CN109703756B - Unmanned aerial vehicle for chimney detection - Google Patents
Unmanned aerial vehicle for chimney detection Download PDFInfo
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- CN109703756B CN109703756B CN201910121768.7A CN201910121768A CN109703756B CN 109703756 B CN109703756 B CN 109703756B CN 201910121768 A CN201910121768 A CN 201910121768A CN 109703756 B CN109703756 B CN 109703756B
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Abstract
The invention provides an unmanned aerial vehicle for chimney detection, which comprises an unmanned aerial vehicle shell, wherein a first roller is arranged in the center of the top of the unmanned aerial vehicle shell, a first limiting ring is sleeved in the center of the outer wall of the first roller, a first rotor wing is connected to the first limiting ring in a threaded manner, a second roller is arranged at the top of the first roller, an intermediate bearing is sleeved between the bottom of the second roller and the top of the first roller, and a second limiting ring is sleeved at the top of the outer wall of the second roller; according to the invention, the first motor and the second motor are used for controlling the first roller and the second roller to operate, so that the first rotor wing and the second rotor wing on the first roller and the second roller are reversely rotated, and the two groups of rotor wings form the coaxial double-rotor helicopter, so that the coaxial double-rotor helicopter is stable in a flying state, the supporting feet are supported on the inner wall of the chimney, the supporting feet roll on the inner wall of the chimney through the rollers, the spring is set so as to be convenient for adapting to the chimneys with different inner diameters, the ultrasonic ranging sensor is used for transmitting the measured data and storing the measured data in the memory, and the existence of damage of the inner wall of the chimney is detected, so that the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for chimney detection.
Background
Unmanned aerial vehicles are often used in detecting chimneys, as disclosed in patent CN201721733446.0, a detecting unmanned aerial vehicle comprises a frame, and a rotor, an electric eye and a controller which are arranged on the frame; the electric eye comprises an optical camera and a thermal infrared imager; the controller is respectively and electrically connected with the optical camera, the thermal infrared imager and the driving motor of the rotor wing; the system also comprises a server and a power supply, wherein the server is in radio connection with the controller, and the power supply is respectively and electrically connected with the controller, the optical camera, the thermal infrared imager and the driving motor.
The unmanned detection plane is used for detecting objects to be detected, such as fan blades, at the high position, so that climbing of detection personnel in manual detection is effectively avoided, misleakage phenomenon caused by human factors is avoided, personnel investment is reduced, and detection accuracy is improved; and the surface of the object to be detected is detected through the optical view, and meanwhile, the interior of the object to be detected can be detected through the infrared heat diagram. Currently used unmanned aerial vehicle multidimensional four-rotor or six-rotor unmanned aerial vehicle, in actual use, the unmanned aerial vehicle cannot be directly applied to the environment of a chimney. Based on this, there is a strong need for the development of such unmanned aerial vehicles.
Disclosure of Invention
The invention aims to solve the technical problem that an unmanned aerial vehicle cannot be used in a chimney environment in the prior art, and the invention uses a double-rotor unmanned aerial vehicle, in particular to a coaxial double-rotor helicopter which is provided with an upper rotor and a lower rotor which rotate around the same theoretical axis in a positive-negative way, and because of opposite steering, the torque generated by the two rotors is balanced with each other in a flying state with unchanged course. Course steering can be achieved by generating unbalanced torque through so-called upper and lower rotor collective pitch differential, and the coaxial double rotors are both lifting surfaces and longitudinal and transverse steering surfaces in the flight of the helicopter.
In order to achieve the purpose, the specific scheme is as follows: the utility model provides a chimney detects and uses unmanned aerial vehicle, includes the unmanned aerial vehicle shell, the top central authorities of unmanned aerial vehicle shell are equipped with first cylinder, first spacer ring has been cup jointed at the outer wall central authorities of first cylinder, threaded connection has first rotor on the first spacer ring, the top of first cylinder is equipped with the second cylinder, the intermediate bearing has been cup jointed between the bottom of second cylinder and the top of first cylinder, the outer wall top of second cylinder has cup jointed the second spacer ring, threaded connection has the second rotor on the second spacer ring, the upper surface of second cylinder is equipped with the casing, the bottom outer wall of unmanned aerial vehicle shell evenly is equipped with ultrasonic ranging sensor, the surface top equidistant four sets of supporting legs that are equipped with of unmanned aerial vehicle shell, four sets of lower surface threaded connection of supporting legs has the spring, the bottom threaded connection of spring has the gyro wheel, threaded connection has first motor frame between the inner wall top left and right sides of unmanned aerial vehicle shell, the bottom threaded connection has first motor, the bottom of first motor extends to the inner chamber of first cylinder and the motor housing and the output end of a shaft sleeve, the bottom of the unmanned aerial vehicle shell is equipped with the inner chamber and the top of a set of four motor, the bottom of unmanned aerial vehicle shell is connected to the inner chamber of the top of a set of the unmanned aerial vehicle shell, the bottom of the inner chamber is connected with the top of the unmanned aerial vehicle shell is equipped with the inner chamber, the top of the unmanned aerial vehicle shell is connected with the inner chamber through the inner chamber of the top of the motor, the inner wall right side of unmanned aerial vehicle shell is equipped with the memory.
As an improvement, the output end of the ultrasonic ranging sensor is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input ends of the memory, the first motor and the second motor respectively.
As an improvement, the controller is an AVR single-chip microcomputer.
As an improvement, the bottom central authorities threaded connection of unmanned aerial vehicle shell has four groups stabilizer blade, and four groups the antiskid rubber pad has all been cup jointed to the bottom of stabilizer blade, four groups alternately be equipped with the frame between the stabilizer blade, the joint has infrared camera on the frame, infrared camera's output and the input electric connection of memory.
As an improvement, the top of the shell is in threaded connection with a wireless signal transceiver, and the wireless signal transceiver is respectively and electrically connected with the controller and the memory.
As an improvement, the power output end of the storage battery is respectively and electrically connected with the power input ends of the ultrasonic ranging sensor, the first motor, the controller, the second motor and the memory, and the storage battery is electrically connected with an electric quantity alarm.
The beneficial effects are that: according to the invention, the first motor and the second motor are used for controlling the operation of the first roller and the second roller, the middle bearing is connected between the first roller and the second roller, so that the reverse rotation of the first rotor wing and the second rotor wing on the first roller and the second roller is realized, and the two groups of rotor wings form a coaxial double-rotor helicopter, and the two groups of rotor wings are stable under the flying state due to reverse steering; during operation, the supporting legs support the inner wall at the chimney, and unmanned aerial vehicle steadily rises or descends, rolls on the inner wall of chimney through the gyro wheel, and the setting of spring is convenient for adapt to the chimney of different internal diameters, and ultrasonic ranging sensor returns measurement data and preserve in the memory, detects chimney inner wall and has the damage, and work efficiency is high.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a cross-sectional view of the structure of the present invention.
Fig. 3 is a schematic view of the connection structure of the electrical appliance of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
the unmanned aerial vehicle comprises an unmanned aerial vehicle shell 1, a first roller 2, a first limiting ring 3, a first rotor 4, a second roller 5, an intermediate bearing 6, a second limiting ring 7, a second rotor 8, a shell 9, an ultrasonic ranging sensor 10, a supporting foot 11, a spring 12, a roller 13, a first motor frame 14, a first motor 15, a rotating shaft 16, a controller 17, a second motor frame 18, a second motor 19, a storage battery 20 and a storage 21.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1-3, the unmanned aerial vehicle for chimney detection comprises an unmanned aerial vehicle shell 1, a first roller 2 is arranged at the center of the top of the unmanned aerial vehicle shell 1, a first limiting ring 3 is sleeved at the center of the outer wall of the first roller 2, a first rotor wing 4 is connected to the first limiting ring 3 in a threaded manner, a second roller 5 is arranged at the top of the first roller 2, an intermediate bearing 6 is sleeved between the bottom of the second roller 5 and the top of the first roller 2, a second limiting ring 7 is sleeved at the top of the outer wall of the second roller 5, a second rotor wing 8 is connected to the second limiting ring 7 in a threaded manner, a shell 9 is arranged on the upper surface of the second roller 5, ultrasonic ranging sensors 10 are uniformly arranged on the outer wall of the bottom of the unmanned aerial vehicle shell 1, four groups of supporting feet 11 are arranged at equal intervals on the top of the surface of the unmanned aerial vehicle shell 1, springs 12 are connected to the lower surfaces of the four groups of supporting feet in a threaded manner, rollers 13 are connected to the bottoms of the springs 12 in a threaded manner, a first motor frame 14 is connected between the left side and the right side of the top of the inner wall of the unmanned aerial vehicle shell 1 in a threaded manner, a first motor 15 is connected at the bottom of the first motor frame 14 in a threaded manner, the bottom of the first roller 2 extends to the inner cavity of the unmanned aerial vehicle shell 1 and is connected with the top power output end of the first motor 15 through a shaft sleeve, four groups of rotating shafts 16 are connected at equal intervals with the inner wall of the unmanned aerial vehicle shell 1 in a threaded manner, the tops of the four groups of supporting feet 11 extend to the inner cavity of the unmanned aerial vehicle shell 1 and are respectively connected with the four groups of rotating shafts 16 in a rotating manner, a controller 17 is arranged at the bottom of the inner cavity of the unmanned aerial vehicle shell 1, a second motor frame 18 is connected between the left side and the right side of the bottom of the inner wall of the shell 9 in a threaded manner, a second motor 19 is connected at the top of the second motor frame 18 in a threaded manner, the top of the second roller 5 extends to the bottom of the inner cavity of the shell 9 and is connected with the bottom power output end of the second motor 19 through the shaft sleeve, the bottom of unmanned aerial vehicle shell 1 has pegged graft battery 20, and the inner wall right side of unmanned aerial vehicle shell 1 is equipped with memory 21.
The output end of the ultrasonic ranging sensor 10 is electrically connected with the input end of the controller 17, the output end of the controller 17 is electrically connected with the input ends of the memory 21, the first motor 15 and the second motor 19 respectively, the controller 17 is an AVR single chip microcomputer, four groups of support legs are connected with the bottom center of the unmanned aerial vehicle shell 1 in a threaded mode, anti-slip rubber pads are sleeved at the bottoms of the four groups of support legs, a frame is arranged between the four groups of support legs in a crossed mode, an infrared camera is clamped on the frame, the output end of the infrared camera is electrically connected with the input end of the memory 21, the top of the shell 9 is in threaded connection with a wireless signal transceiver, the wireless signal transceiver is electrically connected with the controller 17 and the memory 21 respectively, the power output end of the storage battery 20 is electrically connected with the power input ends of the ultrasonic ranging sensor 10, the first motor 15, the controller 17, the second motor 19 and the memory 21 respectively, and a storage battery alarm is electrically connected on the 20, and an alarm is timely sent out when the electric quantity is insufficient.
Working principle: the first roller 2 and the second roller 5 are controlled to operate through the first motor 15 and the second motor 19 respectively, an intermediate bearing 6 is connected between the first roller 2 and the second roller 5, the mutual independence of the movement of the first roller 2 and the second roller 5 is achieved, the two rollers can rotate around the central axis of the unmanned plane, the reverse rotation of the first rotor 4 and the second rotor 8 on the first roller 2 and the second roller 5 is achieved, the two groups of rotors form a coaxial double-rotor helicopter, the torque generated by the two pairs of rotors is balanced with each other under the flight state of unchanged course due to the reverse rotation, the course control can be achieved through the unbalanced torque generated by the total distance differential motion of the first rotor 4 and the second rotor 8, and the coaxial double-rotor is a lifting surface and a control surface of longitudinal and transverse directions in the flight of the unmanned plane. During operation, the supporting legs 11 are supported on the inner wall of the chimney, when the unmanned aerial vehicle stably ascends or descends, the unmanned aerial vehicle rolls on the inner wall of the chimney through the idler wheels 13, the springs 12 are set to adapt to the chimneys with different inner diameters conveniently, the ultrasonic ranging sensor 10 returns measurement data and stores the measurement data in the memory 21, and whether the inner wall of the chimney is damaged or not is detected.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (4)
1. Unmanned aerial vehicle for chimney detection, its characterized in that: comprises an unmanned aerial vehicle shell (1);
the unmanned aerial vehicle comprises an unmanned aerial vehicle shell (1), wherein a first roller (2) is arranged in the center of the top of the unmanned aerial vehicle shell (1), a first limiting ring (3) is sleeved at the center of the outer wall of the first roller (2), a first rotor wing (4) is connected to the first limiting ring (3) in a threaded mode, a second roller (5) is arranged at the top of the first roller (2), an intermediate bearing (6) is sleeved between the bottom of the second roller (5) and the top of the first roller (2), a second limiting ring (7) is sleeved at the top of the outer wall of the second roller (5), a second rotor wing (8) is connected to the second limiting ring (7) in a threaded mode, a shell (9) is arranged on the upper surface of the second roller (5), ultrasonic ranging sensors (10) are uniformly arranged on the outer wall of the bottom of the unmanned aerial vehicle shell (1), four groups of supporting legs (11) are arranged at equal intervals on the top of the surface of the unmanned aerial vehicle shell (1), springs (12) are connected to the lower surfaces of the supporting legs (11) in a threaded mode, and the bottoms of the springs (12) are connected to the rollers (13) in a threaded mode;
the unmanned aerial vehicle comprises an unmanned aerial vehicle shell (1), wherein a first motor frame (14) is connected between the left side and the right side of the top of the inner wall of the unmanned aerial vehicle shell (1) in a threaded manner, a first motor (15) is connected to the bottom of the first motor frame (14) in a threaded manner, the bottom of a first roller (2) extends to the inner cavity of the unmanned aerial vehicle shell (1) and is connected with the top power output end of the first motor (15) through a shaft sleeve, four groups of rotating shafts (16) are connected to the inner cavity of the unmanned aerial vehicle shell (1) in an equidistant threaded manner, the tops of four groups of supporting feet (11) extend to the inner cavity of the unmanned aerial vehicle shell (1) and are respectively connected with the four groups of rotating shafts (16) in a rotating manner, a controller (17) is arranged at the bottom of the inner cavity of the unmanned aerial vehicle shell (1), a second motor frame (18) is connected between the left side and the right side of the bottom of the inner wall of a shell (9) in a threaded manner, the top of the second roller (5) extends to the inner cavity bottom of the shell (9) and is connected with the bottom power output end of the second motor (19) through a shaft sleeve, and a storage battery (21) is arranged at the bottom of the unmanned aerial vehicle shell (1);
the output end of the ultrasonic ranging sensor (10) is electrically connected with the input end of the controller (17), and the output end of the controller (17) is electrically connected with the input ends of the memory (21), the first motor (15) and the second motor (19) respectively;
the top of the shell (9) is connected with a wireless signal transceiver in a threaded mode, and the wireless signal transceiver is electrically connected with the controller (17) and the memory (21) respectively.
2. The unmanned aerial vehicle for chimney detection according to claim 1, wherein: the controller (17) is an AVR singlechip.
3. The unmanned aerial vehicle for chimney detection according to claim 1, wherein: the intelligent unmanned aerial vehicle is characterized in that four groups of support legs are connected with the center of the bottom of the unmanned aerial vehicle shell (1) in a threaded mode, the bottoms of the four groups of support legs are sleeved with anti-skid rubber pads, frames are arranged between the support legs in a crossed mode, an infrared camera is clamped on the frames, and the output end of the infrared camera is electrically connected with the input end of the memory (21).
4. The unmanned aerial vehicle for chimney detection according to claim 1, wherein: the power output end of the storage battery (20) is electrically connected with the power input ends of the ultrasonic ranging sensor (10), the first motor (15), the controller (17), the second motor (19) and the memory (21) respectively, and the storage battery (20) is electrically connected with an electric quantity alarm.
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| CN201910121768.7A CN109703756B (en) | 2019-02-19 | 2019-02-19 | Unmanned aerial vehicle for chimney detection |
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| CN201910121768.7A CN109703756B (en) | 2019-02-19 | 2019-02-19 | Unmanned aerial vehicle for chimney detection |
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| CN109703756A CN109703756A (en) | 2019-05-03 |
| CN109703756B true CN109703756B (en) | 2023-08-15 |
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| CN110208270A (en) * | 2019-05-31 | 2019-09-06 | 深圳空灵科技有限公司 | A kind of unmanned plane chimney automatic detecting method |
| US11885769B2 (en) | 2021-08-18 | 2024-01-30 | Saudi Arabian Oil Company | UAV for continuous ultrasound testing (UT) scans |
| CN114322867B (en) * | 2021-11-22 | 2024-03-22 | 天津大学 | Coaxial double-rotor-wing tip distance measurement system and method based on ultrasonic measurement |
| CN114534377B (en) * | 2022-02-14 | 2023-05-16 | 山东莱钢永锋钢铁有限公司 | Device for reducing water drops carried by wet desulfurization direct-discharge chimney and construction method |
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