanned aerial vehicle body, 2-rack, 2.1-rack single piece, 2.2-horizontal section, 2.3-inclined section, 3-image sensor, 4-mounting bracket, 4.1-buckle, 4.2-support member, 4.3-adjuster, 5-processor, 6-fixed support. DETAILED DESCRIPTION

[0023] The embodiments of the utility model are described in detail in connection with the drawings below, but the utility model can be implemented in multiple different ways limited and covered by claims.

[0024] Embodiment:

[0025] Referring to Figure 1 The embodiment discloses a UAV monocular vision displacement measuring device for bridge high-frequency vibration displacement monitoring, comprising:

[0026] a UAV body 1;

[0027] a rack 2 arranged on the UAV body 1;

[0028] an image sensor 3 adjustably arranged on the rack 2 through a mounting bracket 4;

[0029] a processor 5 arranged on the rack through a fixing bracket 6.

[0030] In the embodiment, the image sensor 3 is a high-speed camera, the processor 5 is an onboard computer, the high-speed camera is used for collecting image data, and the onboard computer is used for receiving and processing the image data, and data transmission is realized between the high-speed camera and the onboard computer through wired communication.

[0031] In a specific embodiment, the rack 2 comprises at least two rack units 2.1 arranged in parallel, and the rack units 2.1 are arranged below the UAV body 1.

[0032] Further, as shown in Figure 2 the UAV body 1 is connected above the rack units 2.1, and the rack units 2.1 comprise a raised part composed of a horizontal section 2.2 and an inclined section 2.3 below the rack units 2.1, the image sensor 3 is arranged on the horizontal section 2.2 through the mounting bracket 4, and the processor 5 is arranged on the inclined section 2.3 through the fixing bracket 6. The image sensor 3 is arranged on the horizontal section 2.2 through the mounting bracket 4, the image sensor 3 (high-speed camera) keeps the line of sight horizontal and forward, and the onboard computer is arranged on the inclined section 2.3. Due to the structural characteristics of the raised part, the field of view of the high-speed camera is not blocked, the rack in the embodiment also plays a supporting role after the UAV body lands, the bottom of the rack is used for contacting the ground to realize the supporting role, and the raised part can be used for mounting the image sensor 3 and the processor 5.

[0033] In a more specific embodiment, the mounting bracket 4 comprises buckles 4.1, a support 4.2 and an adjuster 4.3, the buckles 4.1 are adjustably arranged along the length direction of the horizontal section 2.2, one buckle 4.1 is arranged on each rack unit 2.1, the two ends of the support 4.2 are connected to the two buckles 4.1 respectively to realize fixation, the adjuster 4.3 is adjustably arranged along the length direction of the support 4.2, and the image sensor 3 is arranged on the adjuster.

[0034] Further, the support 4.2 comprises at least two circular tubes arranged in parallel. It should be noted that two circular tubes arranged in parallel are adopted in the embodiment, the circular tubes can be made of carbon fiber material, and the two circular tubes arranged in parallel can ensure the stability of the image sensor 3 during data acquisition.

[0035] Further, the buckle 4.1 is a clamp type buckle, and the adjustable setting of the buckle 4.1 along the length direction of the horizontal section 2.2 is realized by adjusting the tightness of the clamp. The clamp type buckle in the embodiment can be made of high-strength plastic 3D printing.

[0036] It should be noted that in the embodiment, the high-speed camera and the onboard computer are installed at the middle position of the circular tube in the default state. The fixing bracket in the embodiment can adopt a structure similar to the mounting bracket 4, or other structures, which will not be described here again. The fixing bracket is used to fix the onboard computer, and the position thereof is not adjustable.

[0037] In a more specific embodiment, a rubber soft plug is arranged between the adjuster 4.3 and the image sensor 3. The adjuster 4.3 in the embodiment is a camera bracket, the high-speed camera is detachably mounted on the camera bracket through a clamping part, and a rubber soft plug is further arranged on the camera bracket to reduce the influence of flight vibration.

[0038] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A monocular visual displacement measurement device for unmanned aerial vehicles (UAVs), characterized in that, include: Unmanned aerial vehicle (UAV) body (1); The frame (2) is mounted on the UAV body (1); The image sensor (3) is adjustablely mounted on the frame (2) via a mounting bracket (4); The processor (5) is mounted on the rack via a mounting bracket (6).

2. The UAV monocular vision displacement measurement device according to claim 1, characterized in that, The frame (2) includes at least two parallel frame units (2.1), which are positioned below the UAV body (1).

3. The UAV monocular vision displacement measurement device according to claim 2, characterized in that, The frame unit (2.1) is connected to the UAV body (1) above. The frame unit (2.1) includes a raised section consisting of a horizontal section (2.2) and an inclined section (2.3) below. The image sensor (3) is mounted on the horizontal section (2.2) via a mounting bracket (4), and the processor (5) is mounted on the inclined section (2.3) via a fixing bracket (6).

4. The UAV monocular vision displacement measurement device according to claim 3, characterized in that, The mounting bracket (4) includes a buckle (4.1), a support (4.2), and an adjuster (4.3). The buckle (4.1) is adjustable along the length of the horizontal section, and one buckle (4.1) is provided on each frame unit (2.1). The two ends of the support (4.2) are respectively connected to two buckles (4.1) for fixation. The adjuster (4.3) is adjustable along the length of the support (4.2), and the image sensor (3) is mounted on the adjuster.

5. The UAV monocular vision displacement measurement device according to claim 4, characterized in that, The support member (4.2) includes at least two parallel circular tubes.

6. The UAV monocular vision displacement measurement device according to claim 4, characterized in that, The buckle (4.1) is a clamp-type buckle, and the buckle (4.1) can be adjusted along the length direction of the horizontal section (2.2) by adjusting the tightness of the clamp.

7. The UAV monocular vision displacement measurement device according to claim 4, characterized in that, A rubber plug is provided between the regulator (4.3) and the image sensor (3).

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