Bridge multidimensional monitoring unmanned aerial vehicle image device

Abstract

The utility model provides a kind of unmanned aerial vehicle image device for bridge multidimensional monitoring, including unmanned aerial vehicle, camera, the multidimensional adjusting mechanism for adjusting camera shooting angle, multidimensional adjusting mechanism includes the fixed frame being set on unmanned aerial vehicle, fixed frame is provided with vertical cylinder, vertical cylinder is vertically provided with vertical shaft, vertical cylinder is provided with the vertical drive motor of driving vertical shaft rotation, the bottom of vertical shaft is provided with rotating frame, rotating frame is provided with flat cylinder, flat cylinder is horizontally provided with flat shaft, flat cylinder is provided with the flat drive motor of driving flat shaft rotation, camera is set to one end of flat shaft away from flat drive motor. The unmanned aerial vehicle image device for bridge multidimensional monitoring is controlled by vertical drive motor and flat drive motor in cooperation, ensure that camera can be in bridge monitoring scene, realize multidimensional, multi-angle flexible rotation and positioning, expand monitoring coverage, avoid monitoring blind area as far as possible.

Description

Technical Field

[0001] This utility model relates to the technical field of bridge monitoring, and in particular to a drone imaging device for multi-dimensional bridge monitoring. Background Technology

[0002] As bridges age, many enter their aging phase. Minor defects such as micro-cracks and material spalling, if not detected in time, can lead to serious safety accidents, thus necessitating regular bridge monitoring. Traditional bridge monitoring mainly relies on manual inspections. Manual inspections depend on the experience of professionals, making them prone to missed inspections and misjudgments. Furthermore, for complex structures such as viaducts and suspension bridges, inspections are difficult and time-consuming, and workers face safety risks associated with working at heights. Additionally, the comprehensiveness and objectivity of manual inspection results are insufficient.

[0003] The rapid advancement of drone technology has endowed it with advantages such as high flexibility, low cost, and wide coverage, enabling it to efficiently collect data in complex environments. Meanwhile, the maturity of technologies such as high-definition video recording, laser ranging, and multi-sensor fusion has provided technical support for drone imaging devices to achieve high-precision, multi-dimensional bridge monitoring, thus promoting the research and development of drone imaging devices for multi-dimensional bridge monitoring.

[0004] The existing Chinese patent with authorization announcement number CN217778984U discloses a drone imaging device for multi-dimensional monitoring of bridges, including a camera mounted on the drone, a base plate on the drone, a support plate on each of the two sides of the base plate, a rotating shaft connected to the two support plates in a horizontal rotation, a swing arm sleeved at one end of the rotating shaft, a bent mounting arm at the end of the swing arm away from the rotating shaft, the camera mounted on the mounting arm, and the rotating shaft being driven to rotate by a drive structure.

[0005] When the multi-dimensional monitoring drone imaging device for the bridge is working, the drive structure drives the rotating shaft to rotate, which allows the swing arm to swing up and down, thereby allowing the camera to flip to the top or bottom of the drone. This allows the drone to collect images of the bridge above and below it. Since only one camera is needed, no additional camera control equipment is required, resulting in lower costs.

[0006] The existing technical solutions described above have the following drawbacks: The UAV imaging device for multi-dimensional bridge monitoring has improved the camera to enable a 180° rotation function, theoretically allowing for image acquisition of the bridge sections above and below the UAV. However, in complex bridge monitoring scenarios, the shortcomings of this 180° rotation design remain significant.

[0007] Bridge structures are not simply two single planes, top and bottom; they contain numerous complex spatial structures and inclined sections, such as the sides of bridge supports, cable anchorages, box girder webs, and cap beam sides. These sections do not belong purely to the "above" or "below" category, but rather to inclined or vertical surfaces situated between these two positions. Because cameras can only rotate 180° vertically, their rotation range is strictly limited, preventing adjustments to the shooting angle to the left, right, or diagonal directions. This results in these inclined and vertical structures becoming new blind spots for monitoring.

[0008] In actual inspections, even when inspectors repeatedly flew the multi-dimensional monitoring drone around the bridge, they still struggled to obtain crucial image information such as the condition of cracks on the sides of the supports and the degree of concrete spalling in the web of the box girder. This significantly affected the completeness and accuracy of the bridge inspection results, making it impossible to provide comprehensive and reliable data support for the bridge's maintenance and safety assessment. Utility Model Content

[0009] The present invention aims to address the aforementioned shortcomings in the prior art by providing a drone imaging device for multi-dimensional bridge monitoring, which solves the problem of limited camera shooting angles in the prior art.

[0010] The above-mentioned utility model objective is achieved through the following technical solution: a UAV imaging device for multi-dimensional bridge monitoring, comprising a UAV, a camera, and a multi-dimensional adjustment mechanism for adjusting the camera's shooting angle. The multi-dimensional adjustment mechanism includes a fixed frame mounted on the UAV, a vertical cylinder mounted on the fixed frame, a vertical shaft passing through the vertical cylinder, a vertical drive motor for driving the vertical shaft to rotate mounted on the vertical cylinder, a rotating frame mounted at the bottom of the vertical shaft, a horizontal cylinder mounted on the rotating frame, a horizontal shaft passing through the horizontal cylinder, a horizontal drive motor for driving the horizontal shaft to rotate mounted on the horizontal cylinder, and the camera mounted at the end of the horizontal shaft away from the horizontal drive motor.

[0011] The present invention is further configured such that: an upper spline hole is provided on the top surface of the vertical shaft, and the output shaft of the vertical drive motor is connected to the vertical shaft spline through the upper spline hole.

[0012] The present invention is further configured such that: an upper groove is provided inside the vertical cylinder, and an upper bearing fitted on the vertical shaft is inserted into the upper groove.

[0013] The present invention is further configured such that: an upper retaining spring is fitted on the top of the vertical shaft by means of a slot, and the upper retaining spring abuts against the top surface of the upper bearing above.

[0014] The present invention is further configured such that: a groove and a through hole are sequentially opened downward on the top surface of the rotating frame; the groove is a polygonal groove; a block is provided at the bottom of the vertical shaft to engage with the groove; a screw is provided at the bottom of the block; and a nut is threadedly connected to the screw after it passes through the through hole.

[0015] The present invention is further configured such that: a lower spline hole is provided on the end face of the flat shaft, and the output shaft of the flat drive motor is connected to the flat shaft spline through the lower spline hole.

[0016] The present invention is further configured such that: a lower groove is provided in the body of the flat cylinder, and a lower bearing fitted on the flat shaft is interference-fitted into the lower groove.

[0017] The present invention is further configured such that: the flat shaft is fitted with a right retaining spring through a slot, the right retaining spring abuts against the lower bearing on the right side, the end face of the flat cylinder away from the flat drive motor is provided with several ball grooves, each ball being rolled in the ball grooves, the flat shaft is provided with a left limiting plate, the end face of the left limiting plate facing the flat cylinder is provided with a raceway, and several balls are embedded in the raceway and form a rolling friction pair with the raceway.

[0018] The present invention is further configured such that: the axial surface of the flat shaft extending out of the flat cylinder has an external thread, and the camera has a threaded hole that is threadedly connected to the flat shaft.

[0019] In summary, the beneficial technical effects of this utility model are as follows: When this UAV imaging device for multi-dimensional bridge monitoring is working, the vertical drive motor drives the vertical shaft connected to it via a spline to rotate. The rotating frame is located at the bottom of the vertical shaft. Driven by the rotation of the vertical shaft, the rotating frame rotates around the central axis of the vertical shaft. The camera moves synchronously with the rotating frame, achieving panoramic position adjustment in the vertical direction. At the same time, the horizontal drive motor drives the horizontal shaft connected to it via a spline to rotate. Since the camera is directly mounted on the horizontal shaft, the camera rotates around the central axis of the horizontal shaft. Through the coordinated control of the vertical drive motor and the horizontal drive motor, this UAV imaging device for multi-dimensional bridge monitoring ensures that the camera can achieve flexible rotation and positioning in multiple dimensions and angles within the bridge monitoring scenario, expanding the monitoring coverage and minimizing monitoring blind spots. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the UAV imaging device for multi-dimensional monitoring of bridges in this utility model; Figure 2 This is an exploded view of the camera and multi-dimensional adjustment mechanism in this utility model; Figure 3 This is a cross-sectional view of the multi-dimensional adjustment mechanism in this utility model; Figure 4 yes Figure 3Enlarged view of point A in the middle; Figure 5 yes Figure 3 Enlarged view of point B in the middle; Figure 6 This is an exploded structural diagram of the multi-dimensional adjustment mechanism in this utility model.

[0021] In the above attached diagram: 1. UAV; 2. Camera; 3. Multi-dimensional adjustment mechanism; 4. Fixing frame; 5. Vertical cylinder; 6. Vertical shaft; 7. Upper spline hole; 8. Vertical drive motor; 9. Upper groove; 10. Upper bearing; 11. Upper retaining ring; 12. Rotating frame; 13. Insert groove; 14. Through hole; 15. Insert block; 16. Screw; 17. Nut; 18. Flat cylinder; 19. Flat shaft; 20. Lower spline hole; 21. Flat drive motor; 22. Lower groove; 23. Lower bearing; 24. Right retaining ring; 25. Left limiting plate; 26. Ball groove; 27. Ball; 28. Raceway; 29. ​​Threaded hole. Detailed Implementation

[0022] To make the technical means, creative features, objectives and effects of this utility model clearer and easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] like Figure 1 As shown, this utility model proposes a UAV imaging device for multi-dimensional monitoring of bridges, including a UAV 1, a camera 2, and a multi-dimensional adjustment mechanism 3, which is used to adjust the shooting angle of the camera 2.

[0024] like Figure 3 and 4 As shown, the multi-dimensional adjustment mechanism 3 includes a mounting frame 4, which is screwed onto the drone 1. A cylindrical vertical shaft 5 is fixedly connected to the end of the mounting frame 4 away from the drone 1. A vertical shaft 6 is vertically inserted through the center of the vertical shaft 5. An upper spline hole 7 is provided on the top surface of the vertical shaft 6. A vertical drive motor 8 is screwed onto the top surface of the vertical shaft 5. The output shaft of the vertical drive motor 8 is a splined shaft, and the output shaft of the vertical drive motor 8 is splinedly connected to the vertical shaft 6 through the upper spline hole 7.

[0025] like Figure 3 and 4 As shown, upper grooves 9 are provided on both the upper and lower end faces of the vertical cylinder 5. Upper bearings 10 are interference-fitted into the upper grooves 9, and the two upper bearings 10 are fitted onto the two ends of the vertical shaft 6. An upper retaining spring 11 is fitted onto the top of the vertical shaft 6 by means of a slot. The upper retaining spring 11 abuts against the top surface of the upper bearing 10 above, and the upper retaining spring 11 is used to restrict the axial movement of the vertical shaft 6.

[0026] like Figure 3 and 6As shown, a rotating frame 12 is provided at the bottom of the vertical shaft 6. A groove 13 and a through hole 14 are sequentially formed on the top surface of the rotating frame 12, pointing downwards. The groove 13 is a polygonal groove; in this embodiment, it is a regular hexagonal groove. The through hole 14 is a circular hole. A block 15 is fixedly connected to the bottom of the vertical shaft 6. The block 15 is a polygonal block; in this embodiment, it is a regular hexagonal block. When the block 15 is embedded in the groove 13, relative rotation between the vertical shaft 6 and the rotating frame 12 is restricted. A screw 16 is fixedly connected to the bottom of the block 15. The screw 16 passes through the through hole 14 and is threadedly connected to a nut 17. The nut 17 presses and fixes the rotating frame 12 to the bottom surface of the vertical shaft 6.

[0027] like Figure 3 and 5 As shown, a cylindrical flat cylinder 18 is fixedly connected to one end of the rotating frame 12 away from the vertical cylinder 5. A flat shaft 19 is horizontally inserted through the center of the flat cylinder 18. A lower spline hole 20 is provided on the end face of the flat shaft 19. A flat drive motor 21 is screwed to the end face of the flat cylinder 18. The output shaft of the flat drive motor 21 is a splined shaft, and the output shaft of the flat drive motor 21 is splinedly connected to the flat shaft 19 through the lower spline hole 20.

[0028] like Figure 3 and 5 As shown, both the left and right ends of the flat cylindrical body 18 are provided with lower grooves 22, and lower bearings 23 are interference-fitted into the lower grooves 22. The two lower bearings 23 are mounted on the flat shaft 19 and are used to support the rotation of the flat shaft 19.

[0029] like Figure 3 and 5 As shown, the flat shaft 19 is fitted with a right retaining spring 24 through a slot, and the right retaining spring 24 abuts against the lower bearing 23 on the right side. A left limiting plate 25 is fixedly connected to the flat shaft 19. The left limiting plate 25 cooperates with the right retaining spring 24 to limit the axial runout of the flat shaft 19.

[0030] like Figure 3 and 5 As shown, several ball grooves 26 are equidistantly spaced on the end face of the flat cylindrical body 18 away from the flat drive motor 21. The cross-section of the ball grooves 26 is semi-circular, and each ball groove 26 contains a rolling ball 27. An annular raceway 28 is formed on the end face of the left limiting plate 25 facing the flat cylindrical body 18. The cross-section of the raceway 28 is semi-circular, and several balls 27 are embedded in the raceway 28 to form a rolling friction pair with the raceway 28. Thus, there is rolling friction between the left limiting plate 25 and the flat cylindrical body 18.

[0031] like Figure 2 As shown, the flat shaft 19 has an external thread on its axial surface extending out of the flat cylinder 18, and the camera 2 has a threaded hole 29 that is threadedly connected to the flat shaft 19, so the camera 2 can rotate with the flat shaft 19.

[0032] When the UAV imaging device for multi-dimensional monitoring of this bridge is in operation, the vertical drive motor 8 drives the vertical shaft 6, which is splined to it, to rotate. The rotating frame 12 is located at the bottom of the vertical shaft 6. Driven by the rotation of the vertical shaft 6, the rotating frame 12 will rotate around the central axis of the vertical shaft 6. The camera 2 moves synchronously with the rotating frame 12 to achieve panoramic position adjustment in the direction of the vertical shaft 6. At the same time, the horizontal drive motor 21 drives the horizontal shaft 19, which is splined to it, to rotate. Since the camera 2 is directly mounted on the horizontal shaft 19, the camera 2 will rotate around the central axis of the horizontal shaft 19.

[0033] The UAV imaging device for multi-dimensional bridge monitoring uses the coordinated control of the vertical drive motor 8 and the horizontal drive motor 21 to ensure that the camera 2 can flexibly rotate and position in multiple dimensions and angles in the bridge monitoring scenario, thereby expanding the monitoring coverage and minimizing monitoring blind spots.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A UAV imaging device for multi-dimensional monitoring of bridges, characterized in that: The device includes a drone (1), a camera (2), and a multi-dimensional adjustment mechanism (3) for adjusting the shooting angle of the camera (2). The multi-dimensional adjustment mechanism (3) includes a fixed frame (4) set on the drone (1), a vertical cylinder (5) set on the fixed frame (4), a vertical shaft (6) vertically passing through the vertical cylinder (5), a vertical drive motor (8) for driving the vertical shaft (6) to rotate on the vertical cylinder (5), a rotating frame (12) set at the bottom of the vertical shaft (6), a flat cylinder (18) set on the rotating frame (12), a flat shaft (19) horizontally passing through the flat cylinder (18), a flat drive motor (21) for driving the flat shaft (19) to rotate on the flat cylinder (18), and the camera (2) set at the end of the flat shaft (19) away from the flat drive motor (21).

2. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The top surface of the vertical shaft (6) is provided with an upper spline hole (7), and the output shaft of the vertical drive motor (8) is splinedly connected to the vertical shaft (6) through the upper spline hole (7).

3. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The vertical cylinder (5) has an upper groove (9) inside, and an upper bearing (10) fitted onto the vertical shaft (6) is inserted into the upper groove (9).

4. The UAV imaging device for multi-dimensional bridge monitoring according to claim 3, characterized in that: The top of the vertical shaft (6) is fitted with an upper retaining spring (11) through a slot, and the upper retaining spring (11) abuts against the top surface of the upper bearing (10).

5. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The rotating frame (12) has a groove (13) and a through hole (14) sequentially formed on its top surface. The groove (13) is a polygonal groove. The bottom of the vertical shaft (6) is provided with a block (15) that engages with the groove (13). The bottom of the block (15) is provided with a screw (16). The screw (16) passes through the through hole (14) and is threadedly connected to a nut (17).

6. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The end face of the flat shaft (19) is provided with a lower spline hole (20), and the output shaft of the flat drive motor (21) is splinedly connected to the flat shaft (19) through the lower spline hole (20).

7. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The flat cylindrical body (18) has a lower groove (22) inside, and a lower bearing (23) fitted on the flat shaft (19) is inserted into the lower groove (22).

8. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The flat shaft (19) is fitted with a right retaining ring (24) through a slot. The right retaining ring (24) abuts against the lower bearing (23) on the right side. The flat cylinder (18) has several ball grooves (26) on the end face away from the flat drive motor (21). Rolling balls (27) are rolled in each of the ball grooves (26). The flat shaft (19) is provided with a left limiting plate (25). The end face of the left limiting plate (25) facing the flat cylinder (18) has a raceway (28). Several balls (27) are embedded in the raceway (28) and form a rolling friction pair with the raceway (28).

9. The UAV imaging device for multi-dimensional bridge monitoring according to claim 1, characterized in that: The flat shaft (19) has an external thread on the axial surface extending from the flat cylinder (18), and the camera (2) has a threaded hole (29) that is threadedly connected to the flat shaft (19).

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