A multispectral fusion-based UAV gimbal for tower crane damage detection

Abstract

This utility model discloses a tower crane damage detection drone gimbal based on multispectral fusion, relating to the field of drone gimbal technology. It includes a drone and a gimbal. The gimbal includes a housing with three circular through-holes on its front. An infrared thermal imaging camera, a multispectral camera, and a laser ranging module are respectively housed within these three circular through-holes. This utility model includes a longitudinal movable component, a lateral movable component, and an adjustment assembly. When fine-tuning of the optical axis of the infrared thermal imaging camera, multispectral camera, or laser ranging module is required, the lateral drive component in the adjustment assembly is activated on the handheld control screen to achieve flexible adjustment in the lateral direction. If longitudinal fine-tuning is required, the vertical drive component is activated to complete angle compensation in the longitudinal direction. Through the synergistic action of the lateral and vertical drive components, the spheres and circular groove structures in the movable components form a multi-degree-of-freedom adjustment mechanism, enabling the optical axes of the three devices to remain parallel.

Description

Technical Field

[0001] This utility model relates to the field of UAV gimbal technology, specifically a UAV gimbal for tower crane damage detection based on multispectral fusion. Background Technology

[0002] Damage detection of tower cranes is an important task in the supervision of special equipment. The main types of damage include wear, corrosion, fracture, and cracks. Currently, a large part of the damage detection work for cranes is still done manually. This method requires a lot of manpower, is highly subjective, expensive, has a high false detection rate, and low production efficiency. With the continuous development of computer vision technology, image processing technology can be used to analyze metal surface images, determine whether there are defects on the metal surface to be inspected, and analyze, classify, and grade the metal with defects. This has improved the production efficiency and quality of metal defect detection and achieved good results.

[0003] Drones are used to photograph tower cranes. By combining photos taken by multiple cameras with multispectral fusion technology, damage detection of the tower crane structure can be performed. The damage such as cracks and corrosion on the surface of the tower crane can be clearly presented. During the flight of the drone, the gimbal can flexibly adjust the camera angle according to the shooting needs to ensure that the captured images are accurate and comprehensive, providing reliable data support for subsequent damage analysis.

[0004] However, the infrared thermal imaging camera, multispectral camera, and laser ranging module used for detection may experience optical axis misalignment due to equipment installation errors or vibrations during flight, resulting in detection deviations and reducing the spatial matching accuracy and measurement accuracy of tower crane damage detection data. Utility Model Content

[0005] The purpose of this invention is to provide a multispectral fusion-based UAV gimbal for tower crane damage detection, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a tower crane damage detection drone gimbal based on multispectral fusion, comprising a drone and a gimbal, wherein the gimbal includes a shell, and the front of the shell is provided with three circular through holes, and an infrared thermal imaging camera, a multispectral camera and a laser ranging module are respectively disposed in the three circular through holes;

[0007] Movable parts are provided on the outside of the infrared thermal imaging camera, multispectral camera, and laser ranging module. Adjustment components are provided on one side of the infrared thermal imaging camera, multispectral camera, and laser ranging module located inside the housing.

[0008] Preferably, the movable component includes an annular fixed plate, an annular connecting plate is provided on the outer side of the annular fixed plate, a longitudinal movable part is provided between the annular fixed plate and the annular connecting plate, and a transverse movable component is provided between the annular connecting plate and the inner wall of the circular through hole.

[0009] Preferably, the longitudinal movable component includes a first circular groove formed on both sides of the annular fixed plate, a first sphere movably connected in the first circular groove, a first connecting rod fixed to the side of the first sphere, and the first connecting rod fixed to the annular connecting plate.

[0010] Preferably, the lateral movable component includes a second circular groove formed on both vertical sides of the annular connecting plate, a second sphere movably connected in the second circular groove, a second connecting rod fixed to the side of the second sphere, and the second connecting rod fixed to the inner wall of the circular through hole.

[0011] Preferably, the adjustment assembly includes a cross plate and a connecting block;

[0012] A guide groove is provided at the bottom of the horizontal plate, and a guide block is movably connected in the guide groove. A vertical drive component is movably connected to the bottom of the guide block through a second connecting shaft. A hinge rod is fixed to the telescopic end of the vertical drive component, and the bottom of the hinge rod is movably connected to the connecting block through a first connecting shaft.

[0013] A transverse drive component is fixed on the plate body, and the output end of the transverse drive component is fixed to the side of the guide block.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] This tower crane damage detection UAV gimbal, based on multispectral fusion, is equipped with longitudinal and lateral movable parts and adjustment components. When fine-tuning of the optical axis of the infrared thermal imaging camera, multispectral camera, or laser ranging module is required, the lateral drive component in the adjustment component is activated on the handheld control screen to achieve flexible adjustment in the lateral direction. If longitudinal fine-tuning is required, the vertical drive component is activated to complete the angle compensation in the longitudinal direction. Through the synergistic effect of the lateral and vertical drive components, the sphere and circular groove structure in the movable parts form a multi-degree-of-freedom adjustment mechanism, which can keep the optical axes of the three devices parallel, effectively improving the spatial registration accuracy of multispectral fusion data and providing more reliable multimodal data support for tower crane damage detection. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is an axial view of the gimbal of this utility model;

[0018] Figure 3 This is an internal view of the gimbal of this utility model;

[0019] Figure 4 Here is a detailed view of the adjustment component of this utility model;

[0020] Figure 5 This is a detailed drawing of the movable part of this utility model.

[0021] In the diagram: 1. Unmanned Aerial Vehicle (UAV); 2. Gimbal; 201. Shell; 202. Infrared Thermal Imaging Camera; 203. Multispectral Camera; 204. Laser Ranging Module; 301. Circular Through Hole; 302. Annular Fixing Plate; 303. Annular Connecting Plate; 304. First Sphere; 305. First Connecting Rod; 306. Second Connecting Rod; 4. Adjustment Component; 401. Horizontal Plate; 402. Connecting Block; 403. First Connecting Shaft; 404. Guide Block; 405. Vertical Drive Component; 406. Hinge Rod; 407. Horizontal Drive Component. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The drones in this solution are used to photograph tower cranes. By combining the captured photos with multispectral fusion technology, damage detection of the tower crane structure can be performed, clearly showing cracks, corrosion and other damage on the tower crane surface. During the drone's flight, the gimbal can flexibly adjust the camera angle according to the shooting requirements to ensure that the captured images are accurate and comprehensive, providing reliable data support for subsequent damage analysis.

[0024] like Figures 1-5 As shown, this utility model provides a technical solution: a multispectral fusion-based tower crane damage detection UAV gimbal, including a UAV 1 and a gimbal 2. The gimbal 2 is equipped with an infrared thermal imaging camera 202, a multispectral camera 203, and a laser ranging module 204 on its side. The data obtained from the infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204 are fused from multiple sources. Its core value lies in breaking through the limitations of a single sensor and obtaining a more comprehensive, accurate, and in-depth understanding of the observed object through information complementarity and synergistic enhancement. The gimbal 2 is connected to the bottom of the UAV 1 by a bracket. The gimbal 2 is adjusted horizontally or tilted by a motor set on one side of the bracket. The above are mature existing technologies and will not be described in detail in this solution.

[0025] like Figure 2 and Figure 3As shown, the gimbal 2 includes a housing 201. Three circular through holes 301 are provided on the front of the housing 201. An infrared thermal imaging camera 202, a multispectral camera 203, and a laser ranging module 204 are respectively installed within the three circular through holes 301. Movable parts are provided on the outer sides of the infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204. Adjustment components 4 are provided on one side of each of the infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204 located within the housing 201. The infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204 can be moved laterally or longitudinally through the adjustment components 4 and the movable parts. This allows for fine-tuning of the optical axes of the infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204, ensuring that the optical axes of the three devices remain parallel. This avoids optical axis misalignment due to installation errors or vibrations during flight, thereby ensuring the accuracy of multi-source data fusion and ensuring spatial data synchronization.

[0026] like Figure 3 As shown, the movable component includes an annular fixed plate 302, an annular connecting plate 303 is provided on the outer side of the annular fixed plate 302, a longitudinal movable part is provided between the annular fixed plate 302 and the annular connecting plate 303, and a transverse movable component is provided between the annular connecting plate 303 and the inner wall of the circular through hole 301.

[0027] Among them, such as Figure 3 and Figure 5 As shown, the longitudinal movable component includes first circular grooves opened on both sides of the annular fixed plate 302. The two first circular grooves are symmetrically arranged. A first ball 304 adapted to the first circular groove is movably connected in the first circular groove. A first connecting rod 305 is fixed to the side of the first ball 304 and is fixed to the annular connecting plate 303. The transverse movable component includes second circular grooves opened on both sides of the annular connecting plate 303. The two second circular grooves are also symmetrically arranged. A second ball adapted to the second circular groove is movably connected in the second circular groove. A second connecting rod 306 is fixed to the side of the second ball and is fixed to the inner wall of the circular through hole 301.

[0028] like Figure 3 and Figure 4As shown, the adjustment component 4 includes a horizontal plate 401 and connecting blocks 402. Three connecting blocks 402 are respectively fixed to connecting rods at the ends of the infrared thermal imaging camera 202, the multispectral camera 203, and the laser ranging module 204. The bottom of the horizontal plate 401 has a guide groove, within which a guide block 404, adapted to the guide groove, is movably connected. In this design, the guide groove can be a U-shaped groove or a dovetail groove. Correspondingly, the guide block 404 is a U-shaped block or a dovetail block. A vertical drive component 405 is movably connected to the bottom of the guide block 404 via a second connecting shaft. A hinge rod 406 is fixed to the telescopic end of the vertical drive component 405. The bottom of the hinge rod 406 is connected to the first connecting shaft 403. The hinge rod 406 is movably connected to the connecting block 402. It needs to be determined that the hinge rod 406 can only rotate around the first connecting shaft 403 and cannot move laterally. Similarly, the vertical drive member 405 can only rotate around the second connecting shaft and cannot move laterally. A lateral drive member 407 is fixed on the plate of the horizontal plate 401. The output end of the lateral drive member 407 is fixed to the side of the guide block 404. In this solution, the vertical drive member 405 and the lateral drive member 407 can be voice coil motors. Due to their significant characteristics such as fast response speed, high positioning accuracy, large thrust density, and controllable stroke, they have broad application prospects in precision instruments, automation equipment, robots, semiconductor manufacturing and other fields.

[0029] Working principle: When fine-tuning of the optical axis of the infrared thermal imaging camera 202, multispectral camera 203, or laser ranging module 204 is required, the lateral drive component 407 in the adjustment assembly 4 is activated. Its output end pushes the guide block 404 to move laterally along the guide groove at the bottom of the horizontal plate 401. The guide block 404 drives the vertical drive component 405 to move laterally simultaneously, which in turn pushes the annular fixed plate 302 to move laterally through the hinge rod 406 and the connecting block 402. During this process, the second balls on both sides of the annular connecting plate 303 roll in the second circular groove, cooperating with the second connecting rod 306 to achieve flexible adjustment in the lateral direction. If longitudinal fine-tuning is required, the vertical drive component 405 is activated. Its telescopic end drives the annular fixed plate 302 to deflect longitudinally through the hinge rod 406 and the connecting block 402. At this time, the first balls 304 on both sides of the annular fixed plate 302 roll in the first circular groove, cooperating with the first connecting rod 305 to complete the angle compensation in the longitudinal direction. Through the synergistic action of the horizontal drive component 407 and the vertical drive component 405, the sphere and circular groove structure in the moving part form a multi-degree-of-freedom adjustment mechanism to ensure that the optical axes of the three devices remain parallel. The above adjustments can be performed on the handheld control screen, which can effectively improve the spatial registration accuracy of multispectral fusion data and provide more reliable multimodal data support for tower crane damage detection.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. A tower crane damage detection UAV gimbal based on multispectral fusion, comprising a UAV (1) and a gimbal (2), characterized in that: The gimbal (2) includes a housing (201), and three circular through holes (301) are provided on the front of the housing (201). An infrared thermal imaging camera (202), a multispectral camera (203) and a laser ranging module (204) are respectively disposed in the three circular through holes (301). Movable parts are provided on the outside of the infrared thermal imaging camera (202), the multispectral camera (203) and the laser ranging module (204), and adjustment components (4) are provided on one side of the infrared thermal imaging camera (202), the multispectral camera (203) and the laser ranging module (204) located in the housing (201).

2. The tower crane damage detection UAV gimbal based on multispectral fusion according to claim 1, characterized in that: The movable component includes an annular fixed plate (302), an annular connecting plate (303) is provided on the outer side of the annular fixed plate (302), a longitudinal movable part is provided between the annular fixed plate (302) and the annular connecting plate (303), and a transverse movable component is provided between the annular connecting plate (303) and the inner wall of the circular through hole (301).

3. The tower crane damage detection UAV gimbal based on multispectral fusion according to claim 2, characterized in that: The longitudinal movable part includes a first circular groove on both sides of the annular fixed plate (302), a first ball (304) is movably connected in the first circular groove, a first connecting rod (305) is fixed on the side of the first ball (304), and the first connecting rod (305) is fixed to the annular connecting plate (303).

4. The tower crane damage detection UAV gimbal based on multispectral fusion according to claim 2, characterized in that: The lateral movable component includes a second circular groove on both sides of the annular connecting plate (303), a second sphere is movably connected in the second circular groove, a second connecting rod (306) is fixed on the side of the second sphere, and the second connecting rod (306) is fixed to the inner wall of the circular through hole (301).

5. The tower crane damage detection UAV gimbal based on multispectral fusion according to claim 1, characterized in that: The adjustment component (4) includes a horizontal plate (401) and a connecting block (402); A guide groove is provided at the bottom of the horizontal plate (401), and a guide block (404) is movably connected in the guide groove. A vertical drive component (405) is movably connected to the bottom of the guide block (404) through a second connecting shaft. A hinge rod (406) is fixed at the telescopic end of the vertical drive component (405). The bottom of the hinge rod (406) is movably connected to the connecting block (402) through a first connecting shaft (403). A transverse drive component (407) is fixed on the plate body of the horizontal plate (401), and the output end of the transverse drive component (407) is fixed to the side of the guide block (404).

Images