CN108688805A - The unmanned plane detected safely applied to restricted clearance - Google Patents
The unmanned plane detected safely applied to restricted clearance Download PDFInfo
- Publication number
- CN108688805A CN108688805A CN201810596270.1A CN201810596270A CN108688805A CN 108688805 A CN108688805 A CN 108688805A CN 201810596270 A CN201810596270 A CN 201810596270A CN 108688805 A CN108688805 A CN 108688805A
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- Prior art keywords
- bar
- frame
- unmanned plane
- restricted clearance
- hemisphere
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- 238000005213 imbibition Methods 0.000 claims description 9
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/047—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump supply being effected by follower in container, e.g. membrane or floating piston, or by deformation of container
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- 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
Abstract
This application involves safe field of detecting, more particularly to the unmanned plane detected safely applied to restricted clearance, including drone body and the anticollision frame that is located at outside the drone body;The drone body includes rack and the holder above the rack, and the rack is equipped with underneath type rotor, and the holder is equipped with rotatable camera;The anticollision frame includes the first hemisphere frame, the second hemisphere frame and connecting rod, and the tangent plane edge of the first hemisphere frame and the second hemisphere frame is interconnected to form the anticollision frame by the connecting rod.The unmanned plane provided by the present application detected safely applied to restricted clearance can be replaced people to carry out information collection, safety detection to restricted clearance by unmanned plane, and enhance safety of the unmanned plane in restricted clearance operation by anticollision frame, underneath type rotor driver.
Description
[Technical field]
This application involves safe field of detecting, more particularly to the unmanned plane detected safely applied to restricted clearance.
[Background technology]
In energy industry, such as coal mining, all still need now by professional enter in advance the inside check,
Ensure safety, this is breakneck for inspection personnel, and the uncertainty of inspection environment is very big, for another example in petrochemical industry
Petrochemical industry oil storage tank (for storing gasoline, the bavin oil and gas etc.) needs of secure context, petrochemical factory are inspected periodically, mesh
The method of preceding inspection is the placement regular hour after oil or the natural gas evacuation waited inside oil storage tanks, then related personnel
Gas-detecting device is tied up on the surpluses such as bamboo pole and then is stretched inside oil storage tank, is then further taken out to check the gas of the inside
Content's index can further allow related personnel to enter the health condition such as tank body that oil storage tank checks oil storage tank if qualified
There are free from flaw, rusty stain etc..And this detection method gas-detecting device is put in further take out come method be it is defective, because
For when gas-detecting device is taken out gas content index can than inside when change, the standard of data
Really insufficient and detection region is also extremely limited, in addition, allowing personnel to enter in this uncertain environment works that there are prodigious
It is dangerous.
We can be referred to as restricted clearance to above-mentioned examined environment, restricted clearance further include various people be difficult to reach or
It is the higher building of hazard index or equipment, such as the various equipment of factory or the inside of building or is difficult to outside (such as work reached
Stove, tower reactor, tank, storehouse, pond, tank car, pipeline, flue of factory etc.) and city tunnel, sewer, ditch, hole, well, pond, culvert, valve
The closing such as Men Jian, sewage treatment facility, semi-enclosed facility and place (such as cabin, underground concealed engineering, closed container, long-term
No facility or unsmooth place etc. of divulging information) and rural area storage sweet potato, potato, the well of various vegetables, cellar for storing things etc..Ventilation is not
Good mine should also treat as restricted clearance.
Based on this, needs a kind of equipment that can replace people to carry out safety detection to restricted clearance in advance, on the one hand confirm peace
It arranges personnel to enter again after complete, the facility situation of people's Preliminary detection restricted clearance on the one hand can be even replaced, such as splitting for facility
It stitches, by extent of corrosion etc., is safeguarded convenient for follow-up personnel.
[Invention content]
In order to solve the above technical problems, the application's is designed to provide nobody detected safely applied to restricted clearance
Machine can replace people to carry out information collection, safety detection to restricted clearance, and pass through anticollision frame, underneath type by unmanned plane
Rotor driver enhances safety of the unmanned plane in restricted clearance operation.
The application is achieved through the following technical solutions:
Applied to the unmanned plane that restricted clearance detects safely, including drone body and it is located at outside the drone body
The anticollision frame in portion;
The drone body includes rack and the holder above the rack, and the rack is equipped with underneath type
Rotor, the holder are equipped with rotatable camera;
The anticollision frame includes the first hemisphere frame, the second hemisphere frame and connecting rod, the first hemisphere frame and described the
The tangent plane edge of two hemisphere frames is interconnected to form the anticollision frame by the connecting rod.
The unmanned plane as described above detected safely applied to restricted clearance, multiple connecting rods are along first hemisphere
The tangent plane edge of frame and the second hemisphere frame, which is uniformly distributed to be formed, connects the first hemisphere frame and the second hemisphere frame
Cylindric frame.
The unmanned plane as described above detected safely applied to restricted clearance, the rack includes pedestal, the pedestal two
Side is arranged with installing frame, and the installing frame includes being connected on the pedestal to stretch out the pedestal side in splayed is isometric
First bar and the second bar, the third bar being connect with the first bar external part end and connect with the second bar external part
The free end of four bars, the third bar and the 4th bar is joined the apex angle interconnecting piece to be formed and be connect with the anticollision frame, institute
Underneath type rotor is stated to be located at below the interconnecting piece of first bar and the third bar and second bar and the 4th bar
Interconnecting piece below.
The unmanned plane detected safely applied to restricted clearance as described above, first bar, second bar, described the
Three bars and the 4th bar head and the tail hingedly form the installing frame of diamond shape, and first bar and the second bar interior angle successively
Between there is the limit protrusion that is located on the pedestal and for leading first bar and second bar toward relative direction
Drawing makes first bar and second bar be adjacent to the (the first back-moving spring of the limit protrusion, the third bar and the described 4th
Second back-moving spring is equipped between bar interior angle.
The unmanned plane as described above detected safely applied to restricted clearance, the first hemisphere frame include:
Moulding, is equipped with a plurality of, and a plurality of moulding one end is collapsed, and the other end opens to form hemisphere frame-shaped, and the moulding collapses
One end be equipped with the card convex protruded to outside the first hemisphere frame top dome, one end that the moulding opens is equipped with to described the first half
The card that ball frame section is centrally recessed into is recessed;
Ring is collapsed, is located at one end that the moulding collapses, the gathering ring includes looping pit, around the looping pit
Annular collapses wall, collapses the equally distributed annular groove of wall circular along the annular and be opened in the outer shroud of the annular wall outer wall
Screw thread, the moulding inlay card is in the annular groove and the card convex collapses in the looping pit so that a plurality of moulding one
End forms rounding state;
Ring is screwed, is equipped with the mutually fixed mounting hole of rack, screwed wall around the annular of the mounting hole and open up
The annular screw on wall inner wall with the matched inner ring screw thread of the outer shroud screw thread, after the gathering ring collapses the moulding
It is screwed in ring described in precession;
Expanded loop, along circumference be uniformly provided with the card hole equal with the moulding quantity and with the connecting rod quantity phase
Deng lockhole, one end that the moulding opens sticks into the card hole;
Connection ring is uniformly provided with the via equal with the connecting rod quantity along circumference;
Attachment screw, the attachment screw pass through the lockhole and the via to lock the expanded loop and the connection ring
Tightly in the connecting rod.
The unmanned plane as described above detected safely applied to restricted clearance, further includes the failure for marking restricted clearance
The label rifle at position.
The unmanned plane as described above detected safely applied to restricted clearance, the label rifle are that can spray colored solution
Automatic spray gun.
The unmanned plane as described above detected safely applied to restricted clearance, the automatic spray gun include:
Nozzle is equipped with exporting so that the colored solution sprayed is distributed in X shapes for X-shaped;
Hydrojet channel, outlet are connected to the nozzle;
Solution bottle, is used for the colored solution of holding, and the interior imbibition channel being equipped with for being flowed for liquid to bottleneck is described molten
Liquid bottle is equipped with the first check valve entered for air in bottle;
Plunger shaft is connected to the hydrojet channel and the imbibition channel, and the plunger shaft and the hydrojet channel
It is equipped between entrance and controls the second check valve that colored solution is flowed from the plunger shaft to the nozzle direction, the plunger shaft
It is unidirectional that the third that the colored solution of control is flowed from the solution bottle to the piston cavity direction is equipped between the imbibition channel
Valve, the plunger shaft is interior to be equipped with the piston that can be moved back and forth in the plunger shaft, and piston thread hole is equipped in the middle part of the piston;
Driving motor is equipped with and carries externally threaded machine shaft, in piston thread hole described in the machine shaft precession
To control the reciprocating motion of the piston.
It is applied to the unmanned plane that restricted clearance detects safely as described above, is additionally provided with the camera on the holder
Mobile irradiation light.
It is applied to the unmanned plane that restricted clearance detects safely as described above, is additionally provided in real time by nothing on the holder
Man-machine location information is transmitted to the GPS module of control terminal.
The unmanned plane as described above detected safely applied to restricted clearance further includes that the air-sensitive being located on the holder passes
Sensor, the concentration for detecting pernicious gas in air.
Compared with prior art, the application has the following advantages:
1, the unmanned plane provided can replace people to carry out the work such as information collection, safety detection to restricted clearance.
2, light-weighted anticollision frame can spring back or rotate when being collided with object, can effectively prevent unmanned plane especially
It is that rotor is not damaged, even can be from high-altitude free falling without damage, being more advantageous to unmanned plane can answer in strange
It flies in miscellaneous environment, greatly reduces the incidence of " aircraft bombing ", ensure that unmanned plane is capable of the information of normal acquisition restricted clearance
And manipulation difficulty to unmanned plane can be substantially reduced.
3, it is connected on the output shaft of close coupled type DC brushless motor above underneath type rotor, although underneath type rotor is stablized
Property declined, but the mobility of unmanned plane is stronger, is more advantageous to it and avoids obstacle in time in complicated restricted clearance, carries
The safety of unmanned plane is risen, and camera of being more convenient for is mounted on above unmanned plane to shoot broader upper images.
4, cylindric frame is set between the first hemisphere frame and the second hemisphere frame so that anticollision frame is falling
During falling to the ground, on the one hand still a part of impact force can be offset by rolling, on the one hand cylindric frame can be with
The rolling that line contact type is carried out with ground prevents circular anticollision frame from carrying out long-term unstable point contact with ground and rolls
Multi-faceted and irregular overturning is caused to drone body and increases and destroys probability.
5, after unmanned plane finds trouble location, label rifle can be used to carry out sign flag to trouble location, such as stamps X
Shape or triangle pattern, it might even be possible to which stamping the pattern with fluorescent effect keeps label more prominent, and label can act on certainly
Near trouble location or trouble location so that personnel when carrying out repair and maintenance to the facility of restricted clearance can it is more intuitive,
Accurately and quickly find trouble location, in conjunction with GPS module locating effect more preferably.
[Description of the drawings]
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is structural representation Fig. 1 of the embodiment of the present application 1;
Fig. 2 is structural representation Fig. 2 of the embodiment of the present application 1;
Fig. 3 is the portions the A enlarged drawing of Fig. 2;
Fig. 4 is the portions the B enlarged drawing of Fig. 2;
Fig. 5 is the decomposition texture schematic diagram of the embodiment of the present application 1;
Fig. 6 is that ring and the decomposition texture schematic diagram for screwing ring are collapsed described in the embodiment of the present application 1;
Fig. 7 is the structural schematic diagram of rack described in the embodiment of the present application 1;
Fig. 8 is the structural schematic diagram that rifle is marked described in the embodiment of the present application 1;
Fig. 9 is the outlet schematic diagram of nozzle described in the embodiment of the present application 1;
Figure 10 is the structural schematic diagram of rack described in the embodiment of the present application 2;
Figure 11 is in the embodiment of the present application 1 in the image information figure taken in restricted clearance;
Figure 12 is image information in Figure 11 by treated the image information figures of step S22 described in embodiment 1;
Figure 13 is that 1 described image of the embodiment of the present application identifies schematic diagram;
Figure 14 is the principle schematic of process of convolution described in the embodiment of the present application 1;
Figure 15 is the principle schematic of pondization processing described in the embodiment of the present application 1.
[Specific implementation mode]
The technical issues of in order to keep the application solved, technical solution and advantageous effect are more clearly understood, below in conjunction with
The application is further elaborated in accompanying drawings and embodiments.It should be appreciated that specific embodiment described herein is only used
To explain the application, it is not used to limit the application.
As shown in Figures 1 to 10, the embodiment of the present application proposes to be applied to the unmanned plane that restricted clearance detects safely, including nothing
Man-machine ontology 1 and the anticollision frame 2 being located at outside the drone body 1;The drone body 1 includes rack 11 and peace
Holder 12 above the rack, the rack 11 are equipped with underneath type rotor 110, and the holder 12 is equipped with camera
121, with the irradiation light 122 of the movement of the camera 121 and for the location information of unmanned plane to be transmitted to control terminal in real time
GPS module;The anticollision frame 2 includes the first hemisphere frame 21, the second hemisphere frame 22 and connecting rod 23, the first hemisphere frame
21 and the tangent plane edge of the second hemisphere frame 22 the anticollision frame 2 is interconnected to form by the connecting rod 23.It is above-mentioned
Unmanned plane can replace people to carry out the work such as information collection, safety detection to restricted clearance.
Obstacle avoidance module can also be set in the drone body, such as infrared probe or ultrasonic probe, be conducive to nothing
It is man-machine to avoid obstacle in complicated restricted clearance, nevertheless, it is still higher to the manipulation level requirement of operator, it is above-mentioned anti-
Manipulation difficulty to unmanned plane can be substantially reduced by hitting frame, and protect unmanned plane to a greater extent.Specifically, the anticollision
The whole maximum gauge of frame 2 is less than 500mm, and material is carbon fiber, and light-weighted anticollision frame can when being collided with object
To spring back or rotate, unmanned plane especially rotor can be effectively prevent not to be damaged, it even can be from high-altitude free falling
Without damage, being more advantageous to unmanned plane can fly in strange complex environment, greatly reduce the incidence of " aircraft bombing ", protect
Card unmanned plane is capable of the information of normal acquisition restricted clearance.
In restricted clearance, often complicated condition, dark are closed, it is easier to cause unmanned plane to be collided with barrier and lead to not
Flight, the irradiation light moved with the camera can illuminate front, be more advantageous to image of the control terminal according to thecamera head
Unmanned plane during flying is controlled, while being conducive to unmanned plane can more clearly acquire image information.
More specifically, irradiation light selects the LED light of high intense light irradiation and the side mounted on camera, in addition, unmanned plane sheet
Body is equipped with high capacity cell, and preferably lithium battery is as energy resource supply.Further, winged space mini3D can be selected in the holder
Pro, holder can be used as the angle of the level and pitching of installation, the support equipment of fixed video camera or even adjustable video camera.Nothing
3DR wireless data transmission modules, WIFI wireless data transmission modules or 4G network transmission modules can be selected in man-machine data transmission.Control terminal
Include remote controler and monitor, remote controler can control the state of flight of unmanned plane, monitor that can obtain the figure of unmanned plane immediately
As information, location information and the other environmental information of acquisition.
It is connected on the output shaft of close coupled type DC brushless motor above underneath type rotor, although underneath type rotor stability
Declined, but the mobility of unmanned plane is stronger, is more advantageous to it and avoids obstacle in time in complicated restricted clearance, is promoted
The safety of unmanned plane, and camera of being more convenient for is mounted on above unmanned plane to shoot broader upper images.
Preferably, tangent plane edge of multiple connecting rods 23 along the first hemisphere frame 21 and the second hemisphere frame 22
It is uniformly distributed the cylindric frame to be formed and connect the first hemisphere frame 21 and the second hemisphere frame 22.Specifically, the company
Extension bar 23 is equipped with 4, cylindric frame is arranged between the first hemisphere frame and the second hemisphere frame so that anticollision frame
During dropping into ground, on the one hand still a part of impact force can be offset by rolling, on the one hand cylindric frame
The rolling that line contact type can be carried out with ground, prevents circular anticollision frame from carrying out long-term unstable point contact with ground
It rolls and is caused by multi-faceted and irregular overturning and increases and destroys probability for drone body.
In the present embodiment 1, the rack 11 includes pedestal 111, and 111 both sides of the pedestal are arranged with installing frame 112,
The installing frame 112 includes being connected on the pedestal 111 in isometric the first bar for stretching out 111 side of pedestal of splayed
It 113 and second bar 114, the third bar 115 that is connect with first bar, 113 external part end and is stretched out with second bar 114
It joins to be formed and the anticollision frame 2 in the free end of 4th bar 116 of end connection, the third bar 115 and the 4th bar 116
The apex angle interconnecting piece 117 of connection, the underneath type rotor 110 are located at the interconnecting piece of first bar 113 and the third bar 115
Below lower section and the interconnecting piece of second bar 114 and the 4th bar 116.Specifically, first bar 113, the second bar
114, multiple fabrication holes are all offered on third bar 115 and the 4th bar 116, can effectively mitigates rack weight, the machine of frame-shaped
Frame is symmetrically formed four for installing the installation points of rotor, simple in structure, lightweight in pedestal both sides, and be conducive to rotor can
It is installed by stablizing.
In the present embodiment 1, the first hemisphere frame 21 includes:Moulding 211 is equipped with a plurality of, 211 one end of a plurality of moulding
It collapses, the other end opens to form hemisphere frame-shaped, and one end that the moulding 211 collapses is equipped with to outside 21 top dome of the first hemisphere frame
The card convex 2111 of protrusion, it is recessed that one end that the moulding 211 opens is equipped with the card being centrally recessed into 21 section of the first hemisphere frame
2112;Ring 212 is collapsed, one end of the gathering of the moulding 211 is located at, the gathering ring 212 includes looping pit 2121, surrounds institute
The annular for stating looping pit 2121 collapses wall 2122, the equally distributed annular groove 2123 of the annular of wall 2122 is collapsed along the annular and
It is opened in the outer shroud screw thread 2124 of 1142 outer wall of the annular wall, 211 inlay card of the moulding is in the annular groove 2123 and institute
Card convex 2111 is stated to collapse in the looping pit 2121 so that 211 one end 5 of a plurality of moulding forms rounding state;Screw ring
213, it is equipped with 11 mutually fixed mounting hole 2131 of rack, screws wall 2132 around the annular of the mounting hole 2131 and open
Be located at the annular screw on 2132 inner wall of wall with 2124 matched inner ring screw thread 2133 of the outer shroud screw thread, the gathering ring
It is screwed in ring 213 described in precession after the 212 gathering mouldings 211;Expanded loop 214 is uniformly provided with and the moulding along circumference
The equal card hole 2141 of 211 quantity and the lockhole 2142 equal with 23 quantity of the connecting rod, the one of the opening of the moulding 211
End sticks into the card hole 2141;Connection ring 215 is uniformly provided with the via equal with 23 quantity of the connecting rod along circumference;
Attachment screw, the attachment screw pass through the lockhole 2142 and the via by the expanded loop 214 and the connection ring 215
It is locked in the connecting rod 23.The structure of the second hemisphere frame 22 is symmetrical set with the first hemisphere frame 21.It is spherical
Structure unmanned plane is more uniformly stressed when by colliding, it is more comprehensive to the protection of unmanned plane, and sound construction,
It is dismounted easily.
The unmanned plane further includes the label rifle 3 of the trouble location for marking restricted clearance.When unmanned plane finds failure
Behind position, label rifle can be used to carry out sign flag to trouble location, such as stamp X-shaped or triangle pattern, it might even be possible to beat
The upper pattern with fluorescent effect keeps label more prominent, and label can act near trouble location or trouble location certainly,
In conjunction with the positioning of GPS module so that personnel can be more intuitive, accurate, fast when the facility to restricted clearance carries out repair and maintenance
Trouble location is found promptly.
Preferably, the label rifle 3 is the automatic spray gun that can spray colored solution.The colored solution may be selected as red
Color solution can be added fluorescent powder in certain solution and make the distincter protrusion of indicia patterns.Specifically, the automatic spray gun packet
It includes:Nozzle 31 is equipped with exporting so that the colored solution sprayed is distributed in X shapes for X-shaped;Hydrojet channel 32, outlet with it is described
Nozzle 31 is connected to;Solution bottle 33 is used for the colored solution of holding, the interior imbibition channel being equipped with for being flowed for liquid to bottleneck
34, the solution bottle 33 is equipped with the first check valve 30 entered for air in bottle;Plunger shaft 35, with the hydrojet channel 32
Be connected to the imbibition channel 34, and be equipped between the plunger shaft 35 and 32 entrance of hydrojet channel control colored solution from
The second check valve 36 that the plunger shaft 35 is flowed to 31 direction of the nozzle, the plunger shaft 35 and the imbibition channel 34 it
Between be equipped with and control the third check valve 37 that colored solution is flowed from the solution bottle 33 to 35 direction of the plunger shaft, the piston
The piston 38 that can be moved back and forth in the plunger shaft 35 is equipped in chamber 35,38 middle part of the piston is equipped with piston thread hole;It drives
Dynamic motor 39 is equipped with and carries externally threaded machine shaft 391, with control in piston thread hole described in the machine shaft precession
The reciprocating motion of the piston 38.
When work, driving motor rotate forward, driving piston in plunger shaft retraction with the solution in draw solution bottle to piston
In chamber, then driving motor inverts, and driving piston quickly moves forward in plunger shaft, by the solution sucked in plunger shaft through nozzle
It ejects.
It is additionally provided with gas sensor on the holder 12, multiple sensors, including such as one can be integrated inside gas sensor
Carbonoxide gas sensor, gas gas sensor, freon gas dependent sensor etc., can measure the type of gas, concentration and at
Point, and it is converted into electric signal.On the one hand the safety problems such as the gaseous contamination of detection restricted clearance, gas leakage, on the one hand shift to an earlier date
The gas hazard degree for detecting restricted clearance promotes degree of safety when follow-up personnel enter restricted clearance maintenance.
It should be noted that be additionally provided with master control borad in the drone body, the camera, GPS module, irradiation light,
It driving motor, holder, gas sensor and controls the electric devices such as motor of rotor rotational and is electrically connected with master control borad to realize
Control is realized and such as switchs, rotates action.
The present embodiment also provides the safe detection method of restricted clearance based on unmanned plane, includes being adopted using the information of unmanned plane
Acquisition means carry out safety monitoring information collection to the region that restricted clearance domestic demand security monitoring detects, and the safety acquired is supervised
Measurement information application safety monitoring information recognition methods carries out safety monitoring information identification fortune in safety monitoring information identification module
Recognition result is exported after calculation.The case where restricted clearance, is detected instead of personnel with unmanned plane, greatly reduces personnel's entrance
The insecurity of restricted clearance, detection is also very convenient, and enhances the timeliness and stability of judging result.It can be according to detection
The defect level of the facility in restricted clearance arrived chooses whether that horse back arrangement personnel safeguard, is still continuing with facility,
Because individual defects degree not necessarily influences the work of facility, until defect to a certain extent when repair again, be more advantageous to
The effective rate of utilization of resource is promoted, and makes safety monitoring the work more safety and intelligence of restricted clearance.
Correspondingly, described information harvester is camera, and the safety monitoring information is image information, the safety prison
Measurement information identification module is picture recognition module, and the safety monitoring information identifying method is image-recognizing method, the camera shooting
Head acquired image information exports knowledge after identifying operation to image information with image-recognizing method in picture recognition module
Not as a result, of course, it is possible to by unmanned plane by the route automatic cruising of setting, can also artificial real time remote control unmanned plane to limited empty
It is interior to carry out camera shooting activity, can be the image information 600 taken in restricted clearance as shown in figure 11.Figure 13 shows for image recognition
It is intended to, the corrosion sites in figure in rectangle frame to recognize.Described image recognition methods includes the following steps:
S21 classifies the detection scene of restricted clearance, and is lacked well for per a kind of probe field scape matching is categorized
The identification image for the degree of falling into is fabricated to a training dataset, it should be noted that the defects of described defect level may include
Situations such as damage, slight crack, corrosion, specific such as pipe leakage, oil storage tank damage, Coal Mine Subsidence, and the safety monitoring information
The detectable drawbacks described above of identification module and the recognition result for exporting degree of correspondence, such as different degrees of leakage, different degrees of damage
Evil etc., in the present embodiment, the detection scene be classified as feed channel burner, support storage tank, inside industrial chimney, Large Oil
Tank ship is internal, inside big pipeline or coal-fired power station boiler, and the defect level is heavy corrosion, moderate corrosion or mild corrosion,
The recognition result is heavy corrosion, moderate corrosion or mild corrosion;
S22, the training data inputted in step S21 concentrate the identification image that detection scene and defect level have been classified
And carry out image sharpening and edge enhancing processing, wherein Figure 12 is that the image information 600 taken in restricted clearance passes through step
S22 treated image informations 700;
S23, using through step S22 treated identification image formed training data set pair convolutional neural networks instructed
Practice;
S24 is exported in convolutional neural networks of the image information acquired in step S1 the input after step S22 training
Recognition result, in the present embodiment, the output valve of the recognition result is heavy corrosion, moderate corrosion or mild corrosion.
Wherein, convolutional neural networks are trained described in step S23 and are included the following steps:
S231 carries out first time process of convolution successively to the identification image concentrated through step S22 treated training datas,
For convolutional neural networks first layer, it is preferable that by through step S22 treated identification image size be unified for 32 × 32 × 1,
The filter size of convolutional layer is 5 × 5, and depth 6 is supplemented, step-length 1 without using full 0, obtains the convolutional neural networks the
One layer of Output Size is 32-5+1=28, depth 6, i.e., the described convolutional neural networks second layer node matrix equation has 28 × 28 ×
6=4704 node, each node and 5 × 5=25 current node layers are connected, i.e. convolutional neural networks first layer is a total of
4704 × (25+1)=122304 connection;
S232:The processing of first time pondization is carried out to the convolutional neural networks first layer, local acknowledgement's normalized is
The convolutional neural networks second layer, it is preferable that the filter size that the convolutional neural networks second layer uses is for 2 × 2, step-length
2, the convolutional neural networks second layer output matrix size is 14 × 14 × 6;
S233 carries out second of process of convolution to the convolutional neural networks second layer, is convolutional neural networks third layer,
Preferably, the convolutional neural networks second layer output matrix is the input of the convolutional neural networks third layer, the mistake of use
Filter size is 5 × 5, and depth 16 is supplemented without using full 0, and the Output Size of step-length 1, convolutional neural networks third layer is
14-5+1=10, depth 16, i.e. convolutional neural networks third layer output matrix size are 10 × 10 × 16, convolutional neural networks
Third layer parameter has 5 × 5 × 6 × 16+16=2416, there is 10 × 10 × 16 × (5 × 5+1)=41600 connection;
S234 carries out second of pondization processing to the convolutional neural networks third layer, is the 4th layer of convolutional neural networks,
Preference, the input matrix size that the 4th layer of the convolutional neural networks are 10 × 10 × 16, the filter size used for 2 ×
2, step-length 2, the output matrix size that the 4th layer of the convolutional neural networks is 5 × 5 × 16;
S235 obtains convolutional neural networks layer 5 for the 4th layer to the convolutional neural networks in a manner of connecting entirely, excellent
Selection of land, the output matrix that the 4th layer of the convolutional neural networks are the input of the convolutional neural networks layer 5, are stretched
One three-dimensional matrice is stretched the one-dimensional space and indicated in vector form by the vector for being 5 × 5 × 16 for a length, into
Entering full articulamentum to be trained, the output node number of the convolutional neural networks layer 5 is 120, that is, share 5 × 5 × 16 ×
120+120=48120 parameter;
The convolutional neural networks layer 5 is obtained output layer by S236 in a manner of connecting entirely:Output layer is divided into 6
Independent part, each part are additionally connected with an independent loss function;
S237 minimizes the value of the loss function using categorized good identification image in S21, completes to convolution god
Training through network, this step are further to be corrected by categorized good identification picture and optimization convolutional neural networks.
Wherein, the Edge contrast method can be high-pass filtering and the spatial domain differential method, and enhancing processing in edge then may be used
The brightness value of image adjacent picture elements is differed larger edge and is highlighted by spatial domain method and frequency domain method, with efficiently
The feature for extracting image information, reinforces the accuracy of image recognition.The principle of the process of convolution is to bring input data 100 into
Convolution accounting method is converted into weight matrix 300, it should be noted that the convolution kernel, that is, above-mentioned by convolution kernel 200
The filter of convolutional layer, the matrix are combined with image, to generate the output of a convolution.The pondization processing is for subtracting
The space size of the quantity and image of few convolutional neural networks training parameter, pond are completed alone in each depth dimension,
Therefore with allowing convolutional layer to reduce operand under the premise of the depth of image remains unchanged, principle is will to wait for pond image data
Misaligned region chooses maximum value and forms new image data 500 in 400.
The safe detection method of the above-mentioned restricted clearance based on unmanned plane replaces the case where personnel are to restricted clearance with unmanned plane
It is detected, the personnel of greatly reducing enter the insecurity of restricted clearance, detect also very convenient intelligence, and enhance judgement
As a result timeliness and stability.Moreover, in order to improve the effective rate of utilization of resource, it can be according in the restricted clearance detected
Facility damage or defect level, choose whether that horse back arrangement personnel safeguard, be still continuing with facility, wait restricted clearances
The defects of repair again when reaching the degree to need repairing.
Convolutional neural networks can recognize that image and by the accuracys rate of training Statistical error result, can be by by training
Artificial judgement is gradually broken away from, is realized intelligent.So that judging more stable, quick.
In addition, described information harvester can also include the region for being detected to restricted clearance domestic demand security monitoring
The gas sensor that gas information is acquired, the safety monitoring information are gas information, the safety monitoring information identification
Module is gas identification module, and the safety monitoring information identifying method is Gas Distinguishing Method, and the gas sensor is adopted
The gas information of collection exports recognition result after identifying operation to gas information with Gas Distinguishing Method on gas identification module.
Gas sensor can be used to measure the type of gas, concentration and ingredient, the special component in gas can be detected, such as an oxygen
Change the detection of carbon gas, the detection of methane gas, the detection of coal gas, the detection etc. of freon (R11, R12), using on unmanned plane
The gas sensor of setting is acquired the gas information of restricted clearance, on the one hand detects gaseous contamination, the gas of restricted clearance
The safety problems such as body leakage, on the one hand detect the gas hazard degree of restricted clearance in advance, promote follow-up personnel and enter limited sky
Between overhaul when degree of safety.
In example 2, the present embodiment is substantially the same manner as Example 1, states for simplicity, only illustrate its primary structure with
1 difference of embodiment.Unaccounted part is same as Example 1 in the present embodiment, difference lies in:First bar 113,
Second bar 114, the third bar 115 and 116 head and the tail of the 4th bar hingedly form the installing frame of diamond shape successively
112, and there is the limit protrusion 1131 being located on the pedestal 111 between first bar 113 and 114 interior angle of the second bar
And for first bar 113 and second bar 114 to be made first bar 113 and described second toward relative direction drawing
Bar 114 is adjacent to the (the first back-moving spring 1132 of the limit protrusion 1131, the third bar 115 and 116 interior angle of the 4th bar
Between be equipped with second back-moving spring 1133.Specifically, the (the first back-moving spring and the second back-moving spring are tension spring,
When unmanned plane is hit, especially when apex angle interconnecting piece is by impact force, two installing frames of diamond shape are toward relatively
Direction crimp, the (the first back-moving spring and the second back-moving spring then coordinate with the limit protrusion by installing frame
It is pulled to normal shape, by the cushioning effect of spring, can effectively reduce when unmanned plane is hit drone body especially
The damage that rotor is subject to, and there is certain shock-absorbing effect.
In conclusion the application is had the advantages that by the improvement in structure:
1, the unmanned plane provided can replace people to carry out the work such as information collection, safety detection to restricted clearance.With nothing
Man-machine to be detected to the case where restricted clearance instead of personnel, the personnel of greatly reducing enter the insecurity of restricted clearance, visit
It is also very convenient to survey, and enhances the timeliness and stability of judging result.Moreover, when detecting the facility damage in restricted clearance
When badly or corroding to a certain extent, ability arrangement personnel safeguard, greatly improve the effective rate of utilization of resource.
2, light-weighted anticollision frame can spring back or rotate when being collided with object, can effectively prevent unmanned plane especially
It is that rotor is not damaged, even can be from high-altitude free falling without damage, being more advantageous to unmanned plane can answer in strange
It flies in miscellaneous environment, greatly reduces the incidence of " aircraft bombing ", ensure that unmanned plane is capable of the information of normal acquisition restricted clearance
And manipulation difficulty to unmanned plane can be substantially reduced.
3, it is connected on the output shaft of close coupled type DC brushless motor above underneath type rotor, although underneath type rotor is stablized
Property declined, but the mobility of unmanned plane is stronger, is more advantageous to it and avoids obstacle in time in complicated restricted clearance, carries
The safety of unmanned plane is risen, and camera of being more convenient for is mounted on above unmanned plane to shoot broader upper images.
4, cylindric frame is set between the first hemisphere frame and the second hemisphere frame so that anticollision frame is falling
During falling to the ground, on the one hand still a part of impact force can be offset by rolling, on the one hand cylindric frame can be with
The rolling that line contact type is carried out with ground prevents circular anticollision frame from carrying out long-term unstable point contact with ground and rolls
Multi-faceted and irregular overturning is caused to drone body and increases and destroys probability.
5, after unmanned plane finds trouble location, label rifle can be used to carry out sign flag to trouble location, such as stamps X
Shape or triangle pattern, it might even be possible to which stamping the pattern with fluorescent effect keeps label more prominent, and label can act on certainly
Near trouble location or trouble location so that personnel when carrying out repair and maintenance to the facility of restricted clearance can it is more intuitive,
Accurately and quickly find trouble location, in conjunction with GPS module locating effect more preferably.
It is the one or more embodiments for combining particular content to provide as described above, does not assert the specific reality of the application
It applies and is confined to these explanations.It is all approximate with the present processes, structure etc., identical, or under the application concept thereof
It makes several technologies to deduce, or replaces the protection domain that all should be considered as the application.
Claims (10)
1. the unmanned plane detected safely applied to restricted clearance, which is characterized in that including drone body (1) and be located at described
The external anticollision frame (2) of drone body (1);
The drone body (1) includes rack (11) and the holder (12) above the rack, the rack (11)
It is equipped with underneath type rotor (110), the holder (12) is equipped with rotatable camera (121);
The anticollision frame (2) includes the first hemisphere frame (21), the second hemisphere frame (22) and connecting rod (23), first hemisphere
The tangent plane edge of frame (21) and the second hemisphere frame (22) is interconnected to form the anticollision frame by the connecting rod (23)
Frame (2).
2. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that multiple companies
Extension bar (23) is uniformly distributed to form connection institute along the tangent plane edge of the first hemisphere frame (21) and the second hemisphere frame (22)
State the cylindric frame of the first hemisphere frame (21) and the second hemisphere frame (22).
3. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that the rack
(11) include pedestal (111), pedestal (111) both sides are arranged with installing frame (112), and the installing frame (112) includes connecting
It is connected on the pedestal (111) in isometric the first bar (113) and the second bar for stretching out pedestal (111) side of splayed
(114), the third bar (115) that is connect with the first bar (113) external part end and connect with the second bar (114) external part
It joins to be formed and the anticollision frame in the free end of the 4th bar (116) connect, the third bar (115) and the 4th bar (116)
The apex angle interconnecting piece (117) of frame (2) connection, the underneath type rotor (110) are located at first bar (113) and the third bar
(115) below interconnecting piece and below second bar (114) and the interconnecting piece of the 4th bar (116).
4. the unmanned plane according to claim 3 detected safely applied to restricted clearance, which is characterized in that first bar
(113), second bar (114), the third bar (115) and the 4th bar (116) head and the tail hingedly form diamond shape successively
The installing frame (112), and have between first bar (113) and second bar (114) interior angle and be located at the pedestal
(111) limit protrusion (1131) on and for leading first bar (113) and the past relative direction of second bar (114)
Drawing makes first bar (113) and second bar (114) be adjacent to the (the first back-moving springs of the limit protrusion (1131)
(1132), second back-moving spring (1133) is equipped between the third bar (115) and the 4th bar (116) interior angle.
5. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that described the first half
Ball frame (21) includes:
Moulding (211), is equipped with a plurality of, and a plurality of moulding (211) one end is collapsed, and the other end opens to form hemisphere frame-shaped, the frame
One end that item (211) collapses is equipped with the card convex (2111) protruded to outside the first hemisphere frame (21) top dome, the moulding (211)
It is recessed (2112) that one end of opening is equipped with the card being centrally recessed into the first hemisphere frame (21) section;
Ring (212) is collapsed, is located at one end of the moulding (211) gathering, the gathering ring (212) includes looping pit
(2121), the annular for surrounding the looping pit (2121) collapses wall (2122), collapses wall (2122) annular uniformly along the annular
The annular groove (2123) of distribution and the outer shroud screw thread (2124) for being opened in the annular wall (1142) outer wall, the moulding
(211) inlay card is in the annular groove (2123) and the card convex (2111) is collapsed in the looping pit (2121) so that a plurality of
Described moulding (211) one end forms rounding state;
Ring (213) is screwed, the ring with rack (11) mutually fixed mounting hole (2131), around the mounting hole (2131) is equipped with
Shape screws wall (2132) and is opened in the annular and screws and matched with the outer shroud screw thread (2124) on wall (2132) inner wall
Inner ring screw thread (2133), the gathering ring (212) collapses the moulding (211) and screws in ring (213) described in precession afterwards;
Expanded loop (214), along circumference be uniformly provided with the card hole equal with the moulding (211) quantity (2141) and with it is described
The equal lockhole (2142) of connecting rod (23) quantity, one end that the moulding (211) is opened stick into the card hole (2141);
Connection ring (215), the via equal with the connecting rod (23) quantity is uniformly provided with along circumference;
Attachment screw, the attachment screw pass through the lockhole (2142) and the via by the expanded loop (214) and described
Connection ring (215) is locked in the connecting rod (23).
6. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that further include being used for
Mark the label rifle (3) of the trouble location of restricted clearance.
7. the unmanned plane according to claim 6 detected safely applied to restricted clearance, which is characterized in that the label rifle
(3) for that can spray the automatic spray gun of colored solution, the automatic spray gun includes:
Nozzle (31) is equipped with exporting so that the colored solution sprayed is distributed in X shapes for X-shaped;
Hydrojet channel (32), outlet are connected to the nozzle (31);
Solution bottle (33) is used for the colored solution of holding, the interior imbibition channel (34) being equipped with for being flowed for liquid to bottleneck, institute
It states solution bottle (33) and is equipped with the first check valve (30) entered for air in bottle;
Plunger shaft (35) is connected to the hydrojet channel (32) and the imbibition channel (34), and the plunger shaft (35) with
The colored solution of control is equipped between hydrojet channel (32) entrance to flow from the plunger shaft (35) to the nozzle (31) direction
Dynamic the second check valve (36) is equipped between the plunger shaft (35) and the imbibition channel (34) and controls colored solution from described
The third check valve (37) that solution bottle (33) is flowed to the plunger shaft (35) direction, interior be equipped with of the plunger shaft (35) can be in institute
The piston (38) moved back and forth in plunger shaft (35) is stated, piston thread hole is equipped in the middle part of the piston (38);
Driving motor (39) is equipped with and carries externally threaded machine shaft (391), piston thread described in the machine shaft precession
To control the reciprocating motion of the piston (38) in hole.
8. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that the holder
(12) it is additionally provided on the mobile irradiation light (122) of the camera (121).
9. the unmanned plane according to claim 1 detected safely applied to restricted clearance, which is characterized in that the holder
(12) GPS module for the location information of unmanned plane to be transmitted to control terminal in real time is additionally provided on.
10. being applied to the unmanned plane that restricted clearance detects safely according to claim 1-9 any one of them, which is characterized in that
Further include the gas sensor being located on the holder (12), the concentration for detecting pernicious gas in air.
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