CN210175142U - Telemetering device with camera shooting function - Google Patents
Telemetering device with camera shooting function Download PDFInfo
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- CN210175142U CN210175142U CN201921132804.1U CN201921132804U CN210175142U CN 210175142 U CN210175142 U CN 210175142U CN 201921132804 U CN201921132804 U CN 201921132804U CN 210175142 U CN210175142 U CN 210175142U
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Abstract
The utility model discloses a telemetering device with camera function, which is used for carrying on an unmanned aerial vehicle for inspection, and comprises a holder, a rotating arm and a base fixedly connected with the unmanned aerial vehicle; the remote sensing instrument is used for acquiring gas concentration information, is connected with one end of the rotating arm far away from the base through a rotating motor, and is used for driving the remote sensing instrument to rotate so as to change the detection direction of the remote sensing instrument; and the camera device is arranged on the telemeter and is used for recording image information, and the detection direction of the telemeter is kept the same as the central direction of the image recorded by the camera device. The utility model discloses install camera device and guarantee on the telemeter that camera device can acquire the image the same with the direction that the telemeter examined to can carry on unmanned aerial vehicle, when improving the efficiency of patrolling and examining, improve the positioning accuracy who reveals the position.
Description
Technical Field
The utility model relates to a gas is revealed the technical field who patrols and examines, especially relates to a can improve the telemetering measurement device who carries the function of making a video recording of patrolling and examining the accuracy.
Background
At present, a gas company is used for maintaining pipelines by utilizing a geographic information system and a handheld terminal to patrol and examine through manual work and utilizing a vehicle-mounted detector to patrol and examine, the two modes all need manual work to visit a site, the distribution range of a natural gas pipeline is wide, so that the patrol and examine workload is large, the patrol and examine data is scattered, the pipeline is in a good working state under general conditions, and a patrol and examine person is easy to relax and alert, so that leakage is caused.
The pilotless aircraft is called unmanned aerial vehicle for short, and is called UAV for short in English, is a manned aircraft operated by a radio remote control device and a self-contained program control device, is widely used in inspection technology, based on the defects of the manual pipeline maintenance work, unmanned aerial vehicle is used in pipeline inspection, the current unmanned aerial vehicle inspection is mainly that the unmanned aerial vehicle carries a laser methane telemeter to scan a measurement or leakage area, measure the methane concentration, generate a real-time electronic map of the methane concentration, timely handle emergency situations and the like, the carried unmanned aerial vehicle of an optical pod flies above the pipeline to be observed, the field observation is carried out by a real-time high-definition image system at an open visual angle from top to bottom, and an observation form without a dead angle is formed together with the ground, simultaneously, the photo or the video is shot, the position information is automatically recorded in the photo, and post-processing or archiving can be carried out; the unmanned aerial vehicle system has unique advantages in gas pipeline inspection, but because the unmanned aerial vehicle flies, is easily influenced by the environment, the prior telemeter is usually fixed on a cloud deck, the cloud deck is carried on an unmanned aerial vehicle, in addition, another cradle head is required to be arranged for carrying the camera device, the weight of the whole cradle head is increased by arranging the two cradle heads, moreover, the requirement of controlling the postures of the two pan/tilt heads increases the difficulty in realizing the technology, and the camera device is difficult to be ensured to be capable of recording the image of each position point detected by the telemeter so as to realize one-to-one correspondence, therefore, the solution is to determine the position of the gas leakage point according to the attitude of the holder and the position of the unmanned aerial vehicle only through the detection of the telemeter, however, the position of the unmanned aerial vehicle is usually obtained through a positioning device such as a GPS, and there is a certain deviation, and the calculation of the gas leakage point is inaccurate; the other type is that two cruise devices are arranged and respectively carry a telemeter and a camera device for synchronous inspection, but the two cruise devices have the defects of high cost and complex control mode.
SUMMERY OF THE UTILITY MODEL
To the weak point that exists in the above-mentioned technique, the utility model discloses aim at solving current unable weight that reduces the device, and can't acquire the technical problem of the image information of equidirectional, provide a remote measuring device who carries the function of making a video recording, install camera device on the telemeter, and the direction that telemeter detected gas concentration information is the same with camera device admission image information's direction, the weight of the integrated device has been reduced greatly, and guarantee that camera device can acquire the image information with gas concentration information equidirectional, guarantee that the gas leaks the accuracy that the dew point patrolled and examined.
In order to achieve the above object, the utility model provides a remote measuring device who carries camera function, include:
the cloud platform comprises a rotating arm and a base which is fixedly connected with the unmanned aerial vehicle;
the remote sensing instrument is used for acquiring gas concentration information, is connected with one end of the rotating arm far away from the base through a rotating motor, and is used for driving the remote sensing instrument to rotate so as to change the detection direction of the remote sensing instrument;
the camera device is arranged on the telemeter and used for recording image information, and the detection direction of the telemeter is kept the same as the central direction of an image recorded by the camera device;
the control device is installed in the cloud platform to acquire control information of the unmanned aerial vehicle, and the telemeter, the camera device and the control device are all connected with a main control device of the unmanned aerial vehicle to enable the cloud platform to acquire the control information of the unmanned aerial vehicle, and the gas concentration information acquired by the telemeter, the image information recorded by the camera device and the attitude information of the cloud platform are transmitted to the main control device of the unmanned aerial vehicle.
The remote sensing device comprises a fixing device body, the fixing device body comprises a connecting portion and a fixing portion, the camera device body is installed on the fixing portion, the connecting portion is fixedly connected with the remote sensing device, the fixing portion comprises a fixing base, a calibration seat and a spring, the other end of the fixing base is fixedly connected with the camera device body, first threaded holes are formed in the periphery of the other end of the fixing base, first through holes are formed in the periphery of the calibration seat and correspond to the first threaded holes, first flanges are arranged in the threaded holes, second flanges are arranged in the first through holes, the spring is located between the first flanges and the second flanges, and one end, provided with a nut, of the first screw is abutted to the first through holes, and the other end of the first screw penetrates through holes and is fixed in the first threaded holes after the first.
The base is provided with a yaw motor, and the yaw motor is connected with the rotating arm and controls the rotating arm to rotate relative to the base.
The rotating arm comprises a pitching rotating arm, the rotating motor comprises a pitching motor, one end of the pitching rotating arm is connected with the yaw motor, the other end of the pitching rotating arm is connected with the telemeter through the pitching motor, and the height of the telemeter is smaller than the length of the rotating arm.
The rotating arm comprises a pitching rotating arm and a rolling rotating arm, the rotating motor comprises a pitching motor and a rolling motor, one end of the rolling rotating arm is connected with the yaw motor, the other end of the rolling rotating arm is connected with the pitching rotating arm through the rolling motor and is controlled to rotate the pitching rotating arm, the pitching rotating arm is connected with the telemeter through the pitching motor, and the pitching motor controls the telemeter to rotate.
The utility model has the advantages that: compared with the prior art, the utility model provides a telemetering device with camera function, which is used for carrying an unmanned aerial vehicle to inspect, the camera device of the telemetering device with camera function is arranged on a telemeter, and another tripod head is arranged to install the camera device, thereby reducing the weight of the whole device, and the direction of the image information recorded by the camera device is the same as the direction of the gas concentration information detected by the telemetering device, ensuring that the image information with the same direction as the gas concentration information can be obtained by the camera device, when the gas leakage is determined, the position coordinates of the gas leakage can be preliminarily determined according to the attitude and the position information of the unmanned aerial vehicle and the attitude information of the tripod head, and then the image information recorded by the camera device and the gas concentration information with the same direction can be intercepted, further confirm the positional information of gas leakage point, avoided because unmanned aerial vehicle's position is inaccurate and can't record the image information who gets with gas concentration information syntropy, and lead to the not accurate problem in location of gas leakage point, when reaching the improvement and patrolling and examining efficiency, accomplish the accurate technological effect in location of gas leakage point.
Drawings
Fig. 1 is an overall schematic view of the present invention;
fig. 2 is an exploded view of the present invention;
fig. 3 is a schematic structural view of the fixing device and the camera device of the present invention;
fig. 4 is a schematic structural view of the fixing base of the present invention;
fig. 5 is a schematic structural view of the calibration seat and the connection portion of the present invention;
fig. 6 is a second overall schematic view of the present invention;
fig. 7 is another schematic angle diagram of fig. 6 according to the present invention.
The main element symbols are as follows:
1. tripod head 2, telemeter
3. Imaging device 4 and control device
6. A fixing portion 7 and a connecting portion.
Detailed Description
In order to make the present invention clearer, the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, the present invention provides a telemetering apparatus with a camera function, including:
the cloud platform 1 comprises a rotating arm 11 and a base 12 which is fixedly connected with the unmanned aerial vehicle;
and 2, telemeter 2: the gas concentration sensor is used for collecting gas concentration information, is connected with one end of the rotating arm 11 far away from the base 12 through the rotating motor 13, and the rotating motor 13 is low and used for driving the telemeter 2 to rotate so as to change the detection direction of the telemeter 2. The gas concentration information is connected with the rotating arm 11 and is detected in different areas along with the rotation of the rotating arm 11;
the imaging device 3: the remote sensing device is arranged on the remote sensing instrument 2, is arranged on the remote sensing instrument 2 and is used for recording image information, and the detection direction of the remote sensing instrument 2 is kept the same as the central direction of an image recorded by the camera device 3;
compared with the prior art, the utility model discloses a carry telemetry unit of function of making a video recording, through installing camera device 3 on the telemeter, make cloud platform 1, telemeter 2 and camera device 3 form a whole, avoid when patrolling and examining, need set up a cloud platform 1 in addition and be used for installing camera device 3, and increase holistic weight, set up the direction of the detection gas concentration of telemeter 2 simultaneously the same with the direction of camera device admission image, the not enough of the image information that camera device 3 probably can not be admitted the same with the detection direction of telemeter 2, cloud platform 1 can provide the effect of increasing steady and controlling whole orientation for camera device 3 and telemeter 2 simultaneously, make telemeter 2 and camera device 3 can be stable aim at target detection area, obtain stable accurate gas concentration information and image information; during operation, only gas concentration information collected by the telemeter 2, image information recorded by the camera device 3 and attitude information of the holder 1 are required to be transmitted to a main control device of the unmanned aerial vehicle, whether gas leakage exists or not is judged through the gas concentration information, when the gas leakage exists, the position coordinates of the gas leakage are preliminarily determined according to the position of the unmanned aerial vehicle, the attitude information of the unmanned aerial vehicle and the attitude information of the holder, meanwhile, the specific position of the gas leakage is determined by further combining the intercepted image information in the same direction with the gas concentration information, the angles between the holder and the telemeter and between the holder and the camera device are not required to be respectively calculated, variables are reduced, the phenomenon that a calculation result has large errors due to inaccurate positioning of the unmanned aerial vehicle is avoided, and the accuracy of the position of the dew point leakage obtained through detection is greatly improved.
In this embodiment, referring to fig. 1 to 4, the present invention further includes a fixing device, the fixing device includes a connecting portion 5 and a fixing portion 6, the camera 3 is installed on the fixing portion 6, and is fixedly connected to the telemeter 2 via the connecting portion 5, and the connecting portion 5 is fixed to at least two planes of the telemeter 2, since the camera 3 and the telemeter 2 are mostly rectangular solids, and the outer surface of the telemeter 2 is formed by a plurality of planes, the connecting portion 5 is fixed to at least two planes of the telemeter 2, so as to ensure that the camera 3 is stably installed on the telemeter, and it is prevented that the camera is affected by the environment during the inspection process, and it is found that the image center is inconsistent with the detection center due to shaking; in order to adjust the camera device 3, the fixing portion 6 includes a fixing base 61, a calibration base 62 and a spring 63, one end of the fixing base 61 is fixedly connected to the camera device 3, the other end of the fixing base is provided with a first threaded hole 611, the calibration base 62 is provided with a first through hole 621 at a position corresponding to the first threaded hole 611 at a periphery thereof, the threaded hole 611 is provided with a first flange 612, the first through hole 621 is provided with a second flange 622, the spring 63 is located between the first flange 612 and the second flange 622, one end of the first screw 7 with a nut is abutted against the first through hole 621, the other end of the first screw 7 sequentially passes through the first through hole 621 and the spring 63 and then is fixed in the first threaded hole 611, so that the spring 7 can only move between the first flange 612 and the second flange 622, therefore, only the length of each first screw in the first threaded hole needs to be different, the compression degree of each spring is different, and further the distance between each first flange and the, the distances around the calibration seat and the fixed base are different, so that the deflection angle and direction of the fixed base relative to the calibration seat are different, the central position of a camera of the camera device is calibrated, the camera device is fixedly mounted, the central direction of the camera device can be calibrated at any time, the target position needing to be shot is aligned, the calibration adjustment before delivery is met, the recalibration of later-period maintenance is facilitated, the mounting base can be repeatedly used, the spring keeps a compression state to provide elasticity, the pretightening force of the first screw and the calibration seat is generated, and the pretightening force can play a role in preventing looseness; the first threaded hole can also adopt a structure the same as that of the first through hole, at the moment, the first screw is a self-tapping screw, the fixing base is a plastic part, the first screw and the first threaded hole can be fixed, the effect of adjusting the size of the deflection angle between the fixing base and the calibration base is achieved, and the specific implementation mode can be selected according to the actual situation.
In this embodiment, referring to fig. 1, 2 and fig. 4 to 7, a yaw motor 14, also called a YAM axis motor, is installed on a base 12, the yaw motor 14 is connected to a rotating arm 11 and controls the rotating arm 11 to rotate horizontally relative to the base 12, so that the telemeter 2 and the camera 3 swing left and right along with the rotating arm 11, if the detection direction of the telemeter 2 is in the direction of the base 12, when the yaw motor 12 controls the rotating arm 11 to rotate relative to the base 12, the telemeter 2 rotates in a circle, and the detection area range is small, so that before rotation, the rotating arm 11 needs to be adjusted to rotate until the telemeter 2 forms a certain angle with the base, and the detection area range of the telemeter 2 is increased; the height of the telemeter 2 is smaller than the length of the rotating arm, at the moment, the tripod head 1 is a two-axis tripod head, the rotating arm is a pitching rotating arm 111, also called a PITCH shaft, the rotating motor is a pitching motor 121, also called a PITCH motor, at the moment, the pitching motor 121 can control the pitching rotation, also called left-right rotation, of the telemeter 2, and during working, before inspection is carried out, the rotating motor 13 controls the telemeter 2 to rotate until the detection center of the telemeter 2 is opposite to the position of the base 11, so that during inspection, the rotating arm 11 is only required to be controlled to swing by a certain angle in the back-and-forth direction, such as 45 degrees, and the telemeter 2 is S-shaped relative to the flight route of the unmanned aerial vehicle, and the detection area range is increased; in order to ensure the stability in the inspection process, the rotating arm 11 comprises a pitching rotating arm 111 and a rolling rotating arm 112 which are respectively a PITCH rotating arm and a ROLL rotating arm, the rotating motor 13 comprises a pitching motor 131 and a rolling motor 132 which are respectively a PITCH motor and a ROLL motor, the pan-tilt is a three-axis pan-tilt at the moment, one end of the rolling rotating arm 112 is connected with the yaw motor 14, the other end of the rolling rotating arm is connected with the pitching rotating arm 111 through the rolling motor 132 and controls the pitching rotating arm 111 to rotate, the pitching rotating arm 111 is connected with the telemeter 2 through the rolling motor 131, the pitching motor 131 controls the telemeter 2 to rotate, and the rolling rotating arm 112 and the rolling motor 132 can play a role in increasing the stability in flight; at the moment, the length of the pitching rotating arm 111 is larger than the height of the telemeter 2, the telemeter 2 is controlled to rotate to the position, opposite to the position of the base 11, of the detection center of the telemeter 2 through the pitching motor 131 before polling is carried out, therefore, in the polling process, the pitching motor 131 is only required to be controlled to rotate a certain angle in the back-and-forth direction, such as (-) 45 degrees to 45 degrees, the telemeter 2 can also realize the S-shaped flying route relative to the unmanned aerial vehicle, and the detection area range is enlarged.
In this embodiment, the working process is; the remote measuring device with the camera shooting function is carried on an unmanned aerial vehicle, a remote measuring instrument 2 and a camera shooting device 3 of the remote measuring device are electrically connected with a main control device of the unmanned aerial vehicle, a cloud deck 1 can be electrically connected with the main control device of the unmanned aerial vehicle through a control device, the unmanned aerial vehicle inspects the air over an area to be inspected, the unmanned aerial vehicle controls the cloud deck 1 to rotate and obtains gas concentration information detected by the remote measuring instrument in the inspection process, and whether gas leaks or not is determined according to the gas concentration information; when determining gas leakage, only image information recorded by the camera device 3 and in the same direction as the gas concentration information needs to be intercepted, the unmanned aerial vehicle is controlled to obtain the attitude information of the holder, the position coordinate of the gas leakage is preliminarily determined according to the position of the unmanned aerial vehicle, the attitude information of the unmanned aerial vehicle and the attitude information of the holder, and the specific position of the gas leakage is further determined by combining the intercepted image information in the same direction as the gas concentration information without respectively calculating the angles between the holder and the telemeter, between the holder 2 and the camera device 3, so that the variables are reduced, the larger error of the calculation result caused by inaccurate positioning of the unmanned aerial vehicle is avoided, the accuracy of the position of the detected leakage point is greatly improved, wherein the position coordinate of the unmanned aerial vehicle comprises the longitude and latitude coordinates of the unmanned aerial vehicle and the linear height of the unmanned aerial vehicle from the ground, and the attitude information of the holder comprises the azimuth angle of the holder and the included angle between the pitching, still can be for the contained angle with the ground of every rotor arm of cloud platform, and the technological formula of the gesture information according to unmanned aerial vehicle's gesture and position coordinate, cloud platform of confirming preliminarily the position of gas dew point can be:
the longitude formula of the gas leakage point is long2 = long1 + d sin α/[ ARC cos (lat1) × 2 π/360 ];
the latitude formula of the gas leakage point is Lat2 = Lat1 + d cos α/(ARC 2 pi/360), wherein d = h tan theta, theta is the pitch angle of the pitching rotating arm of the cloud platform, the average radius of the earth is ARC =6371.393 1000 (meters), Long1 is the longitude of the unmanned aerial vehicle, Lat1 is the latitude of the unmanned aerial vehicle, d is the linear distance between the aircraft and the target point, α is the azimuth angle of the unmanned aerial vehicle plus the azimuth angle of the cloud platform, for example, when the gas concentration information is detected to be larger than a preset threshold value, the gas leakage of the point is judged, at the moment, the GPS coordinate of the unmanned aerial vehicle is assumed to be (114.164943, 22.535622), the flying height h is 30m, the pitch angle theta of the pitching rotating arm of the cloud platform is 45 degrees, the preliminary coordinate of the gas leakage point is calculated to be (114.165149, 22.535813), meanwhile, the intercepted image information in the same direction as the gas concentration information is further combined to determine the specific position of the gas leakage, calculation of the cloud platform is not needed, the remote camera instrument, the remote camera device is reduced, and the accuracy of the detection of the gas leakage is greatly improved.
The utility model has the advantages that:
(1) the camera device is arranged on the telemeter, and the direction of the telemeter for detecting the gas concentration information is the same as the direction of the camera device for recording the image information, so that the weight of the whole device is greatly reduced, the camera device can acquire the image information in the same direction as the gas concentration information, and the accuracy of the inspection of the gas leakage point is ensured;
(2) the camera shooting device is arranged on the telemeter through the fixing device, and the fixing device has a calibration function and can calibrate and maintain the camera shooting direction of the camera shooting device;
(3) the cloud platform can be two-axis cloud platform still can be three-axis cloud platform, and at the in-process of patrolling and examining, the cloud platform can be drifted away and rotate and/or the rotation of every single move, and the region of patrolling and examining is increased, improves the accuracy of patrolling and examining.
The above disclosure is only one or several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be made by those skilled in the art should fall within the protection scope of the present invention.
Claims (5)
1. A telemetry device for carrying a camera function, comprising:
the cloud platform comprises a rotating arm and a base which is fixedly connected with the unmanned aerial vehicle;
the remote sensing instrument is used for acquiring gas concentration information, is connected with one end of the rotating arm far away from the base through a rotating motor, and is used for driving the remote sensing instrument to rotate so as to change the detection direction of the remote sensing instrument;
and the camera device is arranged on the telemeter and used for recording image information, and the detection direction of the telemeter is kept the same as the central direction of the image recorded by the camera device.
2. The telemeter device with camera function according to claim 1, further comprising a fixing means, the fixing device comprises a connecting part and a fixing part, the camera device is arranged on the fixing part, is fixedly connected with the telemeter through the connecting part, the fixing part comprises a fixed base, a calibration seat and a spring, one end of the fixed base is fixedly connected with the camera device, the periphery of the other end of the fixed base is provided with a first threaded hole, the periphery of the calibration base is provided with a first through hole corresponding to the first threaded hole, a first flange is arranged in the threaded hole, a second flange is arranged in the first through hole, and the spring is positioned between the first flange and the second flange, one end of the first screw with the nut is propped against the first through hole, and the other end of the first screw with the nut sequentially passes through the first through hole and the spring and then is fixed in the first threaded hole.
3. The telemetry device with camera function as claimed in claim 1 or 2, wherein a yaw motor is mounted on the base, and the yaw motor is connected with the rotating arm and controls the rotating arm to rotate relative to the base.
4. The telemetry device with camera function of claim 3, wherein the rotor arm comprises a pitch rotor arm, the rotor motor comprises a pitch motor, one end of the pitch rotor arm is connected to the yaw motor, the other end of the pitch rotor arm is connected to a telemeter through the pitch motor, and the telemeter has a height less than a length of the rotor arm.
5. The telemetry device with camera function as claimed in claim 3, wherein the rotor arm comprises a pitch rotor arm and a roll rotor arm, the rotor motor comprises a pitch motor and a roll motor, one end of the roll rotor arm is connected to the yaw motor, the other end of the roll rotor arm is connected to the pitch rotor arm through the roll motor and controls the pitch rotor arm to rotate, the pitch rotor arm is connected to the telemetry device through the pitch motor, and the pitch motor controls the telemetry device to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921132804.1U CN210175142U (en) | 2019-07-18 | 2019-07-18 | Telemetering device with camera shooting function |
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| CN201921132804.1U CN210175142U (en) | 2019-07-18 | 2019-07-18 | Telemetering device with camera shooting function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455707A (en) * | 2020-11-27 | 2021-03-09 | 广东电网有限责任公司肇庆供电局 | Hyperspectral remote sensing earth observation unmanned aerial vehicle system |
| CN114241724A (en) * | 2021-12-31 | 2022-03-25 | 天津中科飞航技术有限公司 | Automatic inspection method for unmanned aerial vehicle gas leakage inspection device |
-
2019
- 2019-07-18 CN CN201921132804.1U patent/CN210175142U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455707A (en) * | 2020-11-27 | 2021-03-09 | 广东电网有限责任公司肇庆供电局 | Hyperspectral remote sensing earth observation unmanned aerial vehicle system |
| CN114241724A (en) * | 2021-12-31 | 2022-03-25 | 天津中科飞航技术有限公司 | Automatic inspection method for unmanned aerial vehicle gas leakage inspection device |
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