CN210212803U - Three-span line intelligent space distance calculating device - Google Patents
Three-span line intelligent space distance calculating device Download PDFInfo
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- CN210212803U CN210212803U CN201920730210.4U CN201920730210U CN210212803U CN 210212803 U CN210212803 U CN 210212803U CN 201920730210 U CN201920730210 U CN 201920730210U CN 210212803 U CN210212803 U CN 210212803U
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- support
- aerial vehicle
- unmanned aerial
- range finding
- camera
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Abstract
The utility model belongs to the technical field of electric power inspection line, especially, be a three-span line intelligence spatial distance calculating device, including unmanned aerial vehicle body, unmanned aerial vehicle support and two mesh range finding subassemblies, the unmanned aerial vehicle support includes main support, attaches the support and connects the swivel mount, the main support with attach between the support through connect the swivel mount articulated, two mesh range finding subassemblies include cloud platform, range finding camera and fall way, two the range finding camera passes through the fall way liftable connect in the bottom of cloud platform, the cloud platform is located the bottom of unmanned aerial vehicle body; the utility model discloses a folding unmanned aerial vehicle support, the main support with attach and fold through articulated between the support, range finding camera simultaneously passes through the fall way and can little control the lift distance, just so can guarantee the rotation that two cameras can be free under unmanned aerial vehicle, and the support avoids appearing in the field of vision of camera as far as possible, has reduced the influence to the camera.
Description
Technical Field
The utility model belongs to the technical field of electric power patrols the line, especially, be a three-span circuit intelligence spatial distance calculating device.
Background
The three-span line patrol detection adopts an unmanned aerial vehicle carrying a video camera to detect, two cameras are used for positioning, images of an object are shot by two cameras fixed at different positions on the object, coordinates of the point on image planes of the two cameras are respectively obtained, and as long as the accurate relative positions of the two cameras are known, the coordinates of the feature point in a coordinate system for fixing one camera can be obtained by a geometric method, namely the position of the feature point is determined.
Because the two cameras are used for positioning, the calculation parameters are set, the positions of the two cameras are fixed, but different postures need to be changed in the actual shooting process, the rotation postures of the two cameras are limited due to the existence of the support, and meanwhile, the image visual field of the cameras can be influenced, so that the establishment of space coordinates is not facilitated.
SUMMERY OF THE UTILITY MODEL
To solve the problems set forth in the background art described above. The utility model provides a three-span line intelligence spatial distance calculating device has the characteristics of the first gesture of regulation and control camera of being convenient for.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a three-span line intelligence spatial distance calculating device, includes unmanned aerial vehicle body, unmanned aerial vehicle support and two mesh range finding subassemblies, the unmanned aerial vehicle support includes the main support, attaches the support and connects the swivel mount, the main support with attach and pass through between the support connect the swivel mount articulated, two mesh range finding subassemblies include cloud platform, range finding camera and fall way, two the range finding camera passes through connect with the fall way liftable in the bottom of cloud platform, the cloud platform is located the bottom of unmanned aerial vehicle body to be located the inboard of unmanned aerial vehicle support.
Preferably, the elevator pipe includes sleeve pipe and slide pipe of mutual cutting ferrule, just sheathed tube inner wall both ends have spacing portion, the outer wall both ends of slide pipe have with spacing portion complex spacing ring.
Preferably, a linear protruding portion is fixed on the outer wall of the sliding pipe, a linear sliding groove matched with the linear protruding portion is formed in the inner wall of the sleeve, a load plate is fixed on the inner wall of the sliding pipe located at the bottommost end, and the load plate is in transmission connection with a winding mechanism inside the propeller support.
Preferably, the winding mechanism comprises a winding motor and a winding roller at the output end of the winding motor, a winding rope is wound on the winding roller, and the other end of the winding rope is fixed on the load plate.
Preferably, the distance measuring camera is connected with the cradle head through a spiral cable signal, and the spiral cable penetrates through the lifting pipe from the distance measuring camera and is connected to the cradle head.
Preferably, the outer wall of unmanned aerial vehicle body is centrosymmetric through the screw support and installs six screws, the interference connection has the paddle to accomodate the ring on the screw support, the paddle is accomodate and is encircled and has been seted up square groove.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a folding unmanned aerial vehicle support, the main support with attach and fold through articulated between the support, range finding camera simultaneously passes through the fall way and can little control the lift distance, just so can guarantee the rotation that two cameras can be free under unmanned aerial vehicle, and the support avoids appearing in the field of vision of camera as far as possible, has reduced the influence to the camera.
2. In addition, by the mode, the spacing distance between the two cameras can be increased, and after the spacing distance between the cameras is increased, the disparity maps of the pictures of the two cameras can be increased, so that binocular matching operation is easy to perform, the matching difficulty and the calculation difficulty are reduced, and the establishing speed and the accuracy of the spatial distance calculation coordinates are greatly improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the main support of the present invention showing the dynamic folding;
FIG. 3 is a dynamic view of the folding of the auxiliary frame of the present invention;
fig. 4 is a schematic view of the elevator tube of the present invention;
fig. 5 is a schematic top view of the elevator tube of the present invention;
in the figure: 1. an unmanned aerial vehicle body; 11. a propeller support; 12. a propeller; 13. a blade receiving ring; 2. an unmanned aerial vehicle support; 21. a main support; 22. attaching a bracket; 23. connecting the rotary seat; 3. a binocular ranging assembly; 31. a holder; 32. a ranging camera; 33. a lifting pipe; 331. a sleeve; 3311. a limiting part; 3312. a linear chute; 332. a slide pipe; 3321. a limiting ring; 3322. a linear protrusion; 333. a load board.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
Referring to fig. 1-5, the present invention provides the following technical solutions: the utility model provides a three-span line intelligence spatial distance calculating device, including unmanned aerial vehicle body 1, unmanned aerial vehicle support 2 and binocular range finding subassembly 3, unmanned aerial vehicle support 2 includes main support 21, attach support 22 and connect swivel mount 23, main support 21 with attach and articulate through connecting swivel mount 23 between the support 22, binocular range finding subassembly 3 includes cloud platform 31, range finding camera 32 and elevator pipe 33, two range finding cameras 32 connect in the bottom of cloud platform 31 through elevator pipe 33 liftable, cloud platform 31 is located unmanned aerial vehicle body 1's bottom, and be located unmanned aerial vehicle support 2's inboard.
In this embodiment: including unmanned aerial vehicle body 1, unmanned aerial vehicle support 2 and binocular range finding subassembly 3, unmanned aerial vehicle support 2 includes main support 21, attach support 22 and connect swivel mount 23, main support 21 with attach and articulate through connecting swivel mount 23 between the support 22, the one end of main support 21 articulates on unmanned aerial vehicle body 1, when treating flight status, can drive the gear revolve of main support 21 tip through screw motor, can realize changing the angle of main support 21, accomplish folding process, it is unanimous with main support 21 and unmanned aerial vehicle body 1's principle to attach the folding principle between support 22 and the main support 21, binocular range finding subassembly 3 includes cloud platform 31, range finding camera 32 and elevator pipe 33, two range finding cameras 32 are connected in the bottom of cloud platform 31 through elevator pipe 33 liftable, cloud platform 31 is located the bottom of unmanned aerial vehicle body 1, and is located the inboard of unmanned aerial vehicle support 2, two range finding cameras 32 are demarcated through the camera-binocular correction-binocular match- - The binocular distance measurement process is completed through the steps of calculating depth information and the like, the lifting pipe 33 can synchronously control the lifting of the two distance measurement cameras 32, the rotating ranges of the two distance measurement cameras 32 are increased, the disparity maps of the pictures of the two cameras can be increased, binocular matching operation is easy to perform, the matching difficulty and the calculation difficulty are reduced, and therefore the establishing speed and the accuracy of the spatial distance calculation coordinates are greatly improved.
Specifically, the elevator tube 33 comprises a sleeve 331 and a slide tube 332 which are clamped with each other, wherein two ends of the inner wall of the sleeve 331 are provided with a limit part 3311, and two ends of the outer wall of the slide tube 332 are provided with limit rings 3321 matched with the limit parts 3311; the telescopic tube 331 and the sliding tube 332 which are mutually sleeved can realize the extension and contraction between the lifting tube 33, so that the lifting of the two distance measuring cameras 32 is realized.
Specifically, a linear protrusion 3322 is fixed on the outer wall of the slide tube 332, a linear chute 3312 matched with the linear protrusion 3322 is formed on the inner wall of the sleeve 331, a load plate 333 is fixed on the inner wall of the slide tube 332 at the bottommost end, and the load plate 333 is in transmission connection with a winding mechanism in the propeller support 11; the slide tube 332 and the sleeve 331 are circumferentially fixed by the linear protrusion 3322 and the linear slide slot 3312, and do not rotate relative to each other, thereby preventing a steering error of the camera.
Specifically, the winding mechanism comprises a winding motor and a winding roller at the output end of the winding motor, a winding rope is wound on the winding roller, and the other end of the winding rope is fixed on the load plate 333; two wind-up rolls are coaxially driven on the winding motor, the wind-up rolls are connected to the load plate 333 through a winding rope, the self-weight of the ranging camera 32 can keep in a descending state, and when the winding motor retracts, the wind-up rolls are driven by the wind-up motor to wind up the lifting pipe 33.
Specifically, the distance measurement camera 32 is in signal connection with the pan/tilt head 31 through a spiral cable, and the spiral cable penetrates through the lifting pipe 33 from the distance measurement camera 32 and is connected to the pan/tilt head 31; the spiral cable can ensure that the stability of signal transmission can be ensured in the lifting process.
Specifically, six propellers 12 are arranged on the outer wall of the unmanned aerial vehicle body 1 in a centrosymmetric manner through a propeller support 11, a blade containing ring 13 is connected to the propeller support 11 in an interference manner, and a square groove is formed in the blade containing ring 13; when the propeller is stored, the blade storage ring 13 can be pushed to a proper position to clamp the propeller 12, so that the blades can be protected.
The utility model discloses a theory of operation and use flow: one end of the main support 21 is hinged on the unmanned aerial vehicle body 1, when in a flying state, the gear at the end part of the main support 21 can be driven to rotate by the screw motor, the angle of the main support 21 can be changed, the folding process is finished, the folding principle between the auxiliary support 22 and the main support 21 is consistent with the principle of the main support 21 and the unmanned aerial vehicle body 1, the cloud deck 31 is positioned at the bottom of the unmanned aerial vehicle body 1 and positioned at the inner side of the unmanned aerial vehicle support 2, the binocular ranging process is finished by the steps of camera calibration, binocular correction, binocular matching, depth information calculation and the like by the two ranging cameras 32, the lifting pipe 33 can synchronously control the lifting of the two ranging cameras 32, so that the rotating range of the two ranging cameras 32 is increased, the parallax map of two camera pictures can be increased, and the binocular, the matching difficulty and the calculation difficulty are reduced, so that the establishing speed and the accuracy of the spatial distance calculation coordinate are greatly improved.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a three-span line intelligence spatial distance calculating device, includes unmanned aerial vehicle body (1), unmanned aerial vehicle support (2) and binocular range finding subassembly (3), its characterized in that: unmanned aerial vehicle support (2) include main support (21), attach support (22) and connect swivel mount (23), main support (21) with attach and pass through between support (22) it is articulated to connect swivel mount (23), binocular range finding subassembly (3) are including cloud platform (31), range finding camera (32) and fall way (33), two range finding camera (32) are passed through fall way (33) connect with liftable the bottom of cloud platform (31), cloud platform (31) are located the bottom of unmanned aerial vehicle body (1), and are located the inboard of unmanned aerial vehicle support (2).
2. The three-span line intelligent spatial distance calculating device of claim 1, wherein: the elevator tube (33) comprises a sleeve (331) and a slide tube (332) which are mutually clamped, two ends of the inner wall of the sleeve (331) are provided with limiting parts (3311), and two ends of the outer wall of the slide tube (332) are provided with limiting rings (3321) matched with the limiting parts (3311).
3. The three-span line intelligent spatial distance calculating device according to claim 2, wherein: the outer wall of slide pipe (332) is fixed with linear bulge (3322), the inner wall of sleeve pipe (331) is seted up with linear spout (3312) of linear bulge (3322) cooperation, is located the bottommost slide pipe (332) inner wall is fixed with load board (333), load board (333) and the inside rolling mechanism transmission of screw support (11) are connected.
4. The three-span line intelligent spatial distance calculating device according to claim 3, wherein: the winding mechanism comprises a winding motor and a winding roller at the output end of the winding motor, a winding rope is wound on the winding roller, and the other end of the winding rope is fixed on the load plate (333).
5. The three-span line intelligent spatial distance calculating device of claim 1, wherein: the distance measurement camera (32) with cloud platform (31) pass through spiral cable signal connection, just the spiral cable from on the distance measurement camera (32) run through fall way (33) and be connected to in cloud platform (31).
6. The three-span line intelligent spatial distance calculating device of claim 1, wherein: the outer wall of unmanned aerial vehicle body (1) is centrosymmetric through screw support (11) and installs six screws (12), interference connection has the paddle to accomodate ring (13) on screw support (11), the square groove has been seted up on ring (13) is accomodate to the paddle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920730210.4U CN210212803U (en) | 2019-05-21 | 2019-05-21 | Three-span line intelligent space distance calculating device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920730210.4U CN210212803U (en) | 2019-05-21 | 2019-05-21 | Three-span line intelligent space distance calculating device |
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| Publication Number | Publication Date |
|---|---|
| CN210212803U true CN210212803U (en) | 2020-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920730210.4U Expired - Fee Related CN210212803U (en) | 2019-05-21 | 2019-05-21 | Three-span line intelligent space distance calculating device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111494853A (en) * | 2020-04-10 | 2020-08-07 | 中国矿业大学 | Multi-mode visual servo control fire-fighting system and working method thereof |
-
2019
- 2019-05-21 CN CN201920730210.4U patent/CN210212803U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111494853A (en) * | 2020-04-10 | 2020-08-07 | 中国矿业大学 | Multi-mode visual servo control fire-fighting system and working method thereof |
| CN111494853B (en) * | 2020-04-10 | 2021-05-11 | 中国矿业大学 | Multi-mode visual servo control fire-fighting system and working method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200331 Termination date: 20210521 |
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| CF01 | Termination of patent right due to non-payment of annual fee |