CN110159930A - The unmanned plane and its system of underground pipe gallery detection - Google Patents
The unmanned plane and its system of underground pipe gallery detection Download PDFInfo
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- CN110159930A CN110159930A CN201910399814.XA CN201910399814A CN110159930A CN 110159930 A CN110159930 A CN 110159930A CN 201910399814 A CN201910399814 A CN 201910399814A CN 110159930 A CN110159930 A CN 110159930A
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- 238000001514 detection method Methods 0.000 title claims abstract description 70
- 238000012360 testing method Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000010191 image analysis Methods 0.000 claims description 12
- 210000002421 cell wall Anatomy 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 2
- 241000883990 Flabellum Species 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 235000021307 Triticum Nutrition 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses the unmanned planes and its system of underground pipe gallery detection, including support plate, blower, inflator, fixing axle, hydraulic stem, hydraulic column, lifting assembly, fixed link, telescopic component, camera, microphone, decibel instrument and air pressure detector, the two sides of the support plate offer board slot, the invention changes the angle of blower by hydraulic column operation, it can guarantee the stable advance of unmanned plane, reduce the occupied space of flabellum, it can be realized more convenient and fast movement, improve the stability of unmanned plane, by the way that lifting assembly is arranged, it can be realized and different pipeline gaps is detected, more previous unmanned plane operation is more flexible, telescopic component is set, it may be implemented to detect the pipeline of different in width, it is more convenient when in use, it can satisfy the detection of variety classes pipeline, image can be passed through, noise and air pressure are to pipe Pipeline in corridor is detected, and testing result is more perfect.
Description
Technical field
The present invention relates to piping lane detection device technical field, specially the unmanned plane of underground pipe gallery detection and its it is
System.
Background technique
Piping lane unmanned plane is that one kind can move along small sized pipeline, carry one or more sensors and operation machinery, in work
Make under the remote control operation or computer controlled automatic of personnel, carries out mechanical, electrical, the instrument integral system of a series of pipeline operations, it is existing
Some unmanned planes are unstable in blower swing, increase in flabellum occupied space, the air-flow generated when in use is larger, influences pipeline
Leak detection, existing pipeline corridor is complicated, and the lift component that unmanned plane is not adapted to cannot adapt to the inspection of pipeline well
It surveys, existing unmanned plane does not have the telescopic component of pipe detection, cannot be adjusted according to different pipelines, acquires real-time pipeline letter
Breath, has omission when detecting.
Summary of the invention
The purpose of the present invention is to provide the unmanned planes and its system of underground pipe gallery detection, to solve above-mentioned background skill
The problem of being proposed in art.
In order to solve the above technical problem, the present invention provides following technical solutions: the unmanned plane of underground pipe gallery detection,
Including support plate, blower, inflator, fixing axle, hydraulic stem, hydraulic column, lifting assembly, fixed link, telescopic component, camera, wheat
Gram wind, decibel instrument, air pressure detector, control assembly, connecting rod, rotating cylinder and support column, the two sides of the support plate offer
Board slot, the both ends of the fixing axle are plugged between the two sides cell wall of board slot, and the rotating cylinder is socketed in the outside of fixing axle, institute
The top for stating inflator is fixed on the side of rotating cylinder, and the blower is fixed on the inside of inflator, and the support column is mounted on support
The top side of plate, one end of the hydraulic column are bolted on the bottom side of support column, one end grafting of the hydraulic stem
At the effect end of hydraulic column, the connecting rod is fixed on the top side of rotating cylinder, the top of the connecting rod and the bottom end of hydraulic stem
It is bolted, the lifting assembly is mounted on the top side of support column, and the lifting assembly includes bearing plate, locating rod, consolidates
Price fixing, gear, the first motor, the second motor, screw rod, lifting arm, fixed arm and tooth band, the bottom end of the fixed arm pass through bearing
It is fitted to the top side of support column, first motor is mounted on the top side of support column, and the gear is mounted on first
The output end of motor, the tooth band are sleeved and fixed in the bottom end of fixed arm, and the fixed disk is sleeved and fixed on the top of fixed arm
End, the bottom end of the lifting arm are plugged on the inside of fixed arm, and the bearing plate is mounted on the top of lifting arm, the locating rod
Bottom end be plugged on the inside of fixed disk, second motor is mounted on the bottom side of bearing plate, and the bottom end of the screw rod is fixed on
The output end of second motor, inside the other side of fixed disk, the fixed link is mounted on lifting for the bottom end of the screw rod
The top side of component, the telescopic component are mounted on the side of fixed link, and the telescopic component is pushed away including the first sliding panel, connection
Plate, air-leg, cylinder, the second sliding panel, sliding rail and slide fastener, the sliding rail are fixed on the side of the first sliding panel, the slide fastener
It is fixed on the side of the second sliding panel, the slide fastener snaps onto the side of sliding rail, and the cylinder is fixed on the top of the first sliding panel
Side, one end of the air-leg are fixed on the output end of cylinder, and the other end of the air-leg is fixed with connection push plate, described
The other end of connection push plate is fixed on the top side of slide fastener, and the control assembly is mounted on the top side of support plate, the decibel instrument peace
Mounted in the top side of control assembly, the air pressure detector is fixed on the side of control assembly, and the control assembly includes decibel inspection
Survey module, image analysis module, pressure detecting module, data transmission module, data comparison module, detection brake module and positioning
Module, the decibel detection module, image analysis module and pressure detecting module are connect with data comparison module by signal, institute
It states data comparison module and is connect with data transmission module by signal, the detection brake module and locating module are connected by signal
It connects, the detection brake module is connect with data comparison module by signal.
According to the above technical scheme, the gear is arranged in parallel with tooth band, and gear is engaged with tooth band.
According to the above technical scheme, the locating rod and screw rod are arranged in parallel, and the inside of the fixed disk offers screw thread,
And with screw rod be mating component.
According to the above technical scheme, the side of the fixed link is set side by side with two telescopic components, the fixed link up and down
The telescopic component bottom side at top is equipped with camera, and the telescopic component bottom side of the bottom of fixed is equipped with microphone, described
The top side of microphone offers through-hole, and the top side port of through-hole has film.
The UAV system of underground pipe gallery detection, including decibel detection module, image analysis module, pressure
Power detection module, data transmission module, data comparison module, detection brake module and locating module,
The decibel detection module is connect with microphone by signal wire, and the height of sound decibel is determined and analyze,
Described image analysis module and camera through signal wire, for the acquisition and discrimination of image, the gas
Detector and pressure detecting module are pressed, the air pressure for real time environment detects, the data transmission module
For the data of unmanned plane and using terminal transmit, the data comparison module for preset reference value with
The comparison of acquisition testing value, the detection brake module are used for the integral stop of unmanned plane, the positioning
Position of the module for unmanned plane positions.
According to the above technical scheme, the detection brake module is internally provided with alarm modules.
According to the above technical scheme, information feedback module is provided in the detection brake module, information feedback module is used
In feedback control unmanned plane.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being: the invention changes blower by hydraulic column operation
Angle, can the stable advance of unmanned plane, reduce the occupied space of flabellum, can be realized more convenient and fast movement, improve nobody
The stability of machine can be realized and detect to different pipeline gaps, more previous unmanned plane is grasped by the way that lifting assembly is arranged
Make it is more flexible, be arranged telescopic component, may be implemented to detect the pipeline of different in width, more convenient when in use, energy
Enough meet the detection of variety classes pipeline, the pipeline in piping lane can be detected by image, noise and air pressure, detection knot
Fruit is more perfect.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is whole side structure schematic view of the invention；
Fig. 3 is telescopic component structural schematic diagram of the invention；
Fig. 4 is lifting assembly structural schematic diagram of the invention；
Fig. 5 is control assembly structure schematic diagram of the invention；
Fig. 6 is system flow chart of the invention；
In figure: 1, support plate；2, blower；3, inflator；4, fixing axle；5, hydraulic stem；6, hydraulic column；7, lifting assembly；8,
Fixed link；9, telescopic component；10, camera；11, microphone；12, decibel instrument；13, air pressure detector；14, assembly is controlled；15,
Connecting rod；16, rotating cylinder；17, support column；91, the first sliding panel；92, push plate is connected；93, air-leg；94, cylinder；95,
Two sliding panels；96, sliding rail；97, slide fastener；71, bearing plate；72, locating rod；73, fixed disk；74, gear；75, the first motor；
76, the second motor；77, screw rod；78, lifting arm；79, fixed arm；710, tooth band；141, decibel detection module；142, image point
Analyse module；143, pressure detecting module；144, data transmission module；145, data comparison module；146, brake module is detected；
147, locating module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of technical solution: the unmanned plane of underground pipe gallery detection, including support
Plate 1, blower 2, inflator 3, fixing axle 4, hydraulic stem 5, hydraulic column 6, lifting assembly 7, fixed link 8, telescopic component 9, camera 10,
Microphone 11, decibel instrument 12, air pressure detector 13, control assembly 14, connecting rod 15, rotating cylinder 16 and support column 17, support plate 1
Two sides offer board slot, the both ends of fixing axle 4 are plugged between the two sides cell wall of board slot, and rotating cylinder 16 is socketed in fixing axle 4
Outside, the top of inflator 3 is fixed on the side of rotating cylinder 16, and blower 2 is fixed on the inside of inflator 3, and support column 17 is mounted on
The top side of support plate 1, one end of hydraulic column 6 are bolted on the bottom side of support column 17, one end grafting of hydraulic stem 5
At the effect end of hydraulic column 6, connecting rod 15 is fixed on the top side of rotating cylinder 16, the top of connecting rod 15 and the bottom end of hydraulic stem 5
It is bolted, lifting assembly 7 is mounted on the top side of support column 17, and lifting assembly 7 includes bearing plate 71, locating rod 72, consolidates
Price fixing 73, gear 74, the first motor 75, the second motor 76, screw rod 77, lifting arm 78, fixed arm 79 and tooth band 710, fixed arm
79 bottom end is mounted on the top side of support column 17 by bearing fit, and the first motor 75 is mounted on the top side of support column 17,
Gear 74 is mounted on the output end of the first motor 75, and tooth band 710 is sleeved and fixed in the bottom end of fixed arm 79, gear 74 and tooth band
710 are arranged in parallel, and gear 74 is engaged with tooth band 710, and fixed disk 73 is sleeved and fixed on the top of fixed arm 79, lifting arm 78
Bottom end is plugged on the inside of fixed arm 79, and bearing plate 71 is mounted on the top of lifting arm 78, and the bottom end of locating rod 72 is plugged on solid
The inside of price fixing 73, the second motor 76 are mounted on the bottom side of bearing plate 71, and the bottom end of screw rod 77 is fixed on the defeated of the second motor 76
End out, locating rod 72 and screw rod 77 are arranged in parallel, and the inside of fixed disk 73 offers screw thread, and are cooperation structure with screw rod 77
Part, inside the other side of fixed disk 73, fixed link 8 is mounted on the top side of lifting assembly 7, telescopic component for the bottom end of screw rod 77
9 are mounted on the side of fixed link 8, and telescopic component 9 includes the first sliding panel 91, connection push plate 92, air-leg 93, cylinder 94, the
Two sliding panels 95, sliding rail 96 and slide fastener 97, sliding rail 96 are fixed on the side of the first sliding panel 91, and slide fastener 97 is fixed on the second sliding
The side of plate 95, slide fastener 97 snap onto the side of sliding rail 96, and cylinder 94 is fixed on the top side of the first sliding panel 91, air-leg 93
One end is fixed on the output end of cylinder 94, and the other end of air-leg 93, which is fixed with, connects push plate 92, above and below the side of fixed link 8
Two telescopic components 9 are set side by side with, 9 bottom side of telescopic component at 8 top of fixed link is equipped with camera 10,8 bottom of fixed link
9 bottom side of telescopic component is equipped with microphone 11, and the top side of microphone 11 offers through-hole, and the top side port of through-hole is with thin
Film, the other end of connection push plate 92 are fixed on the top side of slide fastener 97, and control assembly 14 is mounted on the top side of support plate 1, decibel instrument
12 are mounted on the top side of control assembly 14, and air pressure detector 13 is fixed on the side of control assembly 14, and control assembly 14 includes point
Shellfish detection module 141, image analysis module 142, pressure detecting module 143, data transmission module 144, data comparison module
145, brake module 146 and locating module 147, decibel detection module 141, image analysis module 142 and pressure detecting mould are detected
Block 143 is connect with data comparison module 145 by signal, and data comparison module 145 and data transmission module 144 are connected by signal
It connects, detection brake module 146 is connect with locating module 147 by signal, detection brake module 146 and data comparison module 145
It is connected by signal.
The UAV system of underground pipe gallery detection, including decibel detection module 141, image analysis module 142, pressure
Detection module 143, data transmission module 144, data comparison module 145, detection brake module 146 and locating module 147, decibel
Detection module 141 is connect with microphone 11 by signal wire, and the height of sound decibel, image analysis module 142 are determined and analyze
With camera 10 by signal wire, for the acquisition and discrimination of image, air pressure detector 13 and pressure detecting module 143 are used for
The air pressure of real time environment detects, and data transmission module 144 is transmitted for the data of unmanned plane and using terminal, data comparison module
145 are used for the comparison of preset reference value and acquisition testing value, and detection brake module 146 is used for the integral stop of unmanned plane, positioning
Position of the module 147 for unmanned plane positions, and detection brake module 146 is internally provided with alarm modules, after braking, alarm mould
Block operation simultaneously, sounds an alarm, and detects and is provided with information feedback module in brake module 146, information feedback module is for feeding back
Control unmanned plane.
Based on above-mentioned, it is an advantage of the current invention that when unmanned plane carries out pipeline corridor and walks, because of the arc of corridor inner wall
Degree is different, can realize to the flexible of hydraulic stem 5 by 6 operation of hydraulic column, pull connecting rod 15, rotating cylinder 16 is along fixing axle 4
The rotation of inflator 3 is realized in rotation, realizes the angulation change of blower 2, carries out the movement of position, is guaranteed that unmanned plane is stablized and is moved ahead, accounts for
It is small with space, convenient for operation, when being detected, because at this moment can be made by the second motor 76 when the height difference of pipeline
Industry drives screw rod 77 to rotate, under the cooperation of locating rod 72, can be realized the rising of lifting arm 78, can also be according to corridor
Width, by 75 operation of the first motor, band moving gear 74 rotates, and under the cooperation of tooth band 710, realizes the rotation of fixed arm 79, changes
Become the detection faces of telescopic component 9, when being detected, 94 operation of cylinder pushes 93 operation of air-leg, in slide fastener 97 along sliding rail 96
Cooperation under, realize the flexible of the second sliding panel 95, the cross-sectional width of pipeline can be suitable for, pass through 10 collection tube of camera
Road image determines whether pipeline damages after the comparison of data comparison module 145, acts on detection brake module 146, unmanned plane stops
It only moves, keeps fixed point flight, braking information is issued to detection terminal by data transmission module 144, and pass through locating module
147 issue unmanned plane application position, are received by mobile terminal, are manually determined, after artificial judgement, determine that unmanned plane continues
Detection is also off detection, noise data is detected by HY104 decibel instrument 12, after decibel detection module 141, if noise
It is excessive respectively, detection brake module 146 is acted on, unmanned plane stops movement, keeps fixed point flight, passes through data transmission module
144 issue braking information to detection terminal, and issue unmanned plane application position by locating module 147, are connect by mobile terminal
It receives, is manually determined, after artificial judgement, determine that unmanned plane continues to test and is also off detection, pass through NA-80 air pressure detector
The air pressure of 13 detection real time environments acts on detection brake module 146, unmanned plane stops if ruptured by image display pipes
It only moves, keeps fixed point flight, braking information is issued to detection terminal by data transmission module 144, and pass through locating module
147 issue unmanned plane application position, are received by mobile terminal, are manually determined, after artificial judgement, determine that unmanned plane continues
Detection is also off detection.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. the unmanned plane of underground pipe gallery detection, including support plate (1), blower (2), inflator (3), fixing axle (4), hydraulic stem
(5), hydraulic column (6), lifting assembly (7), fixed link (8), telescopic component (9), camera (10), microphone (11), decibel instrument
(12), air pressure detector (13), control assembly (14), connecting rod (15), rotating cylinder (16) and support column (17), feature exists
In: the two sides of the support plate (1) offer board slot, and the both ends of the fixing axle (4) are plugged between the two sides cell wall of board slot,
The rotating cylinder (16) is socketed in the outside of fixing axle (4), and the top of the inflator (3) is fixed on the side of rotating cylinder (16),
The blower (2) is fixed on the inside of inflator (3), and the support column (17) is mounted on the top side of support plate (1), the hydraulic column
(6) one end is bolted on the bottom side of support column (17), and one end of the hydraulic stem (5) is plugged on hydraulic column
(6) effect end, the connecting rod (15) are fixed on the top side of rotating cylinder (16), the top of the connecting rod (15) and hydraulic stem
(5) bottom end is bolted, and the lifting assembly (7) is mounted on the top side of support column (17), lifting assembly (7) packet
Include bearing plate (71), locating rod (72), fixed disk (73), gear (74), the first motor (75), the second motor (76), screw rod
(77), the bottom end of lifting arm (78), fixed arm (79) and tooth band (710), the fixed arm (79) is mounted on by bearing fit
The top side of support column (17), first motor (75) are mounted on the top side of support column (17), gear (74) installation
Output end in the first motor (75), the tooth band (710) are sleeved and fixed in the bottom end of fixed arm (79), the fixed disk
(73) it is sleeved and fixed the top in fixed arm (79), the bottom end of the lifting arm (78) is plugged on the inside of fixed arm (79), institute
The top that bearing plate (71) is mounted on lifting arm (78) is stated, the bottom end of the locating rod (72) is plugged on the interior of fixed disk (73)
Portion, second motor (76) are mounted on the bottom side of bearing plate (71), and the bottom end of the screw rod (77) is fixed on the second motor
(76) output end, the bottom end of the screw rod (77) is inside the other side of fixed disk (73), fixed link (8) installation
In the top side of lifting assembly (7), the telescopic component (9) is mounted on the side of fixed link (8), and the telescopic component (9) includes
First sliding panel (91), connection push plate (92), air-leg (93), cylinder (94), the second sliding panel (95), sliding rail (96) and slide fastener
(97), the sliding rail (96) is fixed on the side of the first sliding panel (91), and the slide fastener (97) is fixed on the second sliding panel (95)
Side, the slide fastener (97) snaps onto the side of sliding rail (96), and the cylinder (94) is fixed on the top of the first sliding panel (91)
Side, one end of the air-leg (93) are fixed on the output end of cylinder (94), and the other end of the air-leg (93) is fixed with
It connects push plate (92), the other end of connection push plate (92) is fixed on the top side of slide fastener (97), control assembly (14) peace
Mounted in the top side of support plate (1), the decibel instrument (12) is mounted on the top side of control assembly (14), the air pressure detector (13)
It is fixed on the side of control assembly (14), the control assembly (14) includes decibel detection module (141), image analysis module
(142), pressure detecting module (143), data transmission module (144), data comparison module (145), detection brake module (146)
With locating module (147), the decibel detection module (141), image analysis module (142) and pressure detecting module (143) with
Data comparison module (145) is connected by signal, and the data comparison module (145) and data transmission module (144) pass through letter
Number connection, the detection brake module (146) connect with locating module (147) by signal, the detection brake module (146)
It is connect with data comparison module (145) by signal.
2. the unmanned plane of underground pipe gallery detection according to claim 1, it is characterised in that: the gear (74) and tooth
Band (710) is arranged in parallel, and gear (74) is engaged with tooth band (710).
3. the unmanned plane of underground pipe gallery according to claim 1 detection, it is characterised in that: the locating rod (72) and
Screw rod (77) is arranged in parallel, and the inside of the fixed disk (73) offers screw thread, and is mating component with screw rod (77).
4. the unmanned plane of underground pipe gallery detection according to claim 1, it is characterised in that: the fixed link (8)
Side is set side by side with two telescopic components (9) up and down, and telescopic component (9) bottom side at the top of the fixed link (8) is equipped with camera shooting
Head (10), telescopic component (9) bottom side of fixed link (8) bottom are equipped with microphone (11), the top of the microphone (11)
Side offers through-hole, and the top side port of through-hole has film.
5. the UAV system of underground pipe gallery detection, including decibel detection module (141), image analysis module (142), pressure
Power detection module (143), data transmission module (144), data comparison module (145), detection brake module (146) and positioning mould
Block (147), it is characterised in that: the decibel detection module (141) is connect with microphone (11) by signal wire, is determined and is analyzed
The height of sound decibel, described image analysis module (142) and camera (10) by signal wire, for image acquisition and distinguish
Analysis, the air pressure detector (13) and pressure detecting module (143), the air pressure for real time environment detect, the data transmission
Data of the module (144) for unmanned plane and using terminal are transmitted, the data comparison module (145) for preset reference value with
The comparison of acquisition testing value, detection brake module (146) are used for the integral stop of unmanned plane, the locating module (147)
Position for unmanned plane positions.
6. the system of the unmanned plane of underground pipe gallery detection according to claim 5, it is characterised in that: the detection system
Dynamic model block (146) is internally provided with alarm modules.
7. the system of the unmanned plane of underground pipe gallery detection according to claim 5, it is characterised in that: the detection system
Information feedback module is provided in dynamic model block (146), information feedback module is used for feedback control unmanned plane.
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| CN201910399814.XA CN110159930A (en) | 2019-05-14 | 2019-05-14 | The unmanned plane and its system of underground pipe gallery detection |
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| CN201910399814.XA CN110159930A (en) | 2019-05-14 | 2019-05-14 | The unmanned plane and its system of underground pipe gallery detection |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111006715A (en) * | 2019-11-12 | 2020-04-14 | 福建省永正工程质量检测有限公司 | Municipal engineering detection device based on cloud platform and use method |
| CN111114780A (en) * | 2019-12-20 | 2020-05-08 | 山东大学 | Unmanned aerial vehicle steel bar detection standard part placing and recycling system and method |
| CN111520592A (en) * | 2020-03-27 | 2020-08-11 | 赵国平 | Hydraulic engineering construction water level monitoring devices |
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