CN110341948A - A kind of primary and secondary cooperating type inspection flying robot - Google Patents
A kind of primary and secondary cooperating type inspection flying robot Download PDFInfo
- Publication number
- CN110341948A CN110341948A CN201910659779.0A CN201910659779A CN110341948A CN 110341948 A CN110341948 A CN 110341948A CN 201910659779 A CN201910659779 A CN 201910659779A CN 110341948 A CN110341948 A CN 110341948A
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- China
- Prior art keywords
- handset
- machine tool
- rotor
- mainboard
- compartment
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- 238000007689 inspection Methods 0.000 title claims abstract description 18
- 230000001681 protective effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 10
- 230000007774 longterm Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/30—Aircraft characterised by electric power plants
- B64D27/35—Arrangements for on-board electric energy production, distribution, recovery or storage
- B64D27/353—Arrangements for on-board electric energy production, distribution, recovery or storage using solar cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D5/00—Aircraft transported by aircraft, e.g. for release or reberthing during flight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/80—Transport or storage specially adapted for UAVs by vehicles
- B64U80/82—Airborne vehicles
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of primary and secondary cooperating type inspection flying robots, including handset and machine tool, the machine tool includes machine tool mainboard, sheave post and column spinner, central holder is installed on the column spinner, card sets binocular camera and laser radar on the center holder, battery chamber is arranged in the bottom of the machine tool mainboard, the battery chamber bottom connects the Carrier box for installing handset, the Carrier box includes multiple loading plates, the loading plate forms several compartments, the handset includes handset mainboard and handset rotor, the handset rotor is mounted on the handset mainboard by handset rotor arm, the handset rotor and handset rotor arm rotation connect.The apparatus structure is skillfully constructed, single unit system cruising ability is strong, realized during inspection detection without dead angle blind area, detection information data are complete and propeller is not easily susceptible to destroy, by being used cooperatively for machine tool and handset, Detection task long-term under more scenes can be completed.
Description
Technical field
The present invention relates to robot and specific use apparatus fields, more particularly to a kind of primary and secondary cooperating type inspection flying machine
Device people.
Background technique
In recent years, with economic and science and technology development, the demand increasingly significant detected in the air.Due to traditional solo flight row intelligence
Can device at the visual angle at each moment be it is fixed, there are absolute dead angles cannot be aerial in the same moment real-time detection in real time
All visual angles of object.It is strong but bulky that big flight instruments can carry multiple sensors, cruising ability, in the sky target
Property it is too big and in some special aerial scenes (such as narrow valley), it is difficult to it is current and Detection task cannot be completed；And
Small flight instruments mobility strong, Objective is smaller, but because can only the lesser battery of load capacity, cruising ability is extremely low,
It is not able to satisfy Detection task steady in a long-term.Therefore urgently those skilled in the art solve the problems, such as this.
Summary of the invention
In order to solve problem above, the present invention provides a kind of primary and secondary cooperating type inspection flying robot, including handset and mother
Machine, the machine tool include machine tool mainboard, sheave post and column spinner, and the sheave post is bolted on the machine tool mainboard
Pulley is arranged in upper surface, sheave post top top, and the pulley and pulley are column articulated, and the column spinner is mounted on the mother
The central location of mainboard simultaneously rotates connection with the machine tool mainboard, and central holder, the center cloud are installed on the column spinner
Card sets binocular camera and laser radar on platform, and the upper uniform ring of the machine tool mainboard sets several solar panels, the machine tool
Multiple machine tool rotor arms are fixed on mainboard, one end of the machine tool rotor arm is mounted on the machine tool mainboard, other end arrangement
Machine tool engine, the fixed machine tool rotor in the top of the machine tool engine and machine tool rotor protective cover, the machine tool rotor protective cover with
It is arranged between machine tool rotor without interference, battery chamber is arranged in the bottom of the machine tool mainboard, and machine tool is arranged in the inside of the battery chamber
Battery pack, the binocular camera and the laser radar and the machine tool battery pack are electrically connected, and the battery chamber bottom connects
The Carrier box for installing handset is connect, the Carrier box includes multiple loading plates, and the loading plate forms several compartments, described
Handset is movably arranged on the inside cavity of the compartment, and the handset includes handset mainboard and handset rotor, the handset master
Horizontal layout gsm communication module, handset battery pack and the monocular cam of the upper side of plate, the handset rotor are revolved by handset
Wing arm is mounted on the handset mainboard, and the handset rotor and handset rotor arm rotation connect.
As an improvement of the present invention, the compartment includes the first compartment, the second compartment and third compartment.
As an improvement of the present invention, the handset rotor is mounted on institute by handset motor driven, the handset motor
The top for stating handset rotor arm is electrically connected with the handset rotor.
As an improvement of the present invention, at least one buffer structure is fixed in the downside of the compartment.
As an improvement of the present invention, the buffer structure includes contact to earth plate and several hydraulic columns, and the hydraulic column connects
Connect the downside of the contact to earth plate and the third compartment.
As an improvement of the present invention, the buffer structure further includes several springs, and the hydraulic column is mounted on institute
State the inside of spring.
It as an improvement of the present invention, further include charging panel, the charging panel is mounted on the bottom plate of the compartment,
For charging to the handset.
A kind of primary and secondary cooperating type inspection flying robot of the application, have it is following the utility model has the advantages that
1, the apparatus structure is skillfully constructed, and single unit system cruising ability is strong, and it is blind without dead angle that detection is realized during inspection
Area, detection information data are complete and propeller is not easily susceptible to destroy, and by being used cooperatively for machine tool and handset, can complete
Long-term Detection task under more scenes provides power supply to machine tool rotor engine in battery indoor location battery pack, to give machine tool
Rotor provides power, installs solar panels in machine tool mainboard upper surface, when sunlight energy abundance, can give the battery pack of battery chamber
Charging, provides backup power source, single unit system has practicability.
2, central holder is set on machine tool mainboard, on the one hand realizes that handset is collected in communication with the GSM communication module of handset
On the other hand the information detected is used to the information realization data fusion of handset and machine tool detection, and the data that will have been merged
It is transferred to ground communication center, binocular camera and laser radar are housed above central holder, can detecte aerial image
Information and point cloud data, while central holder can be rotated relative to machine tool mainboard, realize the detection at the comprehensive no dead angle of machine tool；
3, when carrying out inspection to overhead cable, whole device can be supported on high-altitude cable by pulley and sheave post by machine tool
On line, without the buoyancy that rotor work provides, power consumption is reduced or remitted；
4, when handset works, monocular cam can provide image information, and handset battery pack provides power to handset motor, from
And drive handset rotor wing rotation to provide buoyancy, when handset does not work or when not enough power supply, can fly to machine tool mainboard
Carrier box in；
5, three compartments are set, for parking handset, the charging panel of each compartment bottom is contacted with the charging panel of handset bottom,
To realize charging in the sky to handset；
6, buffer structure is set in the lower end of third compartment, when device, which works, completes to prepare landing, landing punching can be reduced
It hits and is impacted to device bring.
Detailed description of the invention
Fig. 1 the application single unit system structural schematic diagram；
Fig. 2 is the mounting structure schematic diagram of central holder on the application machine tool mainboard；
Attachment structure schematic diagram of the Fig. 3 between the application machine tool mainboard and battery chamber and compartment；
Fig. 4 is itself to ask buffer structure attachment structure schematic diagram；
Fig. 5 is the application handset structural schematic diagram；
Detailed description of the invention:
1, pulley；2, sheave post；3, central holder；4, binocular camera；5, laser radar；6, column spinner；7, machine tool mainboard；8,
Clamping screw；9, solar panels；10, machine tool rotor arm；11, machine tool rotor protective cover；12, machine tool rotor；13, machine tool engine；
14, battery chamber；15, compartment；16, the first compartment；17, the second compartment；18, third compartment；19, charging panel； 21,
Hydraulic column；22, contact to earth plate；23, spring；24, handset rotor arm；25, handset mainboard；26, gsm communication module；27, charging panel；
28, monocular cam；29, handset battery pack；30, handset rotor；31, handset motor；32, handset；33, machine tool.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
Embodiment 1: referring to Fig. 1 ~ Fig. 5, is now illustrated to a kind of primary and secondary cooperating type inspection flying robot provided by the invention,
The present invention provides a kind of primary and secondary cooperating type inspection flying robot, including handset 32 and machine tool 33, and the machine tool 33 includes machine tool
Mainboard 7, sheave post 2 and column spinner 6, the sheave post 6 are bolted on the upper surface of the machine tool mainboard 7, the cunning
Pulley 1 is arranged in 2 top top of wheel post, and the pulley 1 is hinged with sheave post 2, and the column spinner 6 is mounted on the machine tool mainboard 7
Central location and being rotated with the machine tool mainboard 7 connect, central holder 3, the center holder 3 are installed on the column spinner 6
Upper card sets binocular camera 4 and laser radar 5, and the upper uniform ring of the machine tool mainboard 7 sets several solar panels 9, the mother
Multiple machine tool rotor arms 10 are fixed in mainboard 7, one end of the machine tool rotor arm 10 is mounted on the machine tool mainboard 7, separately
Machine tool engine 13, the fixed machine tool rotor 12 in the top of the machine tool engine 13 and machine tool rotor protective cover 11 are arranged in one end, described
It is arranged between machine tool rotor protective cover 11 and machine tool rotor 12 without interference, battery chamber 14, institute is arranged in the bottom of the machine tool mainboard 7
State the inside setting machine tool battery pack of battery chamber 14, the binocular camera 4 and the laser radar 5 and the machine tool battery pack
It being electrically connected, 14 bottom of battery chamber connects the Carrier box for installing handset 32, and the Carrier box includes multiple loading plates,
The loading plate forms several compartments 15, and the handset 32 is movably arranged on the inside cavity of the compartment 15, the son
Machine 32 include handset mainboard 25 and handset rotor 30, the horizontal layout gsm communication module 26 of the upper side of the handset mainboard 25,
Handset battery pack 29 and monocular cam 28, the handset rotor 30 are mounted on the handset mainboard 25 by handset rotor arm 24
On, the handset rotor 30 is connected with the handset rotor arm 24 rotation.
Embodiment 2: referring to Fig. 1 ~ Fig. 5, and as an improvement of the present invention, the compartment 15 includes the first compartment
16, the second compartment 17 and third compartment 18.
Embodiment 3: Fig. 1 ~ Fig. 5 is referred to, as an improvement of the present invention, the handset rotor 30 is driven by handset motor 31
Dynamic, the handset motor 31 is mounted on the top of the handset rotor arm 24, is electrically connected with the handset rotor 30.
Embodiment 4: referring to Fig. 1 ~ Fig. 5, and as an improvement of the present invention, the downside of the compartment 15 is fixed at least
One buffer structure.
Embodiment 5: refer to Fig. 1 ~ Fig. 5, as an improvement of the present invention, if the buffer structure include contact to earth plate 22 and
Dry hydraulic column 21, the hydraulic column 21 connect the downside of the contact to earth plate 22 and the third compartment 18.
Embodiment 6: Fig. 1 ~ Fig. 5 is referred to, as an improvement of the present invention, the buffer structure further includes several springs
23, the hydraulic column 21 is mounted on the inside of the spring 23.
Embodiment 7: further including as an improvement of the present invention charging panel 27 with reference to Fig. 1 ~ Fig. 5, the charging panel 27
It is mounted on the bottom plate of the compartment 15, for charging to the handset 32.
The above described is only a preferred embodiment of the present invention, being not the limit for making any other form to the present invention
System, and made any modification or equivalent variations according to the technical essence of the invention, still fall within present invention model claimed
It encloses.
Claims (7)
1. a kind of primary and secondary cooperating type inspection flying robot, including handset and machine tool, the machine tool include machine tool mainboard, sheave post
And column spinner, the sheave post are bolted on the upper surface of the machine tool mainboard, top setting above the sheave post
Pulley, the pulley and pulley are column articulated, the column spinner be mounted on the central location of the machine tool mainboard and with the machine tool
Mainboard rotation connects, and central holder is installed on the column spinner, and card sets binocular camera and laser radar on the center holder,
The upper uniform ring of the machine tool mainboard sets several solar panels, and multiple machine tool rotor arms are fixed on the machine tool mainboard, described
One end of machine tool rotor arm is mounted on the machine tool mainboard, and the other end arranges machine tool engine, and the top of the machine tool engine is solid
Determine machine tool rotor and machine tool rotor protective cover, is arranged between the machine tool rotor protective cover and machine tool rotor without interference, the mother
The bottom of mainboard is arranged battery chamber, and the inside of the battery chamber is arranged machine tool battery pack, the binocular camera and described swashs
Optical radar and the machine tool battery pack are electrically connected, and the battery chamber bottom connects the Carrier box for installing handset, described to hold
Carrying box includes multiple loading plates, and the loading plate forms several compartments, and the handset is movably arranged on the chamber of the compartment
Internal portion, the handset include handset mainboard and handset rotor, the horizontal layout gsm communication mould of the upper side of the handset mainboard
Block, handset battery pack and monocular cam, the handset rotor is mounted on the handset mainboard by handset rotor arm, described
Handset rotor and handset rotor arm rotation connect.
2. a kind of primary and secondary cooperating type inspection flying robot according to claim 1, it is characterised in that: the compartment packet
Include the first compartment, the second compartment and third compartment.
3. a kind of primary and secondary cooperating type inspection flying robot according to claim 1 or 2, it is characterised in that: the handset
Rotor is mounted on the top of the handset rotor arm by handset motor driven, the handset motor, electrical with the handset rotor
Connection.
4. a kind of primary and secondary cooperating type inspection flying robot according to claim 2, it is characterised in that: the compartment
At least one buffer structure is fixed in downside.
5. a kind of primary and secondary cooperating type inspection flying robot according to claim 4, it is characterised in that: the buffer structure
Including plate and several hydraulic columns of contacting to earth, the downside of contact to earth described in the hydraulic column connection plate and the third compartment.
6. a kind of primary and secondary cooperating type inspection flying robot according to claim 5, it is characterised in that: the buffer structure
It further include several springs, the hydraulic column is mounted on the inside of the spring.
7. a kind of primary and secondary cooperating type inspection flying robot according to claim 2, it is characterised in that: further include charging
Plate, the charging panel are mounted on the bottom plate of the compartment, for charging to the handset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659779.0A CN110341948A (en) | 2019-07-22 | 2019-07-22 | A kind of primary and secondary cooperating type inspection flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659779.0A CN110341948A (en) | 2019-07-22 | 2019-07-22 | A kind of primary and secondary cooperating type inspection flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110341948A true CN110341948A (en) | 2019-10-18 |
Family
ID=68179523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910659779.0A Pending CN110341948A (en) | 2019-07-22 | 2019-07-22 | A kind of primary and secondary cooperating type inspection flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110341948A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200009989A1 (en) * | 2018-07-04 | 2020-01-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Aircraft |
| CN111390920A (en) * | 2020-03-13 | 2020-07-10 | 中国舰船研究设计中心 | Primary and secondary body reactor cabin robot suitable for nuclear power ship |
| CN111516851A (en) * | 2020-04-29 | 2020-08-11 | 中国科学院空天信息创新研究院 | Unmanned aerial vehicle long-time application system and method |
| CN111991721A (en) * | 2020-08-31 | 2020-11-27 | 熊新明 | Forest fire control fire extinguishing system based on unmanned aerial vehicle |
| CN113879537A (en) * | 2021-11-03 | 2022-01-04 | 南京航空航天大学 | Unmanned aerial vehicle empty base recovery device and method |
| CN113895623A (en) * | 2021-10-27 | 2022-01-07 | 桂林电子科技大学 | Unmanned aerial vehicle is patrolled and examined in monitoring |
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| CN206242834U (en) * | 2016-12-15 | 2017-06-13 | 济南舜风科技有限公司 | One kind can flight formula power circuit walking operation robot |
| CN207141381U (en) * | 2017-07-11 | 2018-03-27 | 上海伯镭智能科技有限公司 | Detect multiple wing unmanned plane in a kind of bridge bottom |
| CN108910038A (en) * | 2018-06-30 | 2018-11-30 | 苏州力佳达电子科技有限公司 | A kind of primary-secondary type unmanned plane device |
| CN109515703A (en) * | 2019-01-15 | 2019-03-26 | 河北工业大学 | A kind of quadrotor drone formula laser cleaning machine |
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| CN103855644A (en) * | 2014-03-14 | 2014-06-11 | 刘凯 | Multi-rotary-wing intelligent inspection robot for overhead line |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200009989A1 (en) * | 2018-07-04 | 2020-01-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Aircraft |
| US11505087B2 (en) * | 2018-07-04 | 2022-11-22 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Aircraft |
| CN111390920A (en) * | 2020-03-13 | 2020-07-10 | 中国舰船研究设计中心 | Primary and secondary body reactor cabin robot suitable for nuclear power ship |
| CN111516851A (en) * | 2020-04-29 | 2020-08-11 | 中国科学院空天信息创新研究院 | Unmanned aerial vehicle long-time application system and method |
| CN111991721A (en) * | 2020-08-31 | 2020-11-27 | 熊新明 | Forest fire control fire extinguishing system based on unmanned aerial vehicle |
| CN113895623A (en) * | 2021-10-27 | 2022-01-07 | 桂林电子科技大学 | Unmanned aerial vehicle is patrolled and examined in monitoring |
| CN113879537A (en) * | 2021-11-03 | 2022-01-04 | 南京航空航天大学 | Unmanned aerial vehicle empty base recovery device and method |
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| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20191018 |