CN107985575A - A kind of method with multi-rotor unmanned aerial vehicle detection bridge - Google Patents
A kind of method with multi-rotor unmanned aerial vehicle detection bridge Download PDFInfo
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- CN107985575A CN107985575A CN201711218046.0A CN201711218046A CN107985575A CN 107985575 A CN107985575 A CN 107985575A CN 201711218046 A CN201711218046 A CN 201711218046A CN 107985575 A CN107985575 A CN 107985575A
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- aerial vehicle
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 16
- 229910052751 metal Inorganic materials 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims abstract description 4
- 239000013077 target material Substances 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
A kind of a kind of method with multi-rotor unmanned aerial vehicle detection bridge of disclosure of the invention, it is desirable to provide method with multi-rotor unmanned aerial vehicle detection bridge.It uses multi-rotor unmanned aerial vehicle and ground controller；Two symmetrical support arms are installed in the rack of the multi-rotor unmanned aerial vehicle, the rack formation cantilevered structure of multi-rotor unmanned aerial vehicle is stretched out in one end of two support arms；A upper surface is hinged in the front end of support arm has the upper backup pad of rubber wheel, and a lower face is hinged in upper backup pad end has the lower supporting plate of rubber wheel；Its specific measuring method is as follows：（1）Operating personnel control the flight operation of multi-rotor unmanned aerial vehicle by ground controller, and corresponding physical detection is carried out to bridge by carrying different detection devices；（3）The detection of rubber washer and metal part for bridge pier and bridge floor junction；（4）Change the gap that upper and lower support plate angle makes multi-rotor unmanned aerial vehicle exit bridge pier and bridge floor junction；（5）Control multi-rotor unmanned aerial vehicle returns it to takeoff point.
Description
Technical field
Invention is related to Bridge Inspection field, more particularly, to a kind of method with multi-rotor unmanned aerial vehicle detection bridge.
Background technology
Unmanned plane as rising in recent years artificial intelligence equipment to be used by most of neighborhoods, in terms of bridge machinery
It is common UAV flight's camera calibration to appoint, its efficiency is low, can only detect external structure, and China becomes world-famous bridge
Big country, but bridge detection safeguard slightly fall behind, especially current superelevation super large overlength bridge it is more and more, the more build the more strong
In the case of, the upgrading of Bridge Testing Equipment is the basic of bridge inspection and maintenance.At present, in terms of bridge machinery to be seen using telescope
Examine, based on bridge inspection vehicle inspection, still more fall behind in terms of detection means.Sem observation of looking in the distance is only capable of detecting bridge bottom
Portion, bridge column surface whether there is crack, and the problem of can not check bridge internal structure.Bridge inspection vehicle can carry a variety of inspections
Measurement equipment, such as infrared radiation detection apparatus, supersonic reflectoscope are detected bridge floor, and the detection to bridge bottom is needed by bridge formation
The detection bridge of formula bridge inspection vehicle, but the structure such as street lamp of bridge has seriously endangered putting and using for detection bridge.Especially existing
It is more than 100 meters most bridge floors are liftoff, super large wind speed becomes the hidden trouble of working at height.
Utility model content
The purpose of invention is intended to overcome the shortcomings of the prior art, there is provided and a kind of easy to operate, detection efficiency is high, and
The method with multi-rotor unmanned aerial vehicle detection bridge of safety.
In order to solve the above-mentioned technical problem, invention is achieved through the following technical solutions：
A kind of method with multi-rotor unmanned aerial vehicle detection bridge, using multi-rotor unmanned aerial vehicle and ground controller；In more rotations
Two symmetrical support arms are installed, the rack of one end stretching multi-rotor unmanned aerial vehicle of two support arms is formed in the rack of wing unmanned plane
Cantilevered structure；A upper surface is hinged in the front end of support arm has the upper backup pad of rubber wheel, in upper backup pad end hinged one
Lower face has the lower supporting plate of rubber wheel；Its specific measuring method is as follows：
（1）Operating personnel control the flight operation of multi-rotor unmanned aerial vehicle by ground controller, are set by the detection for carrying different
It is standby that corresponding physical detection is carried out to bridge；
（3）The detection of rubber washer and metal part for bridge pier and bridge floor junction, control multi-rotor unmanned aerial vehicle make its branch
The gap of bridge pier and bridge floor junction is inserted into brace；And upper and lower support plate angle is controlled multi-rotor unmanned aerial vehicle is fixed on bridge pier
At the gap of bridge floor junction；Then rubber wheel is controlled to rotate to control multi-rotor unmanned aerial vehicle translational speed；Control branch afterwards
Brace front end rotation angle is collected target material with controlling multi-rotor unmanned aerial vehicle to be moved around rubber washer；
（4）Change the gap that upper and lower support plate angle makes multi-rotor unmanned aerial vehicle exit bridge pier and bridge floor junction；
（5）Control multi-rotor unmanned aerial vehicle returns it to takeoff point.
Preferably, the rack of the multi-rotor unmanned aerial vehicle uses eight rotor racks.
Preferably, the rotation of the upper and lower support plate and support arm uses servos control.
Preferably, rubber wheel is driven using micro-machine in the upper and lower support plate.
Compared with prior art, invention has the following advantages that：
The present invention can under the environment of technical staff's safety, control unmanned plane make its replace technical staff to bridge rubber washer and
Bridge pier, bridge floor are detected.The present invention has the general character of multi-rotor unmanned aerial vehicle, but it sets support arm, is securable to bridge bottom rubber
Rubber gasket nearby checks the service condition of connection ring, and flight structure, which is stablized, to be run under various adverse circumstances.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution of the prior art
Attached drawing is briefly described needed in technology description, it should be apparent that, drawings in the following description are only to invent
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is used the schematic diagram of multi-rotor unmanned aerial vehicle by invention.
Fig. 2 is the partial schematic diagram after support arm, upper backup pad and the lower supporting plate assembling of multi-rotor unmanned aerial vehicle.
In figure：Multi-rotor unmanned aerial vehicle 1, support arm 2, upper backup pad 3, lower supporting plate 4, rubber wheel 5,6.
Embodiment
Below in conjunction with the attached drawing in inventive embodiments, the technical solution in inventive embodiments is carried out clearly and completely
Description, it is clear that described embodiment is only invention part of the embodiment, instead of all the embodiments.Based in invention
Embodiment, those of ordinary skill in the art's all other embodiments obtained under the premise of not making the creative labor,
Belong to the scope of invention protection.
A kind of method with multi-rotor unmanned aerial vehicle detection bridge is used more using multi-rotor unmanned aerial vehicle and ground controller
Rotor wing unmanned aerial vehicle is as shown in Figs. 1-2；Two symmetrical support arms, two support arms are installed in the rack of the multi-rotor unmanned aerial vehicle
One end stretch out multi-rotor unmanned aerial vehicle rack formed cantilevered structure；Being hinged a upper surface in the front end of support arm has rubber wheel
Upper backup pad, be hinged in upper backup pad end a lower face have rubber wheel lower supporting plate；Its specific measuring method is such as
Under：
（1）Operating personnel control the flight operation of multi-rotor unmanned aerial vehicle by ground controller, are set by the detection for carrying different
It is standby that corresponding physical detection is carried out to bridge；
（3）The detection of rubber washer and metal part for bridge pier and bridge floor junction, control multi-rotor unmanned aerial vehicle make its branch
The gap of bridge pier and bridge floor junction is inserted into brace；And upper and lower support plate angle is controlled multi-rotor unmanned aerial vehicle is fixed on bridge pier
At the gap of bridge floor junction；Then rubber wheel is controlled to rotate to control multi-rotor unmanned aerial vehicle translational speed；Control branch afterwards
Brace front end rotation angle is collected target material with controlling multi-rotor unmanned aerial vehicle to be moved around rubber washer；
（4）Change the gap that upper and lower support plate angle makes multi-rotor unmanned aerial vehicle exit bridge pier and bridge floor junction；
（5）Control multi-rotor unmanned aerial vehicle returns it to takeoff point.
Multi-rotor unmanned aerial vehicle used in the present invention is commercial product, and installs support arm additional, it mainly includes：
Fly control, be used in the general flight controller of unmanned plane.
Dynamical system, the general electric mechanical, electrical tune of unmanned plane, power transmission line are used according to carrying equipment.
Rotor, the general carbon fiber blade of unmanned plane is used according to carrying equipment.
Power-supply system, the general Intelligent lithium battery power supply of unmanned plane is used according to carrying equipment.
Rack, using eight rotor design racks, rotor shaft respectively positioned at 22.5 ° of body center, 67.5 °, 112.5 °,
157.5 °, 202.5 °, 247.5 °, 292.5 °, 337.5 ° of directions, rotor shaft to 0.5 meter or 1 meter of body center.
Wherein, 2 front end of support arm has upper backup pad 3 and lower supporting plate 4 respectively, and support arm and multi-rotor unmanned aerial vehicle are formed
Entirety can be rotated horizontally with respect to upper backup pad.Lower supporting plate can be rotated around upper backup pad and lower supporting plate junction, with up to
To the fixation in different height gap.
In addition, upper backup pad has two rubber wheels 5 to move horizontally, lower supporting plate has single rubber wheel 6 to do water
Square to movement.The rotation of upper and lower support plate and support arm uses servos control, and rubber wheel is using small-sized in upper and lower support plate
Motor drives.
During measurement, technical staff is controlled on ground by movement of the ground observing and controlling system to unmanned plane, passes through carrying
Pair the mode of spiral escalation or decline can be used around bridge with the detection of bridge pier with for different testing goals in different equipment
Pier moves, and the detection for bridge pier, bridge floor junction rubber washer can fly into unmanned plane at packing ring gap, before special-shaped rack
Support arm insertion packing ring gap, the angle of support arm front end upper and lower support plate is adjusted by ground control system to reach fixed
The purpose of unmanned plane, closes the rotor of unmanned plane after fixed, by control the velocity of rotation of rubber wheel and the angle of support arm with
Achieve the purpose that to control unmanned plane movement.360 ° of detections can be carried out to rubber washer.Also it can carry and put video camera to reach pair
The purpose of bridge ground detection.
It is all in the spiritual and former of invention not to limit invention the foregoing is merely the preferred embodiment of invention
Within then, any modification, equivalent replacement, improvement and so on, should be included within the protection domain of invention.
Claims (4)
- A kind of 1. method with multi-rotor unmanned aerial vehicle detection bridge, using multi-rotor unmanned aerial vehicle and ground controller；Its feature exists In：Two symmetrical support arms are installed in the rack of the multi-rotor unmanned aerial vehicle, one end of two support arms stretch out more rotors without Man-machine rack forms cantilevered structure；A upper surface is hinged in the front end of support arm has the upper backup pad of rubber wheel, in upper branch Fagging end, which is hinged a lower face, has the lower supporting plate of rubber wheel；Its specific measuring method is as follows：（1）Operating personnel control the flight operation of multi-rotor unmanned aerial vehicle by ground controller, are set by the detection for carrying different It is standby that corresponding physical detection is carried out to bridge；（3）The detection of rubber washer and metal part for bridge pier and bridge floor junction, control multi-rotor unmanned aerial vehicle make its branch The gap of bridge pier and bridge floor junction is inserted into brace；And upper and lower support plate angle is controlled multi-rotor unmanned aerial vehicle is fixed on bridge pier At the gap of bridge floor junction；Then rubber wheel is controlled to rotate to control multi-rotor unmanned aerial vehicle translational speed；Control branch afterwards Brace front end rotation angle is collected target material with controlling multi-rotor unmanned aerial vehicle to be moved around rubber washer；（4）Change the gap that upper and lower support plate angle makes multi-rotor unmanned aerial vehicle exit bridge pier and bridge floor junction；（5）Control multi-rotor unmanned aerial vehicle returns it to takeoff point.
- 2. according to claim 1 with the method for multi-rotor unmanned aerial vehicle detection bridge, it is characterised in that：More rotors nobody The rack of machine uses eight rotor racks.
- 3. the method according to claim 1 or claim 2 with multi-rotor unmanned aerial vehicle detection bridge, it is characterised in that：The upper and lower branch The rotation of fagging and support arm uses servos control.
- 4. the method according to claim 1 or claim 2 with multi-rotor unmanned aerial vehicle detection bridge, it is characterised in that：The upper and lower branch Rubber wheel is driven using micro-machine on fagging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711218046.0A CN107985575A (en) | 2017-11-28 | 2017-11-28 | A kind of method with multi-rotor unmanned aerial vehicle detection bridge |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711218046.0A CN107985575A (en) | 2017-11-28 | 2017-11-28 | A kind of method with multi-rotor unmanned aerial vehicle detection bridge |
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| CN107985575A true CN107985575A (en) | 2018-05-04 |
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| CN201711218046.0A Pending CN107985575A (en) | 2017-11-28 | 2017-11-28 | A kind of method with multi-rotor unmanned aerial vehicle detection bridge |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445454A (en) * | 2018-09-18 | 2019-03-08 | 山东理工大学 | Unmanned plane for bridge machinery lingers detection method of cruising |
| CN111044197A (en) * | 2019-10-25 | 2020-04-21 | 东南大学 | Non-contact type cable force testing system and method based on unmanned aerial vehicle platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100761918B1 (en) * | 2007-07-23 | 2007-09-28 | 주식회사 동우기술단 | Bridge safety examination system |
| CN103651207A (en) * | 2013-12-10 | 2014-03-26 | 中国水产科学研究院下营增殖实验站 | Flaring device for bivalve molluscs |
| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
| CN106245524A (en) * | 2016-08-30 | 2016-12-21 | 上海法赫桥梁隧道养护工程技术有限公司 | A kind of UAS for bridge machinery |
| CN107196697A (en) * | 2017-07-12 | 2017-09-22 | 吕福瑞 | A kind of aerial unmanned plane signal relay device and its mapping method |
-
2017
- 2017-11-28 CN CN201711218046.0A patent/CN107985575A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100761918B1 (en) * | 2007-07-23 | 2007-09-28 | 주식회사 동우기술단 | Bridge safety examination system |
| CN103651207A (en) * | 2013-12-10 | 2014-03-26 | 中国水产科学研究院下营增殖实验站 | Flaring device for bivalve molluscs |
| CN104762877A (en) * | 2015-04-30 | 2015-07-08 | 尹栋 | Bridge quality fast detection device based on unmanned aircraft system |
| CN106245524A (en) * | 2016-08-30 | 2016-12-21 | 上海法赫桥梁隧道养护工程技术有限公司 | A kind of UAS for bridge machinery |
| CN107196697A (en) * | 2017-07-12 | 2017-09-22 | 吕福瑞 | A kind of aerial unmanned plane signal relay device and its mapping method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445454A (en) * | 2018-09-18 | 2019-03-08 | 山东理工大学 | Unmanned plane for bridge machinery lingers detection method of cruising |
| CN111044197A (en) * | 2019-10-25 | 2020-04-21 | 东南大学 | Non-contact type cable force testing system and method based on unmanned aerial vehicle platform |
| CN111044197B (en) * | 2019-10-25 | 2021-06-11 | 东南大学 | Non-contact cable force test system based on unmanned aerial vehicle platform |
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Application publication date: 20180504 |
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