CN102627145A - Multi-shaft video electric aerocraft for bridge inspection - Google Patents
Multi-shaft video electric aerocraft for bridge inspection Download PDFInfo
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- CN102627145A CN102627145A CN2012101160511A CN201210116051A CN102627145A CN 102627145 A CN102627145 A CN 102627145A CN 2012101160511 A CN2012101160511 A CN 2012101160511A CN 201210116051 A CN201210116051 A CN 201210116051A CN 102627145 A CN102627145 A CN 102627145A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
Abstract
The invention relates to a multi-shaft video electric aerocraft for bridge inspection, which comprises an aerocraft and an aerial shooting system, wherein the aerocraft comprises an aerocraft rack, a flight control unit, supporting legs and 4-12 supporting beams; the aerial shooting system comprises a camera, a camera rack, an elastic component, a cradle head, a gyrostabilizer and a video transmission and camera cradle head controller; an upright post is fixed on the aerocraft rack, a camera ring stand is installed on the upright post, the camera, the cradle head and the gyrostabilizer are fixed on the camera ring stand by the elastic component, and the video transmission and camera cradle head controller is installed on the aerocraft rack; and the power line of a motor is connected with a power supply on the ground by a speed governor, a power terminal of the aerocraft and a power lead. According to the invention, the aerial shooting system is installed at the upper part of the aerocraft, and can inspect the beam body and support of the bridge, so that the bridge inspection is more convenient and quicker, and the bridge inspection efficiency and reliability are improved; and the aerocraft is powered by a wired manner, so that the flight load is reduced, ample power is provided for the aerocraft, and the aerocraft can fly in a stagnant manner in a limited airspace for a long time.
Description
Technical field
The invention belongs to the vehicle technology field, relate to a kind of Electric aircraft, be specifically related to a kind of wired multiaxis video Electric aircraft that is used for bridge inspection with video.
Background technology
Along with the continuous development of China's communication, the quantity of bridge is more and more, and safe and smooth for bridge needs regularly check bridge, finds the bridge potential faults as early as possible.
Prior art adopts special bridge inspection car to bridge inspection, with the supervisory personnel place bridge below check that because the acquisition expenses of bridge-checking vehicle is expensive, the bridge inspection expense is high.During to the bridge inspection operation; Usually needed to stride (crossing bridge pier) operation; The walkway truss (or hold-down arm) of bridge-checking vehicle must return back to the bridge outside and could realize striding; Receive the restriction of physical construction condition and from the security consideration of bridge inspection personnel and equipment, the revolution operation must slowly be carried out, and has therefore reduced work efficiency.In addition, bridge-checking vehicle is difficult to realize check simultaneously to the wide cut bridge or with the bridge of another travel direction of striding.
The aircraft maneuverability; Employing (or video) aircraft of taking photo by plane is checked bridge; The testing staff carries out bridge inspection through video remote operation and control convenience, can reduce equipment and bridge inspection expense, enlarges the bridge inspection scope; Improve the inspection work efficiency, improve inspection bridge personnel's service conditions.(or video) aircraft of taking photo by plane is checked bridge; Must meet following several requirements: ⑴ operation under bridge; Check beam body and bridge pad, receive the space constraint of structure, need satisfy aircraft flight and shooting condition; The flight screw propeller will have certain distance apart from the bridge bottom, and video equipment must place the top of flight blade to look up and face upward bat.⑵ for improving the quality of bridge inspection work, and aircraft must have long flying power.⑶ wind-force is bigger under the bridge, and aircraft will be had a smooth flight, and stronger wind loading rating must be arranged.⑷ for finding bridge fault disease accurately, and video equipment will have the resolution of high definition, can take a picture again by surveillance video.
The take photo by plane bat mode of aircraft of prior art mainly is to take a crane shot or level is taken, and capture apparatus places the below of aircraft, and resolution is lower, can't check operation to inspection bridge beam body bottom and bridge pad.In addition, all self-powered source of aircraft (or spark ignition engine or battery) receives the restriction of take-off weight, can not be with fuel oil or high capacity cell more, and the sky so aircraft can not stagnate for a long time can't satisfy the requirement of bridge inspection operation.
Application number is that 201010529631.4 Chinese invention patent application discloses a kind of folding six multi-rotor aerocrafts; " comprise body, motor, six groups of motor mounting cups, rotor and six hold-down arms; in the motor mounting cup motor is housed; rotor is placed on the outside of motor mounting cup and links to each other with motor; body links to each other with the motor mounting cup through hold-down arm, and internal body is equipped with flight control system, sensor, battery and fuel-feed system, and said six hold-down arms comprise two fixing branch braces and four pivotal support arms." this patent application reduced the physical dimension of aircraft, be convenient to deposit, solve the multiaxis multi-rotor aerocraft and be not easy to the problem of carrying and transporting.But this patent application does not relate to the technology of taking photo by plane as yet, can not solve the problem that above-mentioned prior art exists.
Summary of the invention
The purpose of this invention is to provide a kind of bridge inspection with multiaxis video Electric aircraft,, improve bridge inspection work efficiency and safety, reduce labour intensity and bridge inspection expense to adapt to the inspection of taking photo by plane to various bridge; Adopting wired mode simultaneously is that aircraft provides enough electric power, guarantees the flight and the hang time of aircraft, satisfies the requirement of bridge inspection operation.
A kind of bridge inspection of the present invention is with multiaxis video Electric aircraft, comprises aircraft, system takes photo by plane.Aircraft comprises aircraft frames, flight controller, supporting leg and 4～12 support beams.Flight controller is installed on the aircraft frames, and supporting leg is connected with aircraft frames with support beam.Motor, governor and screw propeller are housed on the support beam, and screw propeller is installed on the motor and is positioned at the below of aircraft frames.The system of taking photo by plane is installed in the top of aircraft, and the system of taking photo by plane comprises video camera, shoots with video-corder frame, elastomeric element, The Cloud Terrace, gyrostabilizer and video transmission and video camera cradle head control device, shoots with video-corder frame and comprises column and video camera ring stand.Column is fixed on the aircraft frames, and the video camera ring stand is installed on the column, and video camera, The Cloud Terrace and gyrostabilizer are fixed on the video camera ring stand through elastomeric element, video transmission and video camera cradle head control device is fixed on the aircraft frames or on the column.The power lead of motor is connected to the mouth of governor, and the power input of governor is connected with ground-surface power supply through terminals for power supplies, the power lead of aircraft.
Support beam comprises two fixed pedestal beams and 2～10 folding support beams, and fixed pedestal beam and folding support beam are fixed on the aircraft frames with connecting element.Folding support beam is equipped with hinge and binding bolt.The length of power lead is 50 ~ 200m.Video camera is the high definition video camera.Flight controller is made up of control chip, 3 axle gyroscopes, accelerometer, weather gauge and sensors.Elastomeric element is preferably bungee.Bungee and gyrostabilizer increase the stability of video camera in order to offset the influence of aircraft vibrations to video camera, make picture quality more clear.
Aircraft control of the present invention and video signal transmission adopt the controlled in wireless form, and the power supply of flight drive motor is supplied with wired form that adopts.The motor-driven screw propeller produces lifting flight; Self is charged pool not, with 50 ~ 200m lead aircraft is connected with the power supply at different place, has both reduced battery load; For aircraft provides power supply endlessly, make aircraft stagnant empty flight in limiting the spatial domain for a long time again.Multiaxis be aircraft with plural motor and screw propeller group, around aircraft central authorities symmetric arrangement, the multi-shaft purpose is to improve aircraft wind loading rating and having a smooth flight property, also can video system be arranged in the top of aircraft central spiral oar.The high-resolution camera system of video bridge inspection personnel wireless remote control carries out video monitor and takes pictures bridge, and through the video radio transmission apparatus signal in real time is transferred to video terminal at a distance, supplies bridge inspection personnel to observe.
The present invention utilizes multiaxis Electric aircraft and the multiaxis video Electric aircraft that the system that takes photo by plane forms to adapt to the inspection of taking photo by plane to various bridge; The advantage that compared with prior art has is: 1. the system of taking photo by plane is installed in the top of aircraft; Can realize bridge beam body bottom and bridge pad are checked; Bridge inspection is more accurate, helps improving the quality of bridge inspection work.2. do not receive the restriction of bridge structure, aircraft can be flown to assigned address inspection, and can change rapidly and stride inspection, has improved the alerting ability and the reliability of bridge inspection.3. bridge inspection personnel check bridge through monitoring device, need not to get at the bottom of the bridge, have reduced labour intensity, have improved the safety of bridge inspection work.4. adopt cable power, electric power supply is sufficient, and the sky that helps stagnating is for a long time checked, improves the efficient of inspection work, reduces the inspection work-hours, alleviates the weight of aircraft simultaneously, reduces consumption of power.5. power-actuated aircraft is more steady than the aircraft flight that engine fuel drives, noise is low, has reduced FLIGHT VEHICLE VIBRATION to the influence that camera-shooting and recording device brings, and it is clear to shoot with video-corder picture, and the image data quality that provides is good; Improved bridge inspection personnel's working environment simultaneously.6. the support beam of aircraft adopts accordion structure, reduces taking up room of aircraft, makes things convenient for the transhipment of equipment.The present invention is simple in structure, in light weight, and convenient the use and transportation can be used for the bridge video check of taking photo by plane, and also can be used for the aerial video check of other field structure thing.
Description of drawings
Fig. 1 is the structural representation of bridge inspection of the present invention with multiaxis video Electric aircraft;
Fig. 2 is the C-C figure of Fig. 1.
1-video camera, 2-video camera ring stand, 3-bungee, 4-The Cloud Terrace, 5-gyrostabilizer, the transmission of 6-video and video camera cradle head control device, 7-motor, 8-screw propeller, 9-governor, 10-flight controller, 11-power lead, 12-aircraft frames, 13-binding bolt, 14-hinge, 15-fixed pedestal beam, 16-supporting leg, 17-folding support beam, 18-column.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is carried out detailed description.
Bridge inspection of the present invention is with multiaxis video Electric aircraft such as Fig. 1, shown in Figure 2, comprises aircraft, the system that takes photo by plane, and the top of aircraft is installed by the system that takes photo by plane.Aircraft comprises aircraft frames 12, flight controller 10,6,6 support beams of supporting leg, and flight controller is fixedly mounted on the aircraft frames, and supporting leg is connected with aircraft frames with support beam.Flight controller is made up of control chip, 3 gyroscopes, accelerometer, weather gauge and sensors.Support beam comprises two fixed pedestal beams 15 and 17,6 support beam rectangular distributions of four folding support beams, is fixed on the aircraft frames with connecting element.Two fixed pedestal beams are installed in the relative position of aircraft frames respectively, are positioned at same straight line, and folding support frame lays respectively at both sides, two of every sides.Folding support beam is equipped with hinge 14 and binding bolt 13, is used for the expansion, folding and fixing of folding support frame.Motor 7, governor 9, screw propeller 8 are housed on the support beam, are positioned at the below of support beam, screw propeller is installed on the motor.The power lead of motor is connected to the mouth of governor, and the power input of governor is connected with ground-surface power supply through aircraft electrical soruce terminal, power lead 11.The length of power lead 11 is 100m.The system of taking photo by plane comprises video camera 1, shoots with video-corder frame, bungee 3,4,3 gyrostabilizers 5 of The Cloud Terrace and video transmission and video camera cradle head control device 6.Shoot with video-corder frame and comprise column 18 and video camera ring stand 2, column is fixed on the aircraft frames, and the video camera ring stand is installed on the column, and video camera, The Cloud Terrace and gyrostabilizer are fixed on the video camera ring stand 2 with bungee.Video transmission and video camera cradle head control device are fixedly mounted on the aircraft frames.Video camera 1 is the high definition video camera.
Six groups of motors and screw propeller arrange evenly around the center that in same plane one on adjacent two screw propellers adopt the forward oar, and one is adopted reverse oar, and the spin moment of cancelling out each other prevents the aircraft spin.Six groups of motors and screw propeller are arranged in the below of aircraft frames, video camera then be installed in aircraft frames above, both guaranteed that video camera can approach the beam body and take, reduced structure again the flight of aircraft disturbed.
Aircraft changes rotating speed of motor through the input voltage of regulating 6 motors and regulates lift and moment of gyration, aircraft is accomplished climbed, land, advance, retreat, and various functions such as turns to, hover.Machine governor is controlled by flight controller, and its input end connects power supply, through outputing to drive motor again after the governor pressure regulation.The state of flight of flight controller set flight remote controller instruction and flight sensor feedback is exported to six machine governors with control command respectively, and the voltage output value of control machine governor is realized the flight attitude of aircraft and controlling of position.
During the bridge inspection operation; Flicon personnel's controlling aircraft is flown to assigned address; Video is controlled personnel through Digiplex and video transmission and video camera cradle head control device; To video camera and The Cloud Terrace turn round, operations such as zoom, photograph and monitoring in real time, and video pictures is transferred to the video monitor receiving terminal in real time through the wireless video emitter.
For reducing taking up room of aircraft, make things convenient for the transhipment of equipment, aircraft frames adopts accordion structure; After the inspection operation finishes; The operating personnel unloads binding bolt, will fold support beam and gather into folds, and arrives and opens folding support beam and fixation behind another operation field again.
Claims (7)
1. a bridge inspection is with multiaxis video Electric aircraft; Comprise aircraft, system takes photo by plane; Said aircraft comprises aircraft frames (12), flight controller (10), supporting leg (16) and 4～12 support beams; Said flight controller (10) is installed on the aircraft frames, and said supporting leg is connected with aircraft frames with support beam; Motor (7), governor (9) and screw propeller (8) are housed on the said support beam; Screw propeller is installed on the motor and is positioned at the below of aircraft frames; It is characterized in that: aircraft frames top is installed by the said system that takes photo by plane; The said system of taking photo by plane comprises video camera (1), shoots with video-corder frame, elastomeric element, The Cloud Terrace (4), gyrostabilizer (5) and video transmission and video camera cradle head control device (6), and the said frame of shooting with video-corder comprises column (18) and video camera ring stand (2); Column is fixed on the aircraft frames, and the video camera ring stand is installed on the column, and video camera, The Cloud Terrace and gyrostabilizer are fixed on the video camera ring stand through elastomeric element, video transmission and video camera cradle head control device (6) is fixed on the aircraft frames or on the column; The power lead of motor is connected to the mouth of governor, and the power input of governor is connected with ground-surface power supply through terminals for power supplies, the power lead (11) of aircraft.
2. bridge inspection according to claim 1 is with multiaxis video Electric aircraft; It is characterized in that: said support beam comprises two fixed pedestal beams (15) and 2～10 folding support beams (17), and said fixed pedestal beam and folding support beam are fixed on the aircraft frames (12) with connecting element.
3. bridge inspection according to claim 2 is characterized in that with multiaxis video Electric aircraft: said folding support beam (17) is equipped with hinge (14) and binding bolt (13).
4. bridge inspection according to claim 1 is characterized in that with multiaxis video Electric aircraft: the length of said power lead (11) is 50 ~ 200m.
5. bridge inspection according to claim 1 is characterized in that with multiaxis video Electric aircraft: said video camera (1) is the high definition video camera.
6. bridge inspection according to claim 1 is characterized in that with multiaxis video Electric aircraft: said flight controller (10) is made up of control chip, three-axis gyroscope, accelerometer, weather gauge and sensor.
7. bridge inspection according to claim 1 is characterized in that with multiaxis video Electric aircraft: said elastomeric element is bungee (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210116051.1A CN102627145B (en) | 2012-04-19 | 2012-04-19 | Multi-shaft video electric aerocraft for bridge inspection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210116051.1A CN102627145B (en) | 2012-04-19 | 2012-04-19 | Multi-shaft video electric aerocraft for bridge inspection |
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| CN102627145A true CN102627145A (en) | 2012-08-08 |
| CN102627145B CN102627145B (en) | 2015-02-18 |
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| CN201210116051.1A Expired - Fee Related CN102627145B (en) | 2012-04-19 | 2012-04-19 | Multi-shaft video electric aerocraft for bridge inspection |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699130A (en) * | 2013-12-12 | 2014-04-02 | 西安交通大学 | Multi-aircraft coordinated fly-lifting device |
| CN103786891A (en) * | 2014-01-10 | 2014-05-14 | 江苏艾锐泰克无人飞行器科技有限公司 | Unmanned aerial vehicle and line arrangement method thereof |
| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
| CN105430261A (en) * | 2015-11-16 | 2016-03-23 | 杨珊珊 | Photographing method of unmanned aerial vehicle and photographing device of unmanned aerial vehicle |
| WO2017041466A1 (en) * | 2015-09-11 | 2017-03-16 | 深圳市大疆创新科技有限公司 | Shooting device and unmanned aerial vehicle |
| CN106809380A (en) * | 2016-12-13 | 2017-06-09 | 华中科技大学 | A kind of four rotor aerial photography aircrafts |
| CN107069361A (en) * | 2017-05-10 | 2017-08-18 | 中科新松有限公司 | A kind of power distribution device and unmanned plane |
| JP2018030431A (en) * | 2016-08-24 | 2018-03-01 | 東京瓦斯株式会社 | Unmanned flying object |
| JP2018030430A (en) * | 2016-08-24 | 2018-03-01 | 東京瓦斯株式会社 | Unmanned flight vehicle |
| CN107960073A (en) * | 2015-09-01 | 2018-04-24 | 韩国航空宇宙研究院 | Variable helical paddle configures the unmanned plane of shape |
| CN110339515A (en) * | 2019-08-02 | 2019-10-18 | 张廷建 | Pneumatic power flight robot fire-fighting system and the method put out a fire using the system |
| CN112424066A (en) * | 2018-07-19 | 2021-02-26 | 株式会社爱隆未来 | Flying body having elongated body portion |
| JP2021181309A (en) * | 2020-08-04 | 2021-11-25 | 株式会社A.L.I.Technologies | Flying body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103699130A (en) * | 2013-12-12 | 2014-04-02 | 西安交通大学 | Multi-aircraft coordinated fly-lifting device |
| CN103786891B (en) * | 2014-01-10 | 2016-04-20 | 江苏艾锐泰克无人飞行器科技有限公司 | The method for sorting of unmanned vehicle and unmanned vehicle circuit |
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| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
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| CN107960073B (en) * | 2015-09-01 | 2021-01-05 | 韩国航空宇宙研究院 | Unmanned aerial vehicle with variable propeller configuration shape |
| EP3345831A4 (en) * | 2015-09-01 | 2019-03-06 | Korea Aerospace Research Institute | Drone capable of varying propeller arrangement shape |
| US20180244363A1 (en) * | 2015-09-01 | 2018-08-30 | Korea Aerospace Research Institute | Drone Capable of Varying Propeller Arrangement Shape |
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| WO2017041466A1 (en) * | 2015-09-11 | 2017-03-16 | 深圳市大疆创新科技有限公司 | Shooting device and unmanned aerial vehicle |
| CN105430261A (en) * | 2015-11-16 | 2016-03-23 | 杨珊珊 | Photographing method of unmanned aerial vehicle and photographing device of unmanned aerial vehicle |
| JP2018030430A (en) * | 2016-08-24 | 2018-03-01 | 東京瓦斯株式会社 | Unmanned flight vehicle |
| JP2018030431A (en) * | 2016-08-24 | 2018-03-01 | 東京瓦斯株式会社 | Unmanned flying object |
| CN106809380A (en) * | 2016-12-13 | 2017-06-09 | 华中科技大学 | A kind of four rotor aerial photography aircrafts |
| CN107069361A (en) * | 2017-05-10 | 2017-08-18 | 中科新松有限公司 | A kind of power distribution device and unmanned plane |
| CN112424066A (en) * | 2018-07-19 | 2021-02-26 | 株式会社爱隆未来 | Flying body having elongated body portion |
| CN110339515A (en) * | 2019-08-02 | 2019-10-18 | 张廷建 | Pneumatic power flight robot fire-fighting system and the method put out a fire using the system |
| JP2021181309A (en) * | 2020-08-04 | 2021-11-25 | 株式会社A.L.I.Technologies | Flying body |
| JP7002801B2 (en) | 2020-08-04 | 2022-01-20 | 株式会社A.L.I.Technologies | Flying object |
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