CN101914893B - Bridge detection robot based on four-axle aircraft - Google Patents
Bridge detection robot based on four-axle aircraft Download PDFInfo
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- CN101914893B CN101914893B CN2010102231642A CN201010223164A CN101914893B CN 101914893 B CN101914893 B CN 101914893B CN 2010102231642 A CN2010102231642 A CN 2010102231642A CN 201010223164 A CN201010223164 A CN 201010223164A CN 101914893 B CN101914893 B CN 101914893B
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Abstract
The invention discloses a bridge detection robot based on a four-axle aircraft, comprising the four-axle aircraft. The main machine body of the four-axle aircraft is axially provided with a trough installation channel; the installation channel is internally provided with a self-adaptation matching regulation device; the main machine body is also provided with an onboard flight control unit and an installation platform, wherein the installation platform is connected with the main machine body through the self-adaptation matching regulation device and is provided with a shooting unit; a master control system consists of the onboard flight control unit and a ground control unit; and an image data processing system consists of the shooting unit and a ground image processing unit. The invention realizes the automatic sensing and line walking of a bridge detection position through a wireless shooting controller and high-accuracy distancer by utilizing the four-axle aircraft with superhigh stability in the sky as a basic equipment carrier and can also move high-accuracy photographing equipment to a bridge position to be detected, thereby realizing the automatic bridge damage detection and identification under no-man control.
Description
Technical field
The present invention relates to bridge parameter detecting field, a kind of especially bridge detection robot based on four-axle aircraft.
Background technology
Bridge security is related to national economy, occupies very important effect in national economy.Current bridge security detection method except scaffolding, mainly is by instruments such as bridge-checking vehicles, and the testing staff is delivered to the zone that needs detection, checks the bridge state.In order to carry enough weight, and guarantee related personnel's safety, bridge-checking vehicle need be installed a large amount of sensors usually, and its equipment is huge, and the service routine complexity is subjected to a lot of restrictions especially when manned use.This vehicle itself costs an arm and a leg, the millions of units of needs, and its maintenance and use cost are also very high simultaneously, and in addition, in the process of using, bridge-checking vehicle also is subjected to light in addition, and environment etc. seriously influence.
Four-axle aircraft is a kind of common multi-rotor aerocraft, it be before and after connecting by sway brace and about two groups of totally four rotors, every group of rotor rotation direction is identical, two groups of positive and negative each other rotors of rotor difference, two groups of rotor rotation directions are opposite, offset the torsional moment of body with this, prevent spin, keep organism balance, and change lift by changing gyroplane rotate speed, and then change the attitude and the position of four-rotor helicopter, because its compact conformation, motion is flexible, wind loading rating is strong, generally suits relatively using in narrow space or the complex-terrain environment.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of bridge detection robot based on four-axle aircraft, utilization has the four-axle aircraft of superpower aerial stability as the basic equipment carrier, the high precision photographing device is moved to bridge position to be detected realize that the automatic bridge damnification under the unmanned control detects and identification.
The objective of the invention is to be achieved through the following technical solutions: the bridge detection robot based on four-axle aircraft of the present invention comprises four-axle aircraft, described four-axle aircraft comprises main body, four groups of motor mounting cups, four groups of how much rotors that sway brace is identical and paired with many group geometric configuratioies, affiliated four groups of motor mounting cups are connected with main body by sway brace respectively, described how much rotors are separately positioned on the motor mounting cup, described four-axle aircraft integral body is " ten " word shape, described four groups of sway braces are in same plane and angle each other is 90 °, it is characterized in that: described main body axially on the installation passage of perforation is set, described installation channel interior is provided with self-adaptation and cooperates adjusting gear;
Also be provided with mounting platform on the described main body, described mounting platform cooperates adjusting gear to be connected with main body by self-adaptation, and described mounting platform is provided with airborne flight control unit and image unit;
Described self-adaptation cooperates adjusting gear to comprise outer ring body and inner ring body, the left and right sides of described outer ring body be connected with the inwall that passage is installed by damping bearing I respectively and with four groups of residing plane parallel of sway brace, the axis that described outer ring body can damping bearing I be a rotation before and after axle is realized; It is inner and in the same plane with outer ring body that described inner ring body is arranged on outer ring body, the both sides up and down of described inner ring body are connected with the both sides up and down of outer ring body by damping bearing II respectively, and the axis that described inner ring body can damping bearing II is that axle is realized a left-right rotation; The axis angle of described damping bearing I and damping bearing II is 90 °;
The bottom of described mounting platform is connected with the top of inner ring body, and the bottom of described inner ring body is equipped with balancing weight;
Described bridge detection robot also comprises terrestrial contr and ground image processing unit, and described airborne flight control unit and terrestrial contr are formed general control system, and described image unit and ground image processing unit are formed image data processing system.
Further, described airborne flight control unit comprises that single-chip microcomputer master control borad, free gyroscope, flight attitude adjust camera and 3-axis acceleration device, by free gyroscope and 3-axis acceleration device the flight attitude signal of aircraft is transferred to the single-chip microcomputer master control borad;
Further, described airborne flight control unit also comprises the height sensor that is used to measure flying height;
Further, described airborne flight control unit also comprises the precision distance measurement instrument, and described precision distance measurement instrument is arranged on the mounting platform, is used to measure the distance of all directions of aircraft and bridge;
Further, described terrestrial contr comprises control microcomputer, wireless data transceiver module and telechiric device;
Further, described image unit comprises adjustable apparatus and high precision camera head, described high precision camera head is fixedlyed connected with mounting platform by adjustable apparatus, described adjustable apparatus comprises that rotating base, vertical height are regulated pole and horizontal length is regulated pole, described rotating base is fixed on the mounting platform by stepper motor I, is used to realize the 360 ° of rotations in the horizontal direction of high precision camera head; The end that described vertical height is regulated pole is connected with rotating base, and the other end is connected with horizontal length adjusting pole, and described vertical height adjusting pole is provided with stepper motor II, is used to realize high precision camera head moving up and down in vertical direction; Described horizontal length is regulated pole and is horizontally disposed with, the one end is regulated pole with vertical height and is connected, the other end is used for fixing the high precision camera head, and described horizontal length is regulated pole and is provided with stepper motor III, is used to realize high precision camera head moving forward and backward in the horizontal direction;
Described rotaty step motor I, stepper motor II and stepper motor III control by telechiric device;
Further, described image unit also comprises wireless video transport module and image memory module, described high precision camera head take the photograph video and picture store by the image memory module and transfer to the ground image processing unit by the wireless video transport module.
Further, described ground image processing unit comprises Flame Image Process main frame, image pick-up card and wireless video receiver module.
The invention has the beneficial effects as follows:
1. utilization of the present invention has the four-axle aircraft of superpower aerial stability as the basic equipment carrier, realize the automatic perception and the line walking of bridge detection position by wireless camera control, precision distance measurement, and the high precision photographing device can be moved to bridge position to be detected, thereby realize that the automatic bridge damnification under the unmanned control detects and identification;
3. four-axle aircraft can be realized auto-flare system by airborne flight control unit, also can realize Ground Control by remote control unit, control mode flexibly, efficiently, unique self-adapting adjusting apparatus can guarantee to be subjected to the external interference run-off the straight or because screw propeller high-speed rotation when making fuselage that shake take place at aircraft, effect by bearing and balancing weight, effectively reduce the shake and the inclination of high precision video camera, ensure the operate as normal of camera head;
3. the present invention adopts the high precision camera head, can take the photo and the video of high definition, and is delivered to the ground image processing unit by wireless transmission method and handles, thereby provides first hand data and basis for estimation for bridge detects;
4. the adjustable apparatus of image unit can guarantee camera head the moving of all angles, thereby has increased the scope of application of the present invention greatly, can be deep into the zone that some manpowers are difficult to arrive, for the comprehensive and accurate data that provides is provided bridge;
This apparatus structure compactness, reasonable in design, simple to operate, whole cost is cheap, has excellent application value and use prospect.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on being conspicuous to those skilled in the art, perhaps can obtain instruction from the practice of the present invention to investigating hereinafter.Target of the present invention and other advantages can realize and obtain by following instructions and claims.
Description of drawings
In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing, wherein:
Fig. 1 is a four-axle aircraft structural representation of the present invention;
Fig. 2 arranges synoptic diagram for the main body ground floor;
Fig. 3 arranges synoptic diagram for the main body second layer;
Fig. 4 is each parts connection diagram of flight control unit;
Fig. 5 is that main body is arranged synoptic diagram for the 3rd layer;
Fig. 6 is the side view of four-axle aircraft;
Fig. 7 is the structural representation of adjustable apparatus;
Fig. 8 is the connection diagram of image data processing system.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment only for the present invention is described, rather than in order to limit protection scope of the present invention.
As shown in Figure 1, bridge detection robot based on four-axle aircraft of the present invention, comprise four-axle aircraft, four-axle aircraft comprises main body 1, four groups of motor mounting cups 2, four groups of sway brace 3 how much rotors 4 identical and paired with organizing geometric configuration more, four groups of motor mounting cups 2 are connected with main body 1 by sway brace 3 respectively, how much rotors 4 are separately positioned on the motor mounting cup 2, four-axle aircraft integral body is " ten " word shape, and four groups of sway braces 3 are in same plane and angle each other is 90 °.
In the present embodiment, main body is according to from bottom to top order, be divided into horizontally disposed three layers of erecting frame successively, wherein, first and second layer is used for installing airborne flight control unit, and the 3rd layer main body is vertically highly the highest, the installation passage of perforation is set on it is axial, channel interior is installed is provided with self-adaptation cooperation adjusting gear, the mounting platform 16 that is arranged on the main body top cooperates adjusting gear to be connected with main body by self-adaptation, and mounting platform is provided with image unit;
Airborne flight control unit comprises single-chip microcomputer master control borad 7, free gyroscope 8,3-axis acceleration device 9 and is used to measure the pressure-altitude sensor 10 of flying height.Wherein, free gyroscope 8 and 3-axis acceleration device 9 transfer to single-chip microcomputer master control borad 7 with the flight attitude signal of aircraft, balanced algorithm by aircraft is handled, adjust the output voltage of four brushless electric machines, make the rotating speed of brushless electric machine increase or reduce, make aircraft keep balance, when aircraft arrives intended target, pressure-altitude sensor is gathered altitude information, and cooperates free gyroscope and 3-axis acceleration device, will make aircraft hover over intended target automatically;
Airborne flight control unit also comprises precision distance measurement instrument 6, precision distance measurement instrument 6 is arranged on the mounting platform, be used to measure the distance of all directions of aircraft and bridge, make aircraft and pontic keep an optimum position, guarantee that the high precision camera head can photograph optimized image.
What match with airborne flight control unit is terrestrial contr, airborne flight control unit and terrestrial contr are formed general control system, control whole aircraft airflight, hover, the control of location and attitude, terrestrial contr comprises control microcomputer 27, wireless data transceiver module 28 and telechiric device 29.Airborne flight control unit receives the various flying qualities of launch craft in real time by wireless data transceiver module 28 and shows, comprise cell voltage, coordinate, highly, important informations such as direction, attitude, flight time, flying speed, flight path, distance, environment temperature, wind speed, electric machine operation state, remote controller signal intensity, GPS state apart from takeoff point, send the control corresponding instruction simultaneously.
In the present embodiment, four-axle aircraft also is equipped with OSD preset device 11 and flight attitude is adjusted camera 5,3D illustraton of model data importing OSD preset device 11 with bridge, and create the detailed line of flight by destination planning editing machine and plan, allow aircraft fly automatically according to the good course line of planning in advance, flight attitude is adjusted camera 5 finds bridge by image processing algorithm unique point, carry out multiple shooting plan in unique point, comprise unique point 360 degree pan-shots, carry out around taking, taking along line of flight spacing, fixed point round the unique point target.The line of flight that planning is good can be presented on the monitoring screen of control microcomputer in the 3D mode.
As shown in Figures 2 and 3, in the present embodiment, flight attitude is adjusted camera 5 and precision distance measurement instrument 6 is arranged on the main body ground floor, and single-chip microcomputer master control borad 7, free gyroscope 8,3-axis acceleration device 9, pressure-altitude sensor 10 and OSD preset device 11 are arranged on the second layer of main body.
As shown in Figure 4, this figure clearly expresses the annexation between each parts of airborne flight control unit.
As shown in Figure 5 and Figure 6, self-adaptation cooperates adjusting gear to comprise outer ring body 12 and inner ring body 13, the left and right sides of outer ring body 12 be connected with the inwall that passage is installed by damping bearing I 14 respectively and with four groups of residing plane parallel of sway brace, the axis that outer ring body can damping bearing I 14 be a rotation before and after axle is realized; It is inner and in the same plane with outer ring body 12 that inner ring body 13 is arranged on outer ring body, the both sides up and down of inner ring body 13 are connected with the both sides up and down of outer ring body 12 by damping bearing II 15 respectively, and the axis that inner ring body 13 can damping bearing II 15 is that axle is realized a left-right rotation; The axis angle of damping bearing I 14 and damping bearing II 15 is 90 °; This structure can guarantee the activity that inner ring body 13 is gone up in any direction on the whole, the below of inner ring body 13 hangs with balancing weight 17 makes center of gravity downward, the top of inner ring body 13 is connected the bottom of mounting platform 16, when aircraft is subjected to the external interference run-off the straight or because screw propeller high-speed rotation when making fuselage that shake take place, because the effect of bearing and balancing weight can effectively reduce the shake and the inclination of high precision camera head.
Image unit comprises adjustable apparatus and high precision camera head 21, high precision camera head 21 is fixedlyed connected with mounting platform 16 by adjustable apparatus, as shown in Figure 7, adjustable apparatus comprises that rotating base 18, vertical height are regulated pole 19 and horizontal length is regulated pole 20, rotating base 18 is fixed on the mounting platform 16 by stepper motor I, is used to realize the 360 ° of rotations in the horizontal direction of high precision camera head; The end that vertical height is regulated pole 19 is connected with rotating base, and the other end is connected with horizontal length adjusting pole 20, and vertical height adjusting pole 19 is provided with stepper motor II, is used to realize high precision camera head moving up and down in vertical direction; Horizontal length is regulated pole 20 and is horizontally disposed with, the one end is regulated pole 19 with vertical height and is connected, the other end is used for fixing high precision camera head 21, and horizontal length is regulated pole and is provided with stepper motor III, is used to realize high precision camera head moving forward and backward in the horizontal direction; Stepper motor I, stepper motor II and stepper motor III control by telechiric device, thereby realize the horizontally rotating of high precision camera head, oscilaltion and move forward and backward, make the high precision video camera can photograph more wide in range area, when needs carry out shooting at close range, can also be retractable to body structure surface and take pictures, reach effect to a nicety.
In order further to reduce camera shake, the high precision video camera has adopted optics anti-shake anti-shake with software, " optics is anti-shake " be a kind of be to rely on built-in accurate gyroscope and the one group of movable lenses of camera, calculate and revise the light skew that shake causes, avoid fuzzy; Improve shutter speed by super-sens ISO value exactly and software is anti-shake, can reach anti-shake effect equally.
What cooperate with image unit is the ground image processing unit, and image unit and ground image processing unit are formed image data processing system, realizes shooting, data transfer and analysis to the bridge region of interest.
As shown in Figure 8, image unit also comprises wireless video transport module 22, high precision camera head 21 take the photograph video and picture transfer to the ground image processing unit by wireless video transport module 22; The ground image processing unit comprises Flame Image Process main frame 26, image pick-up card 25 and wireless video receiver module 24.Wireless video transport module 22 can be adjusted flight attitude damage video and the picture that camera 5 and high precision camera head 21 collect timely and be transferred on the Flame Image Process main frame 26.
Server with camera acquisition to damage image splice, may further comprise the steps:
A) image pre-service: comprise Digital Image Processing basic operation (denoising, edge extracting, histogram processing etc.), set up the matching template of image and image carried out certain conversion operations such as (as Fourier transform, wavelet transformations etc.);
B) image registration: be exactly to adopt certain matching strategy, find out template in the image to be spliced or unique point corresponding position in reference picture, and then determine the transformation relation between two width of cloth images;
C) set up transformation model: according to the corresponding relation between template or the characteristics of image, calculate each parameter value in the mathematical model, thereby set up the mathematic(al) manipulation model of two width of cloth images;
D) unify coordinate transform:, image transitions to be spliced in the coordinate system of reference picture, is finished unified coordinate transform according to the mathematics transformation model of setting up;
E) merge reconstruct: will merge the smooth and seamless panoramic picture that obtains splicing reconstruct with the coincidence zone of stitching image.
Four-axle aircraft can adopt the poly-lithium battery power supply, because the not at all easy blast of poly-lithium battery security performance, in light weight, capacity is big, and internal resistance is little, and flash-over characteristic is good, helps the big electric current supply of aircraft; Under the situation of condition permission, four-axle aircraft also can adopt the mode of wired power supply, and the power lead by certain-length connects aircraft and ground power supply, during use, from the top of bridge aircraft is flown down, thereby can effectively increase Measuring Time.
Explanation is at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the aim and the scope of the technical program, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (9)
1. based on the bridge detection robot of four-axle aircraft, comprise four-axle aircraft, described four-axle aircraft comprises main body, four groups of motor mounting cups, four groups of how much rotors that sway brace is identical and paired with many group geometric configuratioies, four groups of motor mounting cups are connected with main body by sway brace respectively, described how much rotors are separately positioned on the motor mounting cup, described four-axle aircraft integral body is " ten " word shape, described four groups of sway braces are in same plane and angle each other is 90 °, it is characterized in that: described main body axially on the installation passage of perforation is set, described installation channel interior is provided with self-adaptation and cooperates adjusting gear;
Also be provided with airborne flight control unit and mounting platform on the described main body, described mounting platform cooperates adjusting gear to be connected with main body by self-adaptation, and described mounting platform is provided with image unit;
Described self-adaptation cooperates adjusting gear to comprise outer ring body and inner ring body, the left and right sides of described outer ring body be connected with the inwall that passage is installed by damping bearing I respectively and with four groups of residing plane parallel of sway brace, described outer ring body be a rotation before and after axle is realized by the axis of damping bearing I; It is inner and in the same plane with outer ring body that described inner ring body is arranged on outer ring body, the both sides up and down of described inner ring body are connected with the both sides up and down of outer ring body by damping bearing II respectively, and described inner ring body is that axle is realized left-right rotation by the axis of damping bearing II; The axis angle of described damping bearing I and damping bearing II is 90 °;
The bottom of described mounting platform is connected with the top of inner ring body, and the bottom of described inner ring body is equipped with balancing weight;
Described bridge detection robot also comprises terrestrial contr and ground image processing unit, and described airborne flight control unit and terrestrial contr are formed general control system, and described image unit and ground image processing unit are formed image data processing system.
2. the bridge detection robot based on four-axle aircraft according to claim 1, it is characterized in that: described airborne flight control unit comprises single-chip microcomputer master control borad, free gyroscope, flight attitude adjustment camera and 3-axis acceleration device, by free gyroscope and 3-axis acceleration device the flight attitude signal of aircraft is transferred to the single-chip microcomputer master control borad, single-chip microcomputer master control borad robot brain device people's flight attitude.
3. the bridge detection robot based on four-axle aircraft according to claim 2 is characterized in that: described airborne flight control unit also comprises the OSD preset device.
4. the bridge detection robot based on four-axle aircraft according to claim 3 is characterized in that: described airborne flight control unit also comprises the height sensor that is used to measure flying height.
5. the bridge detection robot based on four-axle aircraft according to claim 4, it is characterized in that: described airborne flight control unit also comprises the precision distance measurement instrument, described precision distance measurement instrument is arranged on the mounting platform, is used to measure the distance of all directions of aircraft and bridge.
6. the bridge detection robot based on four-axle aircraft according to claim 1 is characterized in that: described terrestrial contr comprises control microcomputer, wireless data transceiver module and telechiric device.
7. the bridge detection robot based on four-axle aircraft according to claim 1, it is characterized in that: described image unit comprises adjustable apparatus and high precision camera head, described high precision camera head is fixedlyed connected with mounting platform by adjustable apparatus, described adjustable apparatus comprises that rotating base, vertical height are regulated pole and horizontal length is regulated pole, described rotating base is fixed on the mounting platform by stepper motor I, is used to realize the 360 ° of rotations in the horizontal direction of high precision camera head; The end that described vertical height is regulated pole is connected with rotating base, and the other end is connected with horizontal length adjusting pole, and described vertical height adjusting pole is provided with stepper motor II, is used to realize high precision camera head moving up and down in vertical direction; Described horizontal length is regulated pole and is horizontally disposed with, the one end is regulated pole with vertical height and is connected, the other end is used for fixing the high precision camera head, and described horizontal length is regulated pole and is provided with stepper motor III, is used to realize high precision camera head moving forward and backward in the horizontal direction;
Described stepper motor I, stepper motor II and stepper motor III control by telechiric device.
8. the bridge detection robot based on four-axle aircraft according to claim 7, it is characterized in that: described image unit also comprises wireless video transport module and image memory module, described high precision camera head take the photograph video and picture store by the image memory module and transfer to the ground image processing unit by the wireless video transport module.
9. the bridge detection robot based on four-axle aircraft according to claim 8 is characterized in that: described ground image processing unit comprises Flame Image Process main frame, image pick-up card and wireless video receiver module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102231642A CN101914893B (en) | 2010-07-09 | 2010-07-09 | Bridge detection robot based on four-axle aircraft |
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| CN2010102231642A CN101914893B (en) | 2010-07-09 | 2010-07-09 | Bridge detection robot based on four-axle aircraft |
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| CN101914893A CN101914893A (en) | 2010-12-15 |
| CN101914893B true CN101914893B (en) | 2011-07-27 |
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| CN101914893A (en) | 2010-12-15 |
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