CN110159930B - Unmanned aerial vehicle and system for underground comprehensive pipe rack detection - Google Patents
Unmanned aerial vehicle and system for underground comprehensive pipe rack detection Download PDFInfo
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- CN110159930B CN110159930B CN201910399814.XA CN201910399814A CN110159930B CN 110159930 B CN110159930 B CN 110159930B CN 201910399814 A CN201910399814 A CN 201910399814A CN 110159930 B CN110159930 B CN 110159930B
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- 238000001514 detection method Methods 0.000 title claims description 70
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000010191 image analysis Methods 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims 3
- 239000010409 thin film Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000883990 Flabellum Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 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
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Abstract
The invention discloses an unmanned aerial vehicle for detecting an underground comprehensive pipe gallery and a system thereof, wherein the unmanned aerial vehicle comprises a supporting plate, a fan, an air cylinder, a fixed shaft, a hydraulic rod, a hydraulic column, a lifting assembly, a fixed rod, a telescopic assembly, a camera, a microphone, a decibel instrument and a pneumatic pressure detector, wherein plate grooves are formed in two sides of the supporting plate.
Description
Technical Field
The invention relates to the technical field of pipe gallery detection equipment, in particular to an unmanned aerial vehicle for detecting an underground comprehensive pipe gallery and a system thereof.
Background
The utility model provides a piping lane unmanned aerial vehicle is one kind can follow tiny pipeline removal, carry one or more sensor and operating machinery, under staff's remote control or computer automatic control, carry out the machine of a series of pipeline operations, electricity, appearance integrated system, current unmanned aerial vehicle is unstable at fan swing, increase at the flabellum occupation space, the air current that produces when using is great, influence pipeline leak detection, current pipeline corridor is complicated, unmanned aerial vehicle does not have the elevating component of adaptation, can not fine adaptation in the detection of pipeline, current unmanned aerial vehicle does not have the flexible subassembly of pipeline detection, can not adjust according to different pipelines, gather real-time pipeline information, can miss when detecting.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle for detecting an underground comprehensive pipe gallery and a system thereof, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the unmanned aerial vehicle for underground comprehensive pipe rack detection comprises a supporting plate, a fan, an air cylinder, a fixed shaft, a hydraulic rod, a hydraulic column, a lifting assembly, a fixed rod, a telescopic assembly, a camera, a microphone, a decibel meter, an air pressure detector, a control assembly, a connecting rod, a rotary cylinder and a supporting column, wherein plate grooves are formed in two sides of the supporting plate, two ends of the fixed shaft are inserted between two side groove walls of the plate grooves, the rotary cylinder is sleeved outside the fixed shaft, the top end of the air cylinder is fixed on one side of the rotary cylinder, the fan is fixed in the air cylinder, the supporting column is arranged on the top side of the supporting plate, one end of the hydraulic column is fixed on one side of the bottom of the supporting column through a bolt, one end of the hydraulic rod is inserted at the acting end of the hydraulic column, the connecting rod is fixed on the top side of the rotary cylinder, and the top end of the connecting rod is connected with the bottom end of the hydraulic rod through a bolt, the lifting assembly is arranged on the top side of the supporting column and comprises a bearing plate, a positioning rod, a fixed disc, a gear, a first motor, a second motor, a screw rod, a lifting arm, a fixed arm and a toothed belt, wherein the bottom end of the fixed arm is arranged on the top side of the supporting column in a matched manner through a bearing, the first motor is arranged on one side of the top of the supporting column, the gear is arranged at the output end of the first motor, the toothed belt is sheathed and fixed on the bottom end of the fixed arm, the fixed disc is sheathed and fixed on the top end of the fixed arm, the bottom end of the lifting arm is inserted into the fixed arm, the bearing plate is arranged on the top end of the lifting arm, the bottom end of the positioning rod is inserted into the fixed disc, the second motor is arranged on the bottom side of the bearing plate, the bottom end of the screw rod is fixed on the output end of the second motor, the bottom end of the screw rod penetrates through the other side of the fixed disc, the utility model provides a pneumatic brake system, including lifting unit, fixed lever, pneumatic assembly, control assembly, pneumatic assembly, the fixed lever is installed in lifting unit's top side, the telescopic assembly is installed in the top side of fixed lever, the telescopic assembly includes first sliding plate, connection push pedal, pneumatic rod, cylinder, second sliding plate, slide rail and slide fastener, the slide rail is fixed in one side of first sliding plate, the slide fastener is connected in one side of slide rail, the cylinder is fixed in the top side of first sliding plate, the output tip at the cylinder is fixed in one end of pneumatic rod, the other end of pneumatic rod is fixed with the connection push pedal, the other end of connection push pedal is fixed in the top side of slide fastener, the control assembly is installed in the top side of control assembly, the pneumatic detector is fixed in the side of control assembly, the control assembly includes decibel detection module, image analysis module, pressure detection module, data transmission module, data contrast module, detection braking module and positioning module, decibel detection module, image analysis module and pressure detection module pass through the data connection signal with the data comparison module, data connection signal passes through the data signal contrast module and the data connection module.
According to the technical scheme, the gear and the toothed belt are arranged in parallel, and the gear is meshed with the toothed belt.
According to the technical scheme, the locating rod and the screw rod are arranged in parallel, threads are formed in the fixing disc, and the locating rod and the screw rod are matched members.
According to the technical scheme, two telescopic components are arranged up and down on one side of the fixed rod in parallel, the camera is installed on the bottom side of the telescopic component at the top of the fixed rod, the microphone is installed on the bottom side of the telescopic component at the bottom of the fixed rod, the through hole is formed in the top side of the microphone, and the film is attached to the top side port of the through hole.
Unmanned aerial vehicle system that utility tunnel detected includes decibel detection module, image analysis module, presses
The device comprises a force detection module, a data transmission module, a data comparison module, a detection braking module and a positioning module,
The decibel detection module is connected with the microphone through a signal wire to judge and analyze the sound decibel,
The image analysis module and the camera are used for collecting and distinguishing the image through a signal wire, and the gas
The pressure detector and the pressure detection module are used for detecting the air pressure in a real-time environment, and the data transmission module is used for transmitting the data to the computer
The data comparison module is used for presetting a reference value and a data transmission of the unmanned aerial vehicle and the using terminal
The comparison of detection values is collected, the detection braking module is used for overall braking of the unmanned aerial vehicle, and positioning is performed
The module is used for positioning the unmanned aerial vehicle.
According to the technical scheme, the detection braking module is internally provided with the alarm module.
According to the technical scheme, the information feedback module is arranged in the detection braking module and is used for feedback control of the unmanned aerial vehicle.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the angle of the fan is changed through hydraulic column operation, the unmanned aerial vehicle can stably advance, the occupied space of the fan blades is reduced, more convenient movement can be realized, the stability of the unmanned aerial vehicle is improved, different pipeline gaps can be detected through arranging the lifting assembly, the operation of the unmanned aerial vehicle is more flexible than that of the conventional unmanned aerial vehicle, the detection of pipelines with different widths can be realized through arranging the telescopic assembly, the detection of pipelines with different types can be realized in a more convenient manner during use, the detection of pipelines with different types can be satisfied, the detection of the pipelines in a pipeline gallery can be realized through images, noise and air pressure, and the detection result is more perfect.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the overall side view of the present invention;
FIG. 3 is a schematic view of the telescopic assembly of the present invention;
FIG. 4 is a schematic view of a lifting assembly according to the present invention;
FIG. 5 is a schematic diagram of the control assembly of the present invention;
FIG. 6 is a system flow diagram of the present invention;
In the figure: 1. a support plate; 2. a blower; 3. an air cylinder; 4. a fixed shaft; 5. a hydraulic rod; 6. a hydraulic column; 7. a lifting assembly; 8. a fixed rod; 9. a telescoping assembly; 10. a camera; 11. a microphone; 12. a decibel meter; 13. an air pressure detector; 14. a control assembly; 15. a connecting rod; 16. a rotary drum; 17. a support column; 91. a first sliding plate; 92. the connecting push plate; 93. a pneumatic lever; 94. a cylinder; 95. a second sliding plate; 96. a slide rail; 97. a slide fastener; 71. a bearing plate; 72. a positioning rod; 73. a fixed plate; 74. a gear; 75. a first motor; 76. a second motor; 77. a screw rod; 78. a lifting arm; 79. a fixed arm; 710. a toothed belt; 141. a decibel detection module; 142. an image analysis module; 143. a pressure detection module; 144. a data transmission module; 145. a data comparison module; 146. detecting a brake module; 147. and a positioning module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: the utility model provides an unmanned aerial vehicle for underground utility tunnel detection, which comprises a supporting plate 1, a blower 2, an air cylinder 3, a fixed shaft 4, a hydraulic rod 5, a hydraulic column 6, a lifting component 7, a fixed rod 8, a telescopic component 9, a camera 10, a microphone 11, a decibel meter 12, an air pressure detector 13, a control assembly 14, a connecting rod 15, a rotary cylinder 16 and a supporting column 17, wherein the two sides of the supporting plate 1 are provided with plate grooves, the two ends of the fixed shaft 4 are inserted between the two side groove walls of the plate grooves, the rotary cylinder 16 is sheathed outside the fixed shaft 4, the top end of the air cylinder 3 is fixed on one side of the rotary cylinder 16, the blower 2 is fixed inside the air cylinder 3, the supporting column 17 is arranged on the top side of the supporting plate 1, one end of the hydraulic column 6 is fixed on one side of the bottom of the supporting column 17 through bolts, one end of the hydraulic rod 5 is inserted at the acting end of the hydraulic column 6, the connecting rod 15 is fixed on the top side of the rotary cylinder 16, the top of the connecting rod 15 is connected with the bottom end of the hydraulic rod 5 through a bolt, the lifting assembly 7 is arranged on the top side of the supporting column 17, the lifting assembly 7 comprises a bearing plate 71, a positioning rod 72, a fixed disc 73, a gear 74, a first motor 75, a second motor 76, a screw rod 77, a lifting arm 78, a fixed arm 79 and a toothed belt 710, the bottom end of the fixed arm 79 is arranged on the top side of the supporting column 17 through bearing fit, the first motor 75 is arranged on one side of the top of the supporting column 17, the gear 74 is arranged at the output end of the first motor 75, the toothed belt 710 is sleeved and fixed at the bottom end of the fixed arm 79, the gear 74 is arranged in parallel with the toothed belt 710, the gear 74 is meshed with the toothed belt 710, the fixed disc 73 is sleeved and fixed at the top end of the fixed arm 79, the bottom end of the lifting arm 78 is spliced in the fixed arm 79, the bearing plate 71 is arranged on the top end of the lifting arm 78, the bottom end of the positioning rod 72 is spliced in the fixed disc 73, the second motor 76 is arranged at the bottom side of the bearing plate 71, the bottom end of the screw rod 77 is fixed at the output end of the second motor 76, the positioning rod 72 and the screw rod 77 are arranged in parallel, the inside of the fixed disc 73 is provided with threads and is a matched component with the screw rod 77, the bottom end of the screw rod 77 penetrates through the inside of the other side of the fixed disc 73, the fixed rod 8 is arranged at the top side of the lifting assembly 7, the telescopic assembly 9 is arranged at one side of the fixed rod 8, the telescopic assembly 9 comprises a first sliding plate 91, a connecting push plate 92, a pneumatic rod 93, an air cylinder 94, a second sliding plate 95, a sliding rail 96 and a sliding buckle 97, the sliding rail 96 is fixed at one side of the first sliding plate 91, the sliding buckle 97 is buckled at one side of the sliding rail 96, the air cylinder 94 is fixed at the top side of the first sliding plate 91, one end of the pneumatic rod 93 is fixed at the output end of the air cylinder 94, the other end of the pneumatic rod 93 is fixedly provided with the connecting push plate 92, two telescopic components 9 are arranged up and down on one side of the fixed rod 8 in parallel, a camera 10 is arranged at the bottom side of the telescopic component 9 at the top of the fixed rod 8, a microphone 11 is arranged at the bottom side of the telescopic component 9 at the bottom of the fixed rod 8, a through hole is formed at the top side of the microphone 11, a film is attached to the top side port of the through hole, the other end of the connecting push plate 92 is fixed at the top side of the slide 97, the control assembly 14 is arranged at the top side of the supporting plate 1, the decibel meter 12 is arranged at the top side of the control assembly 14, the air pressure detector 13 is fixed at the side of the control assembly 14, the control assembly 14 comprises a decibel detection module 141, an image analysis module 142, a pressure detection module 143, a data transmission module 144, a data comparison module 145, a detection brake module 146 and a positioning module 147, the decibel detection module 141, the image analysis module 142 and the pressure detection module 143 are connected with the data comparison module 145 through signals, the data comparison module 145 is in signal connection with the data transmission module 144, the detection braking module 146 is in signal connection with the positioning module 147, and the detection braking module 146 is in signal connection with the data comparison module 145.
The utility model provides an unmanned aerial vehicle system that utility tunnel detected, including decibel detection module 141, image analysis module 142, pressure detection module 143, data transmission module 144, data contrast module 145, detect braking module 146 and positioning module 147, decibel detection module 141 passes through the signal line with microphone 11 and is connected, judge and analyze the height of sound decibel, image analysis module 142 passes through the signal line with camera 10, be used for the collection and the differentiation of image, barometer 13 and pressure detection module 143, be used for real-time environment's atmospheric pressure to detect, data transmission module 144 is used for unmanned aerial vehicle and the data transmission who uses the terminal, data contrast module 145 is used for predetermineeing the reference value and gathering the contrast of detected value, detect braking module 146 is used for unmanned aerial vehicle's whole braking, positioning module 147 is used for unmanned aerial vehicle's position location, detect braking module 146 inside is provided with alarm module, after the braking, alarm module simultaneous operation, send out the alarm, be provided with information feedback module in the detection braking module 146, information feedback module is used for feedback control unmanned aerial vehicle.
Based on the above, the invention has the advantages that when the unmanned aerial vehicle walks in the corridor of the pipeline, because the radian of the inner wall of the corridor is different, the telescopic operation of the hydraulic rod 5 can be realized through the operation of the hydraulic column 6, the connecting rod 15 is pulled, the rotary cylinder 16 rotates along the fixed shaft 4, the rotation of the air cylinder 3 is realized, the angle change of the fan 2 is realized, the position movement is carried out, the unmanned aerial vehicle is ensured to stably advance, the occupied space is small, the operation is convenient, when the detection is carried out, because the heights of the pipelines are different, the operation of the second motor 76 is carried out, the screw rod 77 is driven to rotate, the lifting of the lifting arm 78 can be realized under the cooperation of the positioning rod 72, the operation of the first motor 75 is also carried out according to the width of the corridor, the rotation of the gear 74 is driven, the rotation of the fixed arm 79 is realized under the cooperation of the toothed belt 710, the detection surface of the telescopic component 9 is changed, and when the detection is carried out, the cylinder 94 operates to push the pneumatic rod 93 operates, the slide fastener 97 is matched with the slide rail 96 to realize the expansion and contraction of the second slide plate 95, the cross section width of a pipeline can be suitable, the pipeline image is acquired through the camera 10, the pipeline is judged to be damaged after the comparison of the data comparison module 145, the pipeline is judged to be damaged, the detection brake module 146 is acted, the unmanned aerial vehicle stops moving, fixed-point flying is kept, brake information is sent to a detection terminal through the data transmission module 144, the unmanned aerial vehicle brake position is sent through the positioning module 147, the unmanned aerial vehicle is received through the mobile terminal, the manual judgment is carried out, after the manual judgment, whether the unmanned aerial vehicle continues to detect or stops detecting is determined, the noise data is detected through the HY104 decibel meter 12, after the noise is respectively excessive through the decibel detection module 141, the unmanned aerial vehicle stops moving and keeps fixed-point flying, the brake information is sent to the detection terminal through the data transmission module 144, and the brake position of the unmanned aerial vehicle is sent through the positioning module 147, the unmanned aerial vehicle is received through the mobile terminal, the manual judgment is carried out, after the manual judgment, whether the unmanned aerial vehicle continues to detect or stops detecting is determined, the air pressure of the real-time environment is detected through the NA-80 air pressure detector 13, if the air pressure is broken through the image display pipeline and acts on the detection brake module 146, the unmanned aerial vehicle stops moving and keeps flying at a fixed point, the brake information is sent to the detection terminal through the data transmission module 144, and the brake position of the unmanned aerial vehicle is sent through the positioning module 147, the manual judgment is carried out, and after the manual judgment, whether the unmanned aerial vehicle continues to detect or stops detecting is determined.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. Unmanned aerial vehicle that utility tunnel detected, including backup pad (1), fan (2), inflator (3), fixed axle (4), hydraulic stem (5), hydraulic stem (6), lifting unit (7), dead lever (8), telescopic subassembly (9), camera (10), microphone (11), decibel appearance (12), atmospheric pressure detector (13), control assembly (14), connecting rod (15), rotary cylinder (16) and support column (17), its characterized in that: the utility model discloses a hydraulic support device for a bicycle, which comprises a support plate (1), a fixed shaft (4) and a connecting rod (15), wherein the two sides of the support plate (1) are provided with plate grooves, the two ends of the fixed shaft (4) are inserted between the two side groove walls of the plate grooves, a rotary cylinder (16) is sleeved outside the fixed shaft (4), the top end of the air cylinder (3) is fixed on one side of the rotary cylinder (16), a fan (2) is fixed inside the air cylinder (3), a support column (17) is arranged on the top side of the support plate (1), one end of the hydraulic column (6) is fixed on one side of the bottom of the support column (17) through a bolt, one end of the hydraulic rod (5) is inserted at the acting end of the hydraulic column (6), the connecting rod (15) is fixed on the top side of the rotary cylinder (16), the top end of the connecting rod (15) is connected with the bottom end of the hydraulic rod (5) through a bolt, a lifting assembly (7) is arranged on the top side of the support column (17), the lifting assembly (7) comprises a supporting plate (71), a positioning rod (72), a fixing disc (73), a gear (74), a first motor (75), a second motor (76), a lifting arm (78), a lifting arm (79) and a bearing (79) are arranged on one side of the top of the support column (17 through the bearing (79) and the bearing (79), the gear (74) is arranged at the output end part of the first motor (75), the toothed belt (710) is sleeved and fixed at the bottom end of the fixed arm (79), the fixed disc (73) is sleeved and fixed at the top end of the fixed arm (79), the bottom end of the lifting arm (78) is inserted and connected in the fixed arm (79), the bearing plate (71) is arranged at the top end of the lifting arm (78), the bottom end of the positioning rod (72) is inserted and connected in the fixed disc (73), the second motor (76) is arranged at the bottom side of the bearing plate (71), the bottom end of the screw rod (77) is fixed at the output end part of the second motor (76), the bottom end of the screw rod (77) penetrates through the other side of the fixed disc (73), the fixed rod (8) is arranged at the top side of the lifting assembly (7), the telescopic assembly (9) is arranged at one side of the fixed rod (8), the telescopic assembly (9) comprises a first sliding plate (91), a connecting push plate (92), a pneumatic rod (94), a second sliding plate (96) and a sliding plate (97) are fixed at one side of the sliding plate (97) and the sliding plate (97), the pneumatic control device comprises a first sliding plate (91), a pneumatic rod (93), a connecting push plate (92), a control assembly (14), a decibel meter (12), a pneumatic detector (13) and a control assembly (14), wherein the air cylinder (94) is fixed on the top side of the first sliding plate (91), one end of the pneumatic rod (93) is fixed on the output end part of the air cylinder (94), the other end of the pneumatic rod (93) is fixedly provided with the connecting push plate (92), the other end of the connecting push plate (92) is fixed on the top side of a slide fastener (97), the control assembly (14) is arranged on the top side of a supporting plate (1), the decibel meter (12) is arranged on the top side of the control assembly (14), the pneumatic detector (13) is fixed on the side of the control assembly (14), the control assembly (14) comprises a decibel detection module (141), an image analysis module (142), a pressure detection module (143), a data transmission module (144), a data comparison module (145), a detection braking module (146) and a positioning module (147), the decibel detection module (141), the image analysis module (142) and the data comparison module (145) are connected with the data comparison module (145) through signals, and the data comparison module (146) through the signal connection with the detection module (146);
When the unmanned aerial vehicle walks in a pipeline corridor, the hydraulic rod (5) is stretched and contracted through the hydraulic column (6), the connecting rod (15) is pulled, the rotary cylinder (16) rotates along the fixed shaft (4), the air cylinder (3) rotates, the angle of the fan (2) changes, and the position moves; when the detection is carried out, the screw rod (77) is driven to rotate through the operation of the second motor (76), the lifting arm (78) can be lifted under the cooperation of the positioning rod (72), the gear (74) is driven to rotate through the operation of the first motor (75), the rotation of the fixed arm (79) is realized under the cooperation of the toothed belt (710), and the detection surface of the telescopic component (9) is changed; when the detection is carried out, the air cylinder (94) operates to push the pneumatic rod (93) to operate, and the second sliding plate (95) stretches and contracts under the cooperation of the sliding buckle (97) along the sliding rail (96), so that the detection device can be suitable for the cross section width of a pipeline; the pipeline image is collected through the camera (10), whether the pipeline is damaged is judged after the comparison of the data comparison module (145), the pipeline is acted on the detection braking module (146), the unmanned aerial vehicle stops moving, fixed-point flying is kept, braking information is sent to the detection terminal through the data transmission module (144), the unmanned aerial vehicle braking position is sent out through the positioning module (147), the unmanned aerial vehicle is received through the mobile terminal, the manual judgment is carried out, the unmanned aerial vehicle is determined to continue detection or stop detection after the manual judgment, noise data is detected through the decibel meter (12), after the noise data passes through the decibel detection module (141), if the noise is overlarge respectively, the unmanned aerial vehicle stops moving and fixed-point flying is kept, the unmanned aerial vehicle detection system comprises a detection terminal, a data transmission module (144), a positioning module (147), a mobile terminal, a manual judgment, an unmanned aerial vehicle continuous detection or stop detection, an air pressure detector (13) and a fixed-point flying, wherein the data transmission module (144) is used for sending braking information to the detection terminal, the positioning module (147) is used for sending the braking position of the unmanned aerial vehicle, the mobile terminal is used for receiving the braking information, the manual judgment is carried out, the unmanned aerial vehicle is determined to continue to detect or stop detecting after the manual judgment, and if the image display pipeline is broken, the unmanned aerial vehicle stops moving and keeps fixed-point flying, the data transmission module (144) is used for sending the braking information to the detection terminal, the positioning module (147) is used for sending the braking position of the unmanned aerial vehicle, and the mobile terminal is used for receiving the braking position of the unmanned aerial vehicle.
2. The utility tunnel inspection unmanned aerial vehicle of claim 1, wherein: the gear (74) is disposed in parallel with the toothed belt (710), and the gear (74) is meshed with the toothed belt (710).
3. The utility tunnel inspection unmanned aerial vehicle of claim 1, wherein: the positioning rod (72) and the screw rod (77) are arranged in parallel, threads are formed in the fixing disc (73), and the fixing disc and the screw rod (77) are matched components.
4. The utility tunnel inspection unmanned aerial vehicle of claim 1, wherein: two telescopic components (9) are arranged up and down on one side of the fixed rod (8) in parallel, a camera (10) is installed on the bottom side of the telescopic component (9) at the top of the fixed rod (8), a microphone (11) is installed on the bottom side of the telescopic component (9) at the bottom of the fixed rod (8), a through hole is formed in the top side of the microphone (11), and a thin film is attached to a top side port of the through hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910399814.XA CN110159930B (en) | 2019-05-14 | 2019-05-14 | Unmanned aerial vehicle and system for underground comprehensive pipe rack detection |
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|---|---|---|---|
| CN201910399814.XA CN110159930B (en) | 2019-05-14 | 2019-05-14 | Unmanned aerial vehicle and system for underground comprehensive pipe rack detection |
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| CN110159930A CN110159930A (en) | 2019-08-23 |
| CN110159930B true CN110159930B (en) | 2024-05-17 |
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| 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 |
| CN111114780B (en) * | 2019-12-20 | 2021-04-02 | 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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