CN113567499A - A detection device that detects a flaw for unmanned aerial vehicle - Google Patents
A detection device that detects a flaw for unmanned aerial vehicle Download PDFInfo
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- CN113567499A CN113567499A CN202110707426.0A CN202110707426A CN113567499A CN 113567499 A CN113567499 A CN 113567499A CN 202110707426 A CN202110707426 A CN 202110707426A CN 113567499 A CN113567499 A CN 113567499A
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- 238000001514 detection method Methods 0.000 title claims abstract description 85
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 5
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- 238000011065 in-situ storage Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 238000013527 convolutional neural network Methods 0.000 description 8
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- 239000000463 material Substances 0.000 description 7
- 238000002372 labelling Methods 0.000 description 3
- 238000010801 machine learning Methods 0.000 description 3
- 238000001931 thermography Methods 0.000 description 3
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- 238000003384 imaging method Methods 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
Abstract
The invention discloses a flaw detection device for an unmanned aerial vehicle, which comprises: the device comprises a movable base, a mechanical arm, an infrared detection unit and a control unit; the infrared detection unit is arranged at one end of the mechanical arm, the other end of the mechanical arm is fixed on the movable base, and the mechanical arm can drive the infrared detection unit to move relative to the movable base; the control unit is respectively connected with the movable base, the mechanical arm and the infrared detection unit; the control unit changes the detection position of the infrared detection unit by controlling the movable base and the mechanical arm to move, and acquires images collected by the infrared detection unit for identification and analysis. The invention can adapt to the in-situ detection of complex structural components with different heights, avoids the complex disassembly process and has high intelligent degree.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a flaw detection device for an unmanned aerial vehicle.
Background
Unmanned aerial vehicle generally adopts combined material as organism material, for example unmanned aerial vehicle's roof beam, covering, flap etc. department adopt carbon fiber or honeycomb sandwich structure's combined material preparation to form usually, combined material's a large amount of applications have reduced unmanned aerial vehicle's structural weight effectively, and then have improved unmanned aerial vehicle's flight time of flight and range.
The unmanned aerial vehicle working environment is abominable, in production, transportation and long-term in-service process, organism structure can inevitably bump, still can receive lift, multiple load influences such as gravity and centrifugal force, inevitably cause fuselage and skin damage, very easily produce defect and damage in combined material's structure, for example layering, pit, corner damage, splitting, come unstuck etc. the existence of these defects has destroyed the integrality of combined material's structure, seriously influenced the mechanical properties of material and unmanned aerial vehicle's life, bury great hidden danger for aircraft safety, can endanger flight safety even. However, the area of the fuselage and the skin is large, the shape is complex, and the disassembly and the transportation are difficult, so that small resistance is brought to flaw detection, the detection efficiency is low, and the mechanization and intelligentization degrees are low.
Therefore, development of a flaw detection device for an unmanned aerial vehicle is expected, which can be applied to intelligent detection of large-scale complex curved surface structural members of the unmanned aerial vehicle, and improves detection efficiency.
Disclosure of Invention
The invention aims to provide a flaw detection device for an unmanned aerial vehicle, which is used for in-situ infrared intelligent detection of a large-scale complex curved surface structural member of a fuselage and a skin of the unmanned aerial vehicle, solves the problems of high difficulty in dismounting and mounting the large-scale complex curved surface structural member, difficulty in-situ detection and the like, has high degree of mechanization and intelligence, and can be remotely operated and automatically identified.
In order to achieve the above object, the present invention provides a flaw detection apparatus for an unmanned aerial vehicle, including: the device comprises a movable base, a mechanical arm, an infrared detection unit and a control unit;
the infrared detection unit is arranged at one end of the mechanical arm, the other end of the mechanical arm is fixed on the movable base, and the mechanical arm can drive the infrared detection unit to move relative to the movable base;
the control unit is respectively connected with the movable base, the mechanical arm and the infrared detection unit;
the control unit changes the detection position of the infrared detection unit by controlling the movable base and the mechanical arm to move, and acquires the image collected by the infrared detection unit for identification and analysis.
Optionally, the mechanical arm comprises a first vertical shaft, a first horizontal shaft, a second vertical shaft, and a second horizontal shaft;
the first vertical shaft is rotatably arranged on the movable base;
one end of the first transverse shaft is arranged on the first vertical shaft in a lifting manner and can rotate along with the first vertical shaft;
the second vertical shaft is rotatably arranged at the other end of the first transverse shaft;
the second transverse shaft is arranged on the second vertical shaft in a lifting manner and can rotate along with the second vertical shaft;
the second transverse shaft can reciprocate on the second vertical shaft along the axis direction of the second transverse shaft, and the infrared detection unit is arranged on the second transverse shaft.
Optionally, a first rack is arranged on a side wall of the first vertical shaft, and the first rack is parallel to an axis of the first vertical shaft;
a first sleeve is arranged at one end of the first transverse shaft, a first gear is arranged on the first sleeve, and the first gear is connected to a first motor;
the first sleeve is sleeved on the first vertical shaft, and the first gear can be in matched transmission with the first rack;
when the first motor drives the first gear to rotate, the first sleeve can be driven to lift along the first vertical shaft, and then the first transverse shaft is driven to lift along the first vertical shaft;
the first motor is connected to the control unit.
Optionally, a mounting platform is arranged at the other end of the first transverse shaft, a rotating motor is arranged in the mounting platform, the bottom of the second vertical shaft is arranged on the mounting platform and connected to the rotating motor, the rotating motor is used for driving the second vertical shaft to rotate, and the rotating motor is connected to the control unit.
Optionally, the second transverse shaft is arranged on the second vertical shaft through a connecting piece, a second rack is arranged on the second vertical shaft, the second rack is parallel to the axis of the second vertical shaft, a third rack is arranged on the second transverse shaft, and the third rack is parallel to the axis of the second transverse shaft;
the connecting piece comprises a second sleeve and a third sleeve, the third sleeve is connected to the side wall of the second sleeve, and the axis of the third sleeve is perpendicular to the axis of the second sleeve;
a second gear is arranged on the second sleeve and connected to a second motor, a third gear is arranged on the third sleeve and connected to a third motor;
the second sleeve is sleeved on the second vertical shaft, the second gear is in matched transmission with the second rack, and when the second motor drives the second gear to rotate, the second sleeve can be driven to lift along the second vertical shaft, so that the third sleeve is driven to lift along the second vertical shaft;
the second transverse shaft is arranged in the third sleeve, the third gear is in matched transmission with the third rack, and when the third motor drives the third gear to rotate, the third gear can be matched with the third rack to drive the second transverse shaft to move in the third sleeve;
the second motor and the third motor are respectively connected to the control unit.
Optionally, the infrared detection unit includes a rotation axis, an infrared thermal camera and a pair of heating lamps, the rotation axis is rotatably set up in the other end of arm, a pair of heating lamps articulate in the both ends of rotation axis, the infrared thermal camera is fixed in on the rotation axis and be located between a pair of heating lamps.
Optionally, two ends of the rotating shaft are respectively provided with a U-shaped bracket, and each of the heating lamps is hinged to one of the U-shaped brackets.
Optionally, the control unit comprises a signal generating device, a microcomputer system and an upper computer;
the signal generating device is connected to the infrared detection unit and used for sending a control signal to the infrared detection unit;
the microcomputer system is respectively connected with the signal generating device, the movable base and the mechanical arm;
the upper computer is in communication connection with the microcomputer system;
the upper computer controls the movable base and the mechanical arm to move through the microcomputer system, and the microcomputer system controls the infrared detection unit to collect images through the signal generation device and transmits the images to the upper computer for analysis and identification.
Optionally, the microcomputer system includes a mobile power supply, a wireless device and an infrared imaging control unit, the wireless device is used for communicating with the upper computer, the mobile power supply is respectively connected to the mobile base and the mechanical arm, and the infrared imaging control unit is connected to the signal generating device.
Optionally, the mobile base comprises a vehicle body, a driving motor and a plurality of universal wheels arranged at the bottom of the vehicle body, the driving motor is connected to a driving shaft of the universal wheel, and the control unit is connected to the driving motor.
The invention has the beneficial effects that: the flaw detection device of the invention is used for carrying out flaw detection on the unmanned aerial vehicle body and the skin, and the unmanned aerial vehicle does not need to be moved; the device is placed beside an unmanned aerial vehicle to be detected, the control unit is used for controlling the movable base to move to a proper position, then the control unit is used for moving the mechanical arm, the visual field of the infrared detection unit is adjusted to the area to be detected, and infrared thermal imaging is carried out; after the control unit acquires the images acquired by the infrared detection unit, machine learning software such as a convolutional neural network is used for identifying, classifying and labeling the heat map defects. The invention has high degree of mechanization, realizes the multi-dimensional movement of the infrared detection unit by the matching of the movable base and the mechanical arm, and can be suitable for different directions and angles; the intelligent degree is high, machine learning algorithms such as a convolutional neural network are utilized to identify, classify, label and the like the heat map defects, and the artificial participation degree is reduced; the flexibility ratio is high, applicable wide range, can realize the multi-angle infrared imaging of the complicated curved surface structure spare of unmanned aerial vehicle fuselage and covering, also is applicable to the infrared imaging of not co-altitude fuselage and covering simultaneously.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a schematic configuration diagram of a flaw detection apparatus for an unmanned aerial vehicle according to an embodiment of the present invention.
Description of the reference numerals
1. A universal wheel; 2. a vehicle body; 3. a connecting structure; 4. a first vertical shaft; 5. an upper computer; 6. a second vertical shaft; 7. a connecting member; 8. a signal generating device; 9. a second lateral axis; 10. a first heating lamp; 11. an infrared thermal camera; 12. a rotating shaft; 13. a second heating lamp; 14. a first lateral axis; 15. a microcomputer system.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
The invention discloses a flaw detection device for an unmanned aerial vehicle, which comprises: the device comprises a movable base, a mechanical arm, an infrared detection unit and a control unit;
the infrared detection unit is arranged at one end of the mechanical arm, the other end of the mechanical arm is fixed on the movable base, and the mechanical arm can drive the infrared detection unit to move relative to the movable base;
the control unit is respectively connected with the movable base, the mechanical arm and the infrared detection unit;
the control unit changes the detection position of the infrared detection unit by controlling the movable base and the mechanical arm to move, and acquires images collected by the infrared detection unit for identification and analysis.
Specifically, the device is placed beside an unmanned aerial vehicle to be detected, the control unit is used for controlling the movable base to move to a proper position, then the control unit is used for moving the mechanical arm, the visual field of the infrared detection unit is adjusted to the area to be detected, and infrared thermal imaging is carried out; after the control unit acquires the images acquired by the infrared detection unit, machine learning software such as a convolutional neural network and the like can be used for identifying, classifying and labeling the heat map defects. The invention has high degree of freedom by matching the movable base and the mechanical arm, can adapt to the in-situ detection of complex structural parts with different directions, heights and angles, avoids the complex disassembly process, can carry out intelligent detection by utilizing machine learning algorithms such as a convolutional neural network and the like, effectively saves labor force and labor cost, and greatly increases the detection efficiency.
As an alternative, the mechanical arm comprises a first vertical shaft, a first transverse shaft, a second vertical shaft and a second transverse shaft;
the first vertical shaft is rotatably arranged on the movable base;
one end of the first transverse shaft is arranged on the first vertical shaft in a lifting manner and can rotate along with the first vertical shaft;
the second vertical shaft is rotatably arranged at the other end of the first transverse shaft;
the second transverse shaft is arranged on the second vertical shaft in a lifting manner and can rotate along with the second vertical shaft;
the second transverse shaft can reciprocate on the second vertical shaft along the axis direction of the second transverse shaft, and the infrared detection unit is arranged on the second transverse shaft.
Specifically, the first vertical shaft can rotate, the first transverse shaft can move on the first vertical shaft in a lifting mode, the second vertical shaft can rotate on the first transverse shaft, the second transverse shaft can move on the second vertical shaft in a lifting mode and can stretch out and draw back, the height and the angle of the device can be suitable for different heights and angles through adjustment of the control unit, and the device is flexible to use.
As an alternative scheme, a first rack is arranged on the side wall of the first vertical shaft and is parallel to the axis of the first vertical shaft;
one end of the first transverse shaft is provided with a first sleeve, the first sleeve is provided with a first gear, and the first gear is connected with a first motor;
the first sleeve is sleeved on the first vertical shaft, and the first gear can be in matched transmission with the first rack;
when the first motor drives the first gear to rotate, the first sleeve can be driven to lift along the first vertical shaft, and then the first transverse shaft is driven to lift along the first vertical shaft;
the first motor is connected to the control unit.
Particularly, the stability of the shaft can be ensured by utilizing the gear rack transmission, the immediate braking can be realized, and the positioning accuracy is improved.
As an alternative scheme, a mounting platform is arranged at the other end of the first transverse shaft, a rotating motor is arranged in the mounting platform, the bottom of the second vertical shaft is arranged on the mounting platform and connected to the rotating motor, the rotating motor is used for driving the second vertical shaft to rotate, and the rotating motor is connected to the control unit.
Specifically, by providing the first horizontal axis, which is a space formed between the first vertical shaft and the second vertical shaft, the movement area of the robot arm can be enlarged.
As an alternative scheme, the second transverse shaft is arranged on the second vertical shaft through a connecting piece, the second vertical shaft is provided with a second rack, the second rack is parallel to the axis of the second vertical shaft, the second transverse shaft is provided with a third rack, and the third rack is parallel to the axis of the second transverse shaft;
the connecting piece comprises a second sleeve and a third sleeve, the third sleeve is connected to the side wall of the second sleeve, and the axis of the third sleeve is perpendicular to the axis of the second sleeve;
a second gear is arranged on the second sleeve and connected to a second motor, a third gear is arranged on the third sleeve and connected to a third motor;
the second sleeve is sleeved on the second vertical shaft, the second gear is in matched transmission with the second rack, and when the second motor drives the second gear to rotate, the second sleeve can be driven to lift along the second vertical shaft, so that the third sleeve is driven to lift along the second vertical shaft;
the second cross shaft is arranged in the third sleeve, the third gear is in matched transmission with the third rack, and when the third motor drives the third gear to rotate, the third gear can be matched with the third rack to drive the second cross shaft to move in the third sleeve;
the second motor and the third motor are respectively connected to the control unit.
As an alternative scheme, the infrared detection unit comprises a rotating shaft, an infrared thermal camera and a pair of heating lamps, the rotating shaft is rotatably arranged at the other end of the mechanical arm, the pair of heating lamps are hinged to two ends of the rotating shaft, and the infrared thermal camera is fixed on the rotating shaft and located between the pair of heating lamps.
Specifically, the infrared thermal camera and the pair of heating lamps are arranged on one rotating shaft, so that the infrared thermal camera and the pair of heating lamps can be guaranteed to move synchronously all the time, and a heating area for heating and the like is guaranteed to be located in an imaging range of the infrared thermal camera all the time.
Alternatively, the two ends of the rotating shaft are respectively provided with a U-shaped bracket, and each heating lamp is hinged on one U-shaped bracket.
Specifically, through the fixed heating lamp of U type support, can adjust the angle of shining of heating lamp, can cooperate the infrared camera to carry out the angle regulation of imaging, increase the angle range that detects.
As an alternative, the control unit comprises a signal generating device, a microcomputer system and an upper computer;
the signal generating device is connected with the infrared detection unit and used for sending a control signal to the infrared detection unit;
the microcomputer system is respectively connected with the signal generating device, the mobile base and the mechanical arm;
the upper computer is in communication connection with the microcomputer system;
the upper computer controls the movable base and the mechanical arm to move through the microcomputer system, and the microcomputer system controls the infrared detection unit to collect images through the signal generation device and transmits the images to the upper computer for analysis and identification.
Specifically, the host computer is provided with a convolutional neural network or other deep learning algorithms to identify, classify and label the thermal imaging pictures, and the intelligent degree is high.
Alternatively, the microcomputer system comprises a mobile power supply, a wireless device and an infrared imaging control unit, wherein the wireless device is used for communicating with the upper computer, the mobile power supply is respectively connected with the mobile base and the mechanical arm, and the infrared imaging control unit is connected with the signal generating device.
Specifically, the mobile power supply is convenient to use under the working condition of an outdoor power supply, and can be used by an external power supply under the condition of the external power supply.
As an alternative scheme, the mobile base comprises a vehicle body, a driving motor and a plurality of universal wheels arranged at the bottom of the vehicle body, the driving motor is connected to a driving shaft of the universal wheels, and the control unit is connected to the driving motor.
Examples
Fig. 1 shows a schematic configuration diagram of a flaw detection apparatus for an unmanned aerial vehicle of the present embodiment.
The embodiment is used for intelligent infrared detection flaw detection of a CH-4 unmanned aerial vehicle body and a skin.
As shown in fig. 1, the mobile base is composed of a vehicle body 2 and a universal wheel 1 arranged at the bottom of the vehicle body 2, and the universal wheel 1 is connected with a driving motor, so that two-dimensional plane movement with load can be realized;
the mechanical arm comprises a first vertical shaft 4, a first transverse shaft 14, a second vertical shaft 6 and a second transverse shaft 9, the first vertical shaft 4 is rotatably arranged on the vehicle body 2 through a connecting structure 3, a motor is arranged inside the vehicle body 2 and used for driving the first vertical shaft 4 to rotate, and a first rack is arranged on the side wall of the first vertical shaft 4; a first sleeve is arranged at one end of the first transverse shaft 14, a first gear is arranged on the first sleeve and connected to a first motor, the first sleeve is sleeved on the first vertical shaft 4, the first gear can be in matched transmission with the first rack, and when the first motor drives the first gear to rotate, the first sleeve can be driven to lift along the first vertical shaft 4, and further the first transverse shaft 14 is driven to lift along the first vertical shaft 4; the other end of the first transverse shaft 14 is provided with a mounting platform, a rotating motor is arranged in the mounting platform, the bottom of the second vertical shaft 6 is arranged on the mounting platform and connected to the rotating motor, and the rotating motor is used for driving the second vertical shaft 6 to rotate; a second rack is arranged on the second vertical shaft 6, a third rack is arranged on the second transverse shaft 9, the second transverse shaft 9 is arranged on the second vertical shaft 6 through a connecting piece 7, the connecting piece 7 comprises a second sleeve and a third sleeve, the third sleeve is connected to the side wall of the second sleeve, and the axis of the third sleeve is vertical to the axis of the second sleeve; a second gear is arranged on the second sleeve and connected to a second motor, a third gear is arranged on the third sleeve and connected to a third motor; the second sleeve is sleeved on the second vertical shaft 6, the second gear is in matched transmission with the second rack, and when the second motor drives the second gear to rotate, the second sleeve can be driven to lift along the second vertical shaft 6, and further the third sleeve is driven to lift along the second vertical shaft; the second cross shaft 9 is arranged in the third sleeve, the third gear is in matched transmission with the third rack, and when the third motor drives the third gear to rotate, the third gear can be matched with the third rack to drive the second cross shaft 9 to move in the third sleeve;
the infrared detection unit comprises a rotating shaft 12, an infrared thermal camera 11, a first heating lamp 10 and a second heating lamp 13, the rotating shaft 12 is rotatably arranged at one end of the second transverse shaft 9 and is driven by a motor independently, U-shaped supports are arranged at two ends of the rotating shaft 12 respectively, each heating lamp is hinged to one U-shaped support, and the infrared thermal camera 11 is fixed on the rotating shaft and is positioned between a pair of heating lamps;
the control unit comprises a signal generating device 8, a microcomputer system 15 and an upper computer 5, wherein the signal generating device 8 is arranged on the second sleeve of the connecting piece 7, is in communication connection with the infrared thermal camera 11 and is used for sending a control signal to the infrared thermal camera 11; the microcomputer system 15 comprises a mobile power supply, a wireless device and an infrared imaging control unit, wherein the wireless device is used for communicating with the upper computer 5 and the signal generating device 8, the mobile power supply is respectively connected with a driving motor of the mobile base and a driving motor and an infrared detection unit at each joint of the mechanical arm, the infrared imaging control unit is connected with the signal generating device 8, the signal generating device 8 can be controlled to send frequency modulation or amplitude modulation signals to be input into a heating lamp, the brightness and the heating speed of the heating lamp are changed, the sample piece is periodically heated, an infrared image is collected at regular time by controlling an infrared thermal camera 11, the infrared image is transmitted to the upper computer 5 through the wireless device, and the upper computer 5 can identify, classify and label the thermal image defects by using machine learning software such as a convolutional neural network.
The upper computer controls the mobile base to move to a proper position through the wireless device, then controls the mechanical arm to adjust the visual field of the infrared camera to the area to be detected, controls an infrared imaging control system of a microcomputer system to carry out infrared detection on the area to be detected through the upper computer, transmits an image sequence to the computer upper computer through the wireless device of the microcomputer system, and then identifies, classifies and labels the heat image defects through machine learning software such as a convolutional neural network.
The device has high degree of mechanization, adopts the intelligent mobile base and the mechanical arm to form an eight-dimensional mobile device, and is suitable for detecting different directions of a sample piece to be detected; the intelligent degree is high, the wireless device is used for intelligently controlling the mobile base, the mechanical arm, the heating lamp, the infrared thermal camera and the signal generating device to perform specified actions and transmitting back an infrared thermal image, machine learning algorithms such as a convolutional neural network are used for performing intelligent operations and display such as identification, classification and labeling on thermal image defects, and the manual participation degree is greatly reduced; the flexibility ratio is high, applicable wide range, and this system has eight degrees of freedom, can realize the multi-angle infrared imaging of the complicated curved surface structure spare of unmanned aerial vehicle fuselage and covering, also is applicable to the infrared imaging of not co-altitude fuselage and covering simultaneously.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. The utility model provides a detection device that detects a flaw for unmanned aerial vehicle which characterized in that includes: the device comprises a movable base, a mechanical arm, an infrared detection unit and a control unit;
the infrared detection unit is arranged at one end of the mechanical arm, the other end of the mechanical arm is fixed on the movable base, and the mechanical arm can drive the infrared detection unit to move relative to the movable base;
the control unit is respectively connected with the movable base, the mechanical arm and the infrared detection unit;
the control unit changes the detection position of the infrared detection unit by controlling the movable base and the mechanical arm to move, and acquires the image collected by the infrared detection unit for identification and analysis.
2. The flaw detection device for the unmanned aerial vehicle of claim 1, wherein the mechanical arm comprises a first vertical shaft, a first transverse shaft, a second vertical shaft, and a second transverse shaft;
the first vertical shaft is rotatably arranged on the movable base;
one end of the first transverse shaft is arranged on the first vertical shaft in a lifting manner and can rotate along with the first vertical shaft;
the second vertical shaft is rotatably arranged at the other end of the first transverse shaft;
the second transverse shaft is arranged on the second vertical shaft in a lifting manner and can rotate along with the second vertical shaft;
the second transverse shaft can reciprocate on the second vertical shaft along the axis direction of the second transverse shaft, and the infrared detection unit is arranged on the second transverse shaft.
3. The flaw detection device for the unmanned aerial vehicle according to claim 2, wherein a first rack is arranged on a side wall of the first vertical shaft, and the first rack is parallel to an axis of the first vertical shaft;
a first sleeve is arranged at one end of the first transverse shaft, a first gear is arranged on the first sleeve, and the first gear is connected to a first motor;
the first sleeve is sleeved on the first vertical shaft, and the first gear can be in matched transmission with the first rack;
when the first motor drives the first gear to rotate, the first sleeve can be driven to lift along the first vertical shaft, and then the first transverse shaft is driven to lift along the first vertical shaft;
the first motor is connected to the control unit.
4. The flaw detection device for the unmanned aerial vehicle according to claim 2, wherein a mounting platform is disposed on the other end of the first transverse shaft, a rotating motor is disposed in the mounting platform, a bottom of the second vertical shaft is disposed on the mounting platform and connected to the rotating motor, the rotating motor is configured to drive the second vertical shaft to rotate, and the rotating motor is connected to the control unit.
5. The flaw detection device for the unmanned aerial vehicle according to claim 2, wherein the second transverse shaft is arranged on the second vertical shaft through a connecting piece, a second rack is arranged on the second vertical shaft and is parallel to an axis of the second vertical shaft, a third rack is arranged on the second transverse shaft and is parallel to an axis of the second transverse shaft;
the connecting piece comprises a second sleeve and a third sleeve, the third sleeve is connected to the side wall of the second sleeve, and the axis of the third sleeve is perpendicular to the axis of the second sleeve;
a second gear is arranged on the second sleeve and connected to a second motor, a third gear is arranged on the third sleeve and connected to a third motor;
the second sleeve is sleeved on the second vertical shaft, the second gear is in matched transmission with the second rack, and when the second motor drives the second gear to rotate, the second sleeve can be driven to lift along the second vertical shaft, so that the third sleeve is driven to lift along the second vertical shaft;
the second transverse shaft is arranged in the third sleeve, the third gear is in matched transmission with the third rack, and when the third motor drives the third gear to rotate, the third gear can be matched with the third rack to drive the second transverse shaft to move in the third sleeve;
the second motor and the third motor are respectively connected to the control unit.
6. The flaw detection apparatus for the unmanned aerial vehicle of claim 1, wherein the infrared detection unit includes a rotation shaft rotatably disposed at the other end of the robot arm, an infrared thermal camera hinged to both ends of the rotation shaft, and a pair of heating lamps, and the infrared thermal camera is fixed to the rotation shaft and located between the pair of heating lamps.
7. The flaw detection device for the unmanned aerial vehicle according to claim 6, wherein a U-shaped bracket is respectively provided at both ends of the rotation shaft, and each of the heating lamps is hinged to one of the U-shaped brackets.
8. The flaw detection apparatus for unmanned aerial vehicle according to claim 1, wherein the control unit includes a signal generation device, a microcomputer system, and an upper computer;
the signal generating device is connected to the infrared detection unit and used for sending a control signal to the infrared detection unit;
the microcomputer system is respectively connected with the signal generating device, the movable base and the mechanical arm;
the upper computer is in communication connection with the microcomputer system;
the upper computer controls the movable base and the mechanical arm to move through the microcomputer system, and the microcomputer system controls the infrared detection unit to collect images through the signal generation device and transmits the images to the upper computer for analysis and identification.
9. The flaw detection device for unmanned aerial vehicle of claim 8, wherein the microcomputer system comprises a mobile power supply, a wireless device and an infrared imaging control unit, the wireless device is used for communicating with the upper computer, the mobile power supply is respectively connected with the mobile base and the mechanical arm, and the infrared imaging control unit is connected with the signal generation device.
10. The flaw detection device for the unmanned aerial vehicle of claim 1, wherein the moving base comprises a vehicle body, a driving motor and a plurality of universal wheels arranged at the bottom of the vehicle body, the driving motor is connected to a driving shaft of the universal wheels, and the control unit is connected to the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707426.0A CN113567499A (en) | 2021-06-24 | 2021-06-24 | A detection device that detects a flaw for unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110707426.0A CN113567499A (en) | 2021-06-24 | 2021-06-24 | A detection device that detects a flaw for unmanned aerial vehicle |
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| CN113567499A true CN113567499A (en) | 2021-10-29 |
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| CN202110707426.0A Pending CN113567499A (en) | 2021-06-24 | 2021-06-24 | A detection device that detects a flaw for unmanned aerial vehicle |
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