CN217428236U - Connecting device and unmanned aerial vehicle measurement system of unmanned aerial vehicle airborne industrial camera - Google Patents

Abstract

The utility model relates to a connecting device and unmanned aerial vehicle measurement system of unmanned aerial vehicle machine carries industrial camera belongs to measuring equipment technical field, has solved among the prior art and has carried out the unmanned aerial vehicle machine carries industrial photogrammetry process to the large structure, and the camera unit is unstable on unmanned aerial vehicle position, and can not satisfy real-time normal direction and measure, and measured data is inaccurate, the technical problem that the treatment effeciency is low. The utility model discloses the device includes vertical rotating assembly, vertical rotatory counter weight subassembly, horizontal rotation subassembly and frame plate subassembly for with the connection of camera unit on unmanned aerial vehicle, carry out feed surface point cloud to large structure and measure. The utility model discloses a connecting device of unmanned aerial vehicle machine carries industrial camera can connect the camera unit on unmanned aerial vehicle reliable and stable, can rotate freely to the normal direction on any feed surface simultaneously. The device has stable structure and convenient use; the unmanned aerial vehicle measuring system using the device is suitable for the field of shooting of any flight measurement.

Description

Connecting device and unmanned aerial vehicle measurement system of unmanned aerial vehicle airborne industrial camera

Technical Field

The utility model relates to a measurement equipment technical field especially relates to a connecting device and unmanned aerial vehicle measurement system of unmanned aerial vehicle machine carries industrial camera.

Background

The industrial photogrammetry is taken as a branch of the surveying and mapping subject, and in the industrial field, the theoretical method and the technical means of close-range photogrammetry are utilized and the characteristics of industrial products are combined, so that the new subject field is gradually developed. The industrial photogrammetry is gradually developed towards the direction of diversification, high precision, high automation, realization of dynamic measurement and multi-sensor cooperation of cameras.

At present, research work and practical application of industrial photogrammetry on large structural parts are more and more, and the application range of flight survey technology is more and more extensive.

However, the shooting equipment in flight survey needs good stability, and flexible angle adjustment is also needed. With a detent toggle between the two.

At present, there is a great need for a device that can solve the above technical problems well.

SUMMERY OF THE UTILITY MODEL

In view of foretell analysis, the utility model aims at providing a connecting device and unmanned aerial vehicle measurement system of unmanned aerial vehicle machine carries industrial camera for solve large structure industrial measurement in-process camera and install stability on unmanned aerial vehicle not high, shoot in-process camera unit rotating part nimble, can not track the technical problem that feed surface normal carries out the shooting in real time.

The purpose of the utility model is mainly realized through the following technical scheme:

a connecting device of an airborne industrial camera of an unmanned aerial vehicle is used for connecting a camera unit to the unmanned aerial vehicle for measuring the shape and position of a large structural member; the connecting device is characterized by comprising a vertical rotating assembly, a vertical rotating counterweight assembly, a horizontal rotating assembly and a frame plate assembly.

Further, the frame plate assembly includes a frame main plate and a frame support plate; and 2 the frame support plates are oppositely arranged and are respectively and vertically connected with two ends of the same plane of the frame main plate.

Further, a frame main through hole is formed in the middle of the frame main board; the lower part of the frame support plate is provided with an inner frame passing notch, and the periphery of the inner frame passing notch is provided with a frame inner plate through hole.

Further, the vertical rotating assembly comprises a rotating motor, a first harmonic reducer unit, a first inner frame, a first outer frame, a first vibration reduction connecting assembly and a first vibration reduction connecting assembly; and a first inner frame lifting lug is arranged outside the first inner frame.

Further, an output shaft of the rotating electrical machine is connected to an input end of the first harmonic reducer unit; the output end of the first harmonic reducer unit is connected with the first vibration reduction connecting assembly; the output ends of the vibration reduction connecting assemblies are connected with the camera unit.

Furthermore, a first vibration reduction connecting assembly is sequentially connected with the first inner frame, the first outer frame and the frame support plate.

Furthermore, the first vibration reduction connecting assembly and the first vibration reduction connecting assembly comprise a camera mounting and connecting unit and a camera damping unit.

Furthermore, the vertical rotating counterweight component comprises a counterweight block, a counterweight connecting component, a second inner frame, a second outer frame and a second vibration reduction connecting component; the first end of the balancing weight is connected with the second inner frame; the second end of the balancing weight is connected with the balancing weight connecting assembly; the counterweight connecting assembly is a reverse mounting assembly of the first vibration reduction connecting assembly and the second vibration reduction connecting assembly.

Furthermore, the horizontal rotating assembly comprises a rotating motor, a second harmonic reducer unit, a third inner frame, a third vibration reduction connecting assembly, a horizontal rotating outer frame and a horizontal connecting assembly; the horizontal rotating outer frame comprises a third outer frame and a flying connecting unit arranged on the end face of the third outer frame.

The utility model provides an unmanned aerial vehicle measurement system, includes unmanned aerial vehicle machine carries the connecting device of industrial camera, still includes camera unit, unmanned aerial vehicle, measurement identification module and control terminal.

The beneficial effects of the above scheme are as follows:

compared with the prior art, the utility model discloses can realize one of following beneficial effect at least:

(1) the connecting device of the unmanned aerial vehicle airborne industrial camera can position the camera unit on the unmanned aerial vehicle in a stable structure, and ensures that the camera unit stably runs along with the unmanned aerial vehicle;

(2) the connecting device of the unmanned aerial vehicle airborne industrial camera can lead the camera unit to freely rotate vertically and horizontally relative to the unmanned aerial vehicle, thereby ensuring that the shooting direction can be adjusted to be consistent with the normal direction of the surface of the feed source in real time;

(3) the connecting device of the unmanned aerial vehicle airborne industrial camera is provided with the camera damping unit, so that the transmission of the vibration of the unmanned aerial vehicle to the camera unit can be effectively reduced;

(4) the utility model discloses a connecting device of unmanned aerial vehicle machine carries on in unmanned aerial vehicle measurement system, can improve flight measurement's shooting quality, improves measurement accuracy, but the range of application is extensive.

The utility model discloses in, can also make up each other between the above-mentioned each technical scheme to realize more preferred combination scheme. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout the drawings.

Fig. 1 is a schematic view of an overall structure of an unmanned aerial vehicle measurement system to which the present invention is applied;

FIG. 2 is a schematic view of the composite coding sign board of the present invention;

FIG. 3 is a schematic view of the overall structure of the industrial photogrammetric module of the present invention;

FIG. 4 is a schematic structural diagram of a main body of the camera;

fig. 5 is a schematic view of the overall structure of the vertical rotating assembly of the present invention;

FIG. 6 is a schematic view of the whole structure of the inner frame of the present invention;

fig. 7 is a schematic view of the overall structure of the vertical rotating counterweight assembly of the present invention;

fig. 8 is a schematic view of the overall structure of the horizontal rotating counterweight assembly of the present invention;

FIG. 9 is a schematic cross-sectional view taken along the central axis of FIG. 8;

fig. 10 is a schematic view of the overall structure of the industrial photogrammetric module of the present invention;

fig. 11 is a schematic view of the overall structure of the industrial photogrammetric module of the present invention;

fig. 12 is a schematic view of the overall structure of the industrial photogrammetric module of the present invention.

Reference numerals:

1. an unmanned aerial vehicle; 2. an industrial photogrammetry module; 21. a camera unit; 211. a camera body; 2111. a camera head; 2112. a flash lamp; 212. a camera body connection assembly; 2121. a camera screw hole; 2122. a camera tip hole; 22 connecting device of the unmanned aerial vehicle airborne industrial camera; 221. a vertical rotation assembly; 2211. a rotating electric machine; 2212. a harmonic reducer unit; 2213. an inner frame; 22131. an inner frame bottom; 22132. an inner frame body; 22133. the inner frame lifting lug; 2214. an outer frame; 22141. a frame plate body; 22142. a frame plate body via hole; 2215. the vibration reduction is connected with a component; 2216. the vibration reduction connection component II; 222. a vertical rotating counterweight assembly; 2221. a balancing weight; 223. a horizontal rotation assembly; 2231. horizontally rotating the outer frame; 22311. mounting a column; 22312. installing a stud; 2232. a horizontal connecting assembly; 224. a frame plate assembly; 2241. a frame main board; 2242. a frame support plate; 2243. the inner frame passes through the notch; 2244. an inner plate passing hole; 2245. a frame main via; 3. a measurement identification module; 31. a composite coding sign board; 311. a sign board; 312. marking a circle; 313. a nominal identification; 313-1. a first nominal identification; 313-2. a second nominal identification; 313-3. a third nominal identification; 32. common identification points; 32-1. a first generic identifier; 313-3. a third nominal identification; 4. a control terminal; 100. a large structural member; 100-1. curtain wall; 100-2. window.

Detailed Description

The connection device of the unmanned aerial vehicle-mounted industrial camera and the unmanned aerial vehicle measurement system of the present invention will be described in detail with reference to fig. 1 to 12 in the following, with a preferred embodiment, i.e., industrial scanning of a curved curtain wall 100-1 and a window 100-2 to be installed on the curtain wall 100-1.

Wherein the drawings constitute a part of the present invention and together with the embodiments thereof serve to explain the principles of the present invention, rather than to define the scope of the invention.

A dynamic measurement system for industrial photography of large structural members is used for measuring the shape and position of the large structural members 100, particularly measuring curtain walls 100-1 and windows 100-2 to be installed on the curtain walls 100-1. The surface being measured is defined as the feed surface.

The industrial photography dynamic measurement system for the large structural part comprises an unmanned aerial vehicle 1, an industrial photography measurement module 2, a measurement identification module 3 and a control terminal 4; the industrial photogrammetric module 2 is carried on the unmanned aerial vehicle 1; the control terminal 4 controls the unmanned aerial vehicle 1 and the industrial photogrammetric module 2; the measurement identification module 3 is arranged on the large structural member 100; the measurement identification module 3 comprises a composite coded sign board 31 and a plurality of identification points 32. As shown in fig. 1.

Specifically, the composite coded sign board 31 comprises a sign board 311, a coded sign and a plurality of nominal marks 313; the coded logo and the nominal logo 313 are disposed on the same surface of the sign board 311. As shown in fig. 2.

In the present embodiment, it is preferable that the composite coded sign board 31 is a metal board; the back of the composite coding mark plate 31 is provided with a magnetic material, which is convenient to be installed on a metal structure on the surface of the large structural member 100, or a metal block is specially installed on the surface of the large structural member 100, so that the composite coding mark plate 31 can be conveniently and fixedly attached to the surface of the large structural member 100. The front face of the composite coded sign board 31 is provided with coded signs and nominal signs 313.

More specifically, the code marks are formed by a group of mark circles 312 with the same radius, and each code mark can be distinguished due to different numbers and different position relations of the mark circles 312, so that the code marks have the characteristic of code and become the only measurement nominal feature in the measurement system. The measured nominal features are recorded in the photographic data processing module of the control terminal 4 for the integral stitching of the measured data. In this embodiment, as shown in fig. 1, the coding marks of different measurement nominal characteristics are respectively formed by using 9 mark circles 312 of 3 × 3 and by using mark circles 312 of different numbers and position relationships.

More specifically, the nominal mark 313 set on the composite coded sign board 31 includes at least 2 sets of nominal circles with different radii, and multiple sets of nominal circles may be arranged separately or arranged in a mixed manner, but the distances between the dots of each set of nominal circles are standard sizes calibrated by the factory, and the standard sizes may be the same or different, but are recorded in the photographic data processing module of the control terminal 4 to become the nominal length feature determined by the size of the scanned data, and thus all have the function of a reference scale. Preferably, the present embodiment uses three sets of nominal circles with different radii as the nominal marks 313, and the nominal circles are disposed on the sign board 311. The three groups of nominal marks 313 are a first nominal mark 313-1, a second nominal mark 313-2 and a third nominal mark 313-3, and the radius is from large to small in sequence. As shown in fig. 2.

Specifically, the measurement identifier module 3 further includes a plurality of common identifiers 32; the plurality of generic markers 32 are marker circles having different radii. The radius of the mark circle of each type of the common mark 32 corresponds to the radius of the nominal circle of one type of the nominal mark 313; different common identifiers 32 are arranged on different unit body surfaces on the large structural member 100. Further specifically, the common identifier 32 corresponds to a first common identifier 32-1 corresponding to the first nominal identifier 313-1; corresponding to the third nominal identification 313-3 and the generic identification 32 corresponds to the third generic identification 32-3.

Specifically, in the embodiment, the third common mark 32-3 is adhered to the surface of the feed source of the window 100-2, and a plurality of composite coding mark plates 31 are adhered at the same time; the first common mark 32-1 is adhered to the feed source surface of the curtain wall 100-1, and a plurality of composite coding mark plates 31 are adhered at the same time. The composite coded mark plates 31 and the common marks 32 are arranged asymmetrically as much as possible, and particularly in the area with large curvature change of the feed source surface and the boundary area of each unit element, a plurality of composite coded mark plates 31 and common marks 32, particularly common marks 32, are arranged more frequently.

Specifically, the industrial photogrammetric module 2 comprises a camera unit 21 and a connecting device 22 of an unmanned aerial vehicle-mounted industrial camera; the camera unit 21 is connected below the unmanned aerial vehicle 1 through a connecting device 22 of an onboard industrial camera of the unmanned aerial vehicle. As shown in fig. 3.

Further specifically, unmanned aerial vehicle 1 below has the unmanned aerial vehicle connection structure who connects industry photogrammetry module 2, is the connecting device 22 of unmanned aerial vehicle machine-mounted industry camera. Preferably, this embodiment hoists industry photogrammetry module 2 in unmanned aerial vehicle 1's aircraft belly lower part, and the unmanned aerial vehicle connection structure that the aircraft belly lower part set up can the connecting bolt.

Camera unit 21 is the utility model discloses unmanned aerial vehicle measurement system's function execution unit, when shooting towards the feed surface, needs the direction of shooting as far as possible along the normal on feed surface, needs the needs of shooting in the twinkling of an eye as far as stable simultaneously. Unmanned aerial vehicle 1 is at the flight in-process, will provide shooting position and angle as far as possible, but because the curvature change on feed surface can't be planned in detail, and the aircraft flight course itself changes the course at any time and can increase bigger instability to camera unit 21 shooting process in flight gate 1 simultaneously, consequently, need design necessary structure on the connecting device 22 through unmanned aerial vehicle airborne industrial camera to support camera unit 21 can rotate at any time in order to face the normal line on feed surface, have the function of isolation unmanned aerial vehicle 1 vibration simultaneously.

In this embodiment, connecting device 22 of unmanned aerial vehicle airborne industrial camera drives camera unit 21 and makes pitching rotation and plane rotary motion in unmanned aerial vehicle 1 below, simultaneously, still is provided with the device that can reduce unmanned aerial vehicle 1's vibration to camera unit 21 transmission on unmanned aerial vehicle airborne industrial camera's connecting device 22.

Further specifically, the camera unit 21 includes a camera body 211 and a camera body connection assembly 212 disposed on the camera body, and the camera body connection assembly 212 is configured to connect the connection device 22 of the unmanned aerial vehicle-mounted industrial camera. The camera body connecting assembly 212 in this embodiment is a housing integrated with the camera body 211, and both side surfaces of the housing are respectively provided with a camera screw hole 2121 and a camera tip hole 2122. The camera screw hole 2121 and the camera tip hole 2122 are used for connecting the connecting device 22 of the unmanned aerial vehicle-mounted industrial camera, and form a vertical rotation center line of the camera body 211. The camera body 211 is integrated with a conventional photographing module such as a photographing head 2111 and a flash 2112. The camera 2111 selects different lenses according to actual shooting requirements.

In further detail, the connecting device 22 of the unmanned aerial vehicle onboard industrial camera comprises a vertical rotating assembly 221, a vertical rotating counterweight assembly 222, a horizontal rotating assembly 223 and a frame plate assembly 224. The vertical rotating assembly 221, the vertical rotating weight assembly 222, the horizontal rotating assembly 223 and the frame plate assembly 224 respectively comprise a camera mounting connection unit and a camera damping unit; a camera damping unit is integrated in the camera mounting connection unit. Preferably, the camera damping unit comprises one or more groups of elastic members, each group of elastic members comprises at least 2 disc springs which are stacked together; the camera mounting-connecting unit includes a screw or a bolt, and an elastic washer, a flat washer, and a lock nut mounted on the screw or the bolt with a disc spring as an elastic member interposed therebetween. The composite structure of the camera damping unit integrated in the camera mounting and connecting unit can play a role in connection, and meanwhile, the damping bear patriotic is generated, so that the relative stability of the camera unit 21 is kept.

More specifically, a first end of the horizontal rotation component 223 is connected to the unmanned aerial vehicle connection structure, and a second end is fixedly connected to the middle of the frame plate component 24; the two ends of the frame plate assembly 24 are respectively connected with the vertical rotating assembly 221 and the vertical rotating counterweight assembly 222; the vertical rotation member 221 and the vertical rotation weight member 222 are connected to the camera unit 21 through a camera screw hole 2121 and a camera nose hole 2122, respectively.

More specifically, vertical rotating assembly 221 and horizontal rotating assembly 223 are substantially identical in structure and are used for connecting the relevant assemblies or units to perform rotating motion. Compared with the vertical rotating assembly 221, the horizontal rotating assembly 223 changes the outer frame 2214 into the horizontal rotating outer frame 2231, that is, on the basis of the structure of the outer frame 2214, a mounting post 22311 connected with the connecting structure of the unmanned aerial vehicle and a mounting post bolt 22312 arranged at the end of the mounting post 22311 are added, as shown in fig. 5, 9 and 10; the vertical rotating weight assembly 222 is identical in appearance and connection structure to the horizontal rotating assembly 223, and the main function of the vertical rotating weight assembly 222 is to perform a weight function with the same mass as the vertical rotating assembly 221, maintaining the mass balance of the entire industrial photogrammetric module 2, while being coaxial with the vertical rotating assembly 221 at the camera tip hole 2122, forming a pitch motion centerline of the camera unit 21. As shown in fig. 5 and 8.

More specifically, as shown in fig. 5, the vertical rotation assembly 221 includes a rotating electrical machine 2211, a harmonic reducer unit 2212, an inner frame 2213, an outer frame 2214, a vibration damping connection assembly 2215, and a vibration damping connection assembly 2216. The harmonic reducer 2212 comprises a harmonic reducer and couplings at two ends of the harmonic reducer, and auxiliary parts required during connection, including an intermediate connecting plate and the like. The vibration damping connection assembly 2215 and the vibration damping connection assembly 2216 respectively include a camera mounting connection unit and a camera damping unit.

An output shaft of the rotating motor 2211 is connected with an input end of the harmonic reducer unit 2212 through a first coupler, an output end of the harmonic reducer unit 2212 is connected with the two vibration reduction connecting components 2216 through a second coupler, an output end of the vibration reduction connecting components 2216 is a bolt, and the bolt is in threaded connection with the camera screw hole 2121.

The inner frame 2213 includes an inner frame bottom 22131, an inner frame 22132 connected to an end face of the inner frame bottom 22131, and an inner frame tab 22133 provided outside the inner frame 22132, as shown in fig. 6.

The outer frame 2214 is a frame plate parallel to the cross section of the inner frame 2213, and includes a frame plate 22141 and a plurality of frame plate through holes 22142 uniformly distributed on the frame plate 22141.

The inner frame base 22131 is attached to the outer shell of the harmonic reducer unit 2212, and the inner frame 2213 is attached to a frame plate assembly 224 at the inner frame lifting lug 22133 by vibration damping, through the frame plate body through hole 22142 of the outer frame 2214, as shown in fig. 7.

Preferably, as shown in fig. 8, the vibration damping connection assembly 2215 comprises a first connecting rod, preferably a bolt, disposed on a first side of the inner frame tab 22133, extending through the inner frame tab 22133, the outer frame 2214 and the frame plate assembly 224. A flat gasket and an elastic washer are arranged between the bolt head and the first side of the inner frame lifting lug 22133; a plurality of disc springs, preferably 4 disc springs, are arranged between the second side of the inner frame lifting lug 22133 and the first side of the outer frame 2214; a plurality of belleville springs, more preferably 2 belleville springs, are disposed between the second side of the outer frame 2214 and the inside of the frame plate assembly 224; spring washers, flat washers and locks are provided on the outside of the frame plate assembly 224. The description corresponds to the assembly process. The vibration damping connecting component 2215 comprises a locking part and a vibration damping part as long as the functions of connecting and damping vibration can be achieved.

Preferably, as shown in fig. 8, vibration damping connection assembly 2216 is used to connect vertical rotation assembly 221 to camera unit 21, and in particular to the housing of camera body connection assembly 212. The vibration damping connection assembly 2216 of this particular embodiment includes a second connecting rod with a polished rod portion and a threaded portion. The polished rod part of the second connecting rod is connected with a coupling connected with the output end of the harmonic reducer; the thread part of the second connecting rod is connected with the camera screw hole 2121. The second connecting rod is provided with a locking nut, a flat washer, an adjusting sleeve, an elastic washer and a flat washer in sequence from the coupler to the camera screw hole 2121. The adjustment sleeve is a sleeve of replaceable dimensions to compensate for manufacturing tolerances of the components in the industrial photogrammetric module 2.

Specifically, the vertical rotating counterweight assembly 222 comprises an inner frame 2213, an outer frame 2214 and a vibration reduction connecting assembly 2215 in the horizontal rotating assembly 223, and since the vertical rotating counterweight assembly 222 is used for balancing the vertical rotating assembly 221 and has the function of forming a rotating shaft by a tip, the rotating motor 2211, the harmonic reducer unit 2212 and two couplings in the vertical rotating assembly 221 are replaced by a balancing weight 2221, the sum of the masses of the parts is matched, and the mass center positions are equivalent; at the same time, the vibration damping connecting assembly 2216 is installed in the reverse direction, and the second connecting rod is replaced with a counterweight connecting rod, i.e. the end of the optical axis is made into a reversed pyramid with a conical hole matching the conical hole at the inner top of the camera tip hole 2122, and the counterweight connecting assembly 2222 is formed by other locking parts, as shown in fig. 8. Matching a conical surface; the conical surface is tightly attached to a tip conical hole at the top end inside the camera tip hole 2122; then, the threaded portion thereof is connected to the threaded hole provided in the weight 2221, and all the fastening parts are connected, and finally, the fastening parts are fastened to the weight 2221 with the fastening nuts. Namely, firstly ensuring that the top tip part is attached in place, and finally locking.

Specifically, the horizontal rotation assembly 223 includes a rotation motor 2211, a harmonic reducer unit 2212, an inner frame 2213, a vibration reduction connection assembly 2215, a horizontal rotation outer frame 2231 and a horizontal connection assembly 2232 in the horizontal rotation assembly 223. As shown in fig. 9 and 10.

More specifically, the horizontal rotating frame 2231 includes a frame 2214, a plurality of flying connecting units uniformly distributed on one end face of the frame plate 22141 of the frame 2214; each flight attachment unit includes a mounting post 22311 and a mounting post bolt 22312 on the mounting post 22311, respectively; frame plate through holes 22142 are uniformly distributed on the frame plate 22141; preferably, the present embodiment includes 4 mounting posts 22311 uniformly distributed at the vertices of 4 squares of the frame plate 22141, and each mounting post is screwed with 1 mounting post bolt 22312. As shown in fig. 11. The mounting studs 22312 may be attached to the unmanned aerial vehicle attachment structure provided on the lower portion of the aircraft belly.

In further detail, horizontal linkage assembly 2232 is used to link horizontal rotation assembly 223 to frame plate assembly 224. Preferably, the horizontal connecting assembly 2232 includes a horizontal connecting rod including a horizontal connecting rod optical axis portion and a horizontal connecting rod threaded portion. The horizontal link optical axis portion connects the second coupling in the horizontal link assembly 2232 connected to the harmonic reducer unit 2212, and the horizontal link threaded portion connects the frame plate assemblies 224. On the horizontal connecting rod, an elastic washer, a flat washer, a lock nut, a horizontal rotation adjusting sleeve, an elastic washer and a flat washer are sequentially arranged between the second coupling and the outer side of the frame plate assembly 224; the threaded portion of the horizontal connecting rod is provided with a plurality of disc springs, elastic washers, flat washers, and lock nuts in sequence on the outside of the frame plate assembly 224.

Specifically, the frame plate assembly 224 includes a frame main plate 2241 and frame support plates 2242 respectively installed at two ends of the frame main plate 2241; a bridging main through hole 2245 for installing the horizontal connecting assembly 2232 is formed in the middle of the frame main plate 2241, and a horizontal connecting rod corresponding to the horizontal connecting assembly 2232 passes through the bridging main through hole 2245; an inner frame passing notch 2243 is formed in the lower portion of the frame support plate 2242; bridging inner plate through holes 2244 are uniformly distributed on a frame support plate 2242 on the periphery of the inner frame through groove opening 2243, and correspondingly, an inner frame lifting lug 22133 is connected with a vibration damping connecting assembly 2215. As shown in fig. 12.

Specifically, the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle unit and a flight execution unit; the flight execution unit is built in the unmanned aerial vehicle unit; the flight execution unit at least comprises an inertia detection device; the inertial detection device is preferably an IMU sensor; the IMU sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and is used for recording attitude information of the unmanned aerial vehicle in the flight process, providing the attitude information for the control terminal 4 to judge and send a next flight command. The flight execution unit at least comprises an obstacle avoidance unit and a positioning unit; the obstacle avoidance unit can ensure the safety of flight, and the positioning unit can ensure the accuracy of a flight route. The unmanned aerial vehicle 1 further comprises a remote controller and a power supply; keep away barrier unit, positioning unit and power setting and be in unmanned aerial vehicle is last, the remote controller is independent of unmanned aerial vehicle.

Specifically, the control terminal 4 at least comprises a built-in flight control module, an industrial measurement camera control module, a camera data processing module and an emergency treatment module; the control terminal 4 with unmanned aerial vehicle 1 and industry photogrammetry module 2 wireless intercommunication.

Wherein, flight control module is according to the feedback signal of each sensor on the unmanned aerial vehicle, to flight execution unit output signal control unmanned aerial vehicle unit power take off, guarantees that unmanned aerial vehicle steadily flies.

The shooting data processing module is internally provided with definition files for measuring nominal characteristics and nominal length characteristics, and is also internally provided with a tracking module, so that a reference part and a tracking part can be formed by automatically dividing the measurement data obtained after one-time measurement, then, the tracking part is further shot by the camera unit 21, the tracking part is implemented, and the position change of the tracking part relative to the reference part is analyzed in real time at the terminal of the control terminal 4.

The industrial measurement camera control module is internally provided with a flash lamp control module, receives an image acquisition signal, triggers the flash lamp control module, responds to the signal by a flash lamp, and triggers the camera unit to execute an image acquisition task.

The emergency handling module receives signals of the obstacle avoidance unit and the relevant sensors, outputs signals to the flight control module, and controls the unmanned aerial vehicle to hover or return.

The specific embodiment is an industrial photography dynamic measurement in the process of installing the window 100-2 to the curtain wall 100-1 with the curved surface, and may resolve a complete photogrammetric data once on a photogrammetric data processing module, divide the data into components, define point cloud data on the curtain wall 100-1 as a reference part, point cloud data on the window 100-2 as a tracking part, then use a camera unit 21 to implement tracking of a common identifier 32 on the window 100-2, resolve a position change of the point cloud on the window 100-2 relative to the point cloud data on the curtain wall 100-1 that has been measured at the terminal of the control terminal 4, that is, a motion trajectory of a part of the window 100-2 can be given in real time, and guide the window 100-2 to be installed on the curtain wall 100-1 with the curved surface with an optimal path.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention.

Claims (10)

1. A connecting device of an airborne industrial camera of an unmanned aerial vehicle is used for connecting a camera unit (21) to the unmanned aerial vehicle (1) for measuring the form and position of a large structural member (100); characterized in that the connecting means comprises a vertical swivel assembly (221), a vertical swivel counterweight assembly (222), a horizontal swivel assembly (223) and a frame plate assembly (224).

2. The connecting device of an industrial camera onboard an unmanned aerial vehicle according to claim 1, characterized in that said frame plate assembly (224) comprises a frame main plate (2241) and a frame support plate (2242); 2 frame extension board (2242) sets up relatively, respectively the vertical connection in the both ends of frame mainboard (2241) coplanar.

3. The connecting device of the industrial camera on board of unmanned aerial vehicle of claim 2, characterized in that the frame main board (2241) is provided with a frame main through hole (2245) in the middle; the lower part of frame extension board (2242) is provided with inside casing and passes through notch (2243), and be in inside casing passes through notch (2243) periphery and is equipped with frame inner panel clearing hole (2244).

4. The connecting device of an on-board industrial camera of an unmanned aerial vehicle according to claim 1, characterized in that said vertical rotation assembly (221) comprises a rotation motor (2211), a first harmonic reducer unit, a first inner frame, a first outer frame, a first vibration damping connection first assembly and a first vibration damping connection second assembly; and a first inner frame lifting lug is arranged outside the first inner frame.

5. The device for connecting an industrial camera onboard an unmanned aerial vehicle according to claim 4, characterized in that the output shaft of the rotating electrical machine (2211) is connected to the input of the first harmonic reducer unit; the output end of the first harmonic reducer unit is connected with the first vibration reduction connecting assembly; the output end of the vibration reduction connecting two components is connected with the camera unit (21).

6. Connecting device of an industrial camera onboard an unmanned aerial vehicle according to claim 5, characterized in that said first shock-absorbing connection-assembly connects in sequence said first inner frame, first outer frame and frame support plate (2242).

7. The device of any of claims 4-6, wherein the first vibration damping connection assembly and the second vibration damping connection assembly each comprise a camera mounting connection unit and a camera damping unit.

8. The device for connecting an industrial camera onboard a drone of claim 7, characterized in that said vertical rotating counterweight assembly (222) comprises a counterweight (2221), a counterweight connection assembly (2222), a second inner frame, a second outer frame and a second vibration-damping connection assembly; the first end of the balancing weight (2221) is connected with the second inner frame; a second end of the counterweight block (2221) is connected with the counterweight connecting component (2222); the counterweight connecting component (2222) is a reverse mounting component of the first vibration reduction connecting two components.

9. The device for connecting an industrial camera onboard an unmanned aerial vehicle according to claim 7, characterized in that said horizontal rotation assembly (223) comprises a rotation motor (2211), a second harmonic reducer unit, a third inner frame, a third vibration damping connection assembly, a horizontal rotation outer frame (2231) and a horizontal connection assembly (2232); the horizontal rotating outer frame (2231) comprises a third outer frame and a flying connecting unit arranged on the end surface of the third outer frame.

10. An unmanned aerial vehicle measurement system, characterized in that, includes the connecting device of unmanned aerial vehicle on-board industrial camera of any one of claims 1-9, further includes the camera unit (21), unmanned aerial vehicle (1), measurement identification module (3) and control terminal (4).

Images