CN113716058A - Wheeled unmanned aerial vehicle suitable for bridge detection and detection method thereof - Google Patents
Wheeled unmanned aerial vehicle suitable for bridge detection and detection method thereof Download PDFInfo
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- CN113716058A CN113716058A CN202110783110.XA CN202110783110A CN113716058A CN 113716058 A CN113716058 A CN 113716058A CN 202110783110 A CN202110783110 A CN 202110783110A CN 113716058 A CN113716058 A CN 113716058A
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- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims abstract description 37
- 201000010099 disease Diseases 0.000 claims abstract description 18
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000002131 composite material Substances 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000009440 infrastructure construction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000004537 pulping Methods 0.000 description 1
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- 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
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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
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/10—Railings; Protectors against smoke or gases, e.g. of locomotives; Maintenance travellers; Fastening of pipes or cables to bridges
- E01D19/106—Movable inspection or maintenance platforms, e.g. travelling scaffolding or vehicles specially designed to provide access to the undersides of bridges
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- 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
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
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- Remote Sensing (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a wheel-propelled unmanned aerial vehicle suitable for bridge detection and a detection method thereof. The power device on the tail rod can adjust the vertical relative position of the counterweight wheel and the unmanned aerial vehicle body, so that the unmanned aerial vehicle can be flexibly controlled to advance forwards and backwards. The odometer can record the traveling distance of the rolling wheel of the unmanned aerial vehicle and can record the relative position of the unmanned aerial vehicle and the bridge under the bridge. The invention can flexibly reach the bridge detection position and record quantitative description data of the occurrence of the diseases, including the disease image, the position of the disease distance shooting point and the position information of the diseases.
Description
Technical Field
The invention relates to civil engineering and unmanned aerial vehicle crossing technologies, in particular to a wheel-advancing unmanned aerial vehicle suitable for bridge detection.
Background
With the rapid development of the infrastructure construction of China in recent years, the civil engineering industry develops rapidly, and after a large number of roads and bridges are constructed, the later-stage detection and maintenance work is carried out. The bridge support is an important component for connecting upper and lower structures of a bridge, can be the throat of the bridge, has a great relationship, and once a disease occurs, if the disease is not found and treated in time, the stress state and traffic safety of the structure are influenced. At present, the main approach of bridge detection is manual detection, and the method is time-consuming and labor-consuming and can influence traffic. Some bridges built in mountains and on the sea are difficult to realize by a manual detection method, or the safety of bridge detection personnel is difficult to ensure. Therefore, an apparatus for automatically positioning a bridge support and collecting an image of the support is urgently needed.
Along with the rapid development of the unmanned aerial vehicle technology, the unmanned aerial vehicle technology also gradually permeates into the work of bridge detection. And current trade unmanned aerial vehicle lacks the design to the bridge detection, the disease distance collection equipment's that can't accurate acquisition was shot distance apart from the distance, unmanned aerial vehicle can lead to the stability of unmanned aerial vehicle self to reduce because of the air current when being close to the decking moreover, can't acquire high quality image, the GPS signal is weak under the bridge moreover, unmanned aerial vehicle relies on the position information that artifical control is difficult to accurate acquisition bridge disease, and the position that the disease appears is very important information to the evaluation bridge disease. Therefore, the urgent need of present phase is an unmanned aerial vehicle suitable for bridge detection that can solve above-mentioned problem.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a wheel-propelled unmanned aerial vehicle suitable for bridge detection, which can accurately acquire the quantitative and position information of bridge diseases.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a wheeled unmanned aerial vehicle for bridge inspection, includes:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body comprises a body and a tail rod, two first power rotary propellers are symmetrically arranged on the left side and the right side of the body, and a second power rotary propeller is arranged on the tail rod;
the wheel shaft is rotationally connected to the machine body, and two ends of the wheel shaft are respectively and fixedly connected with a rolling wheel; the odometer is arranged on the machine body, is in transmission connection with the wheel shaft through a synchronous transmission mechanism and is used for recording the number of turns of the rotation of the wheel shaft;
the camera is arranged on the machine body and used for collecting images;
the counterweight unit is arranged at the tail part of the tail rod;
and the signal input end of the control module is connected with the odometer, and the signal output end of the control module is connected with the camera.
The rolling wheel is made of carbon fiber composite materials, and the outer contour of the rolling wheel is provided with a rough surface.
The wheel shaft is in transmission connection with the odometer through a synchronous belt wheel and a synchronous belt.
The camera has at least two degrees of freedom in the horizontal direction and the vertical direction.
The counterweight unit is a counterweight wheel arranged at the tail part of the tail rod.
The diameter of the counterweight wheel is less than two-thirds of the diameter of the rolling wheel.
The body is also provided with a GPS positioning module.
The invention further discloses a bridge detection method, based on the wheel-propelled unmanned aerial vehicle for bridge detection,
the upper and lower positions of the tail rod and the counterweight unit are adjusted by the relative power of the second power propeller and the first power propeller to control the rolling wheel to move forwards and backwards; the horizontal movement of the tail rod and the counterweight unit is controlled by adjusting the relative rotating speed of the upper blade and the lower blade in the second power propeller so as to control the steering of the unmanned aerial vehicle;
the method comprises the steps that the diameter of wheels and the position of a fixed camera on an unmanned aerial vehicle are determined, the distance from a camera to a shooting point is obtained when the unmanned aerial vehicle crawls at the bottom of a bridge, the proportional relation between a pixel point in a mapping image and the real physical size is obtained through the distance, and the real physical size is obtained through the proportional relation;
the odometer collects the rolling number of turns of the rolling wheel, the information of the number of turns of the rolling wheel in walking is sent to the control module, and the distance of the unmanned aerial vehicle relative to the bridge in walking is calculated by combining the wheel diameter of the rolling wheel inside the control module so as to obtain the relative position information of the bridge diseases.
Has the advantages that:
according to the wheeled unmanned aerial vehicle for bridge detection and the detection method thereof, the travelling distance of the rolling wheel of the unmanned aerial vehicle is recorded through the odometer, the relative position of the unmanned aerial vehicle and a bridge can be recorded under the bridge, the unmanned aerial vehicle can flexibly reach the bridge detection position and the position information of diseases, and the distance from a camera to a photographing point can be recorded through the designed rolling wheel close to the bottom of the bridge. Compared with the traditional detection, the bridge detection using the unmanned aerial vehicle has the advantages of high efficiency and low cost, and compared with the commercial unmanned aerial vehicle, the unmanned aerial vehicle provided by the invention has the advantages of capability of measuring the distance from a camera to a photographing point and capability of measuring the position of a photographed disease, so that a foundation can be provided for subsequent bridge performance evaluation.
Drawings
Fig. 1 is a front view of an unmanned aerial vehicle in an embodiment of the present invention;
fig. 2 is a side view of an unmanned aerial vehicle in an embodiment of the present invention;
FIG. 3 is a schematic structural view of an odometer according to an embodiment of the invention;
FIG. 4 is a schematic view of a bridge inspection process according to an embodiment of the present invention;
wherein, 1 is a rolling wheel; 2, first power rotary pulping; 3, a machine body; 4, a camera; 5, a counterweight wheel; 6 a GPS device; 7, a milemeter; 8 wheel shafts; 9 second power rotary propeller; 10 tail rod; 11 a synchronous pulley; 12 synchronous belts.
Detailed Description
This embodiment discloses a formula unmanned aerial vehicle advances for bridge detects, as shown in fig. 1, including roll wheel 1, first power revolve thick liquid 2, fuselage 3, camera 4, counter weight wheel 5, GPS device 6, odometer 7, trace 8, second power revolve thick liquid 9 and tailpiece 10.
The rolling wheel 1 plays a role in protecting the unmanned aerial vehicle under the bridge, so that the unmanned aerial vehicle can flexibly approach to a detection position, and the relative position of the counterweight wheel 5 and the body can be flexibly changed by rotating the propeller 9 through the second power, so that the unmanned aerial vehicle can flexibly advance, retreat and turn to the detection position.
In addition, the distance from the camera 4 to a shooting point is physically limited through the wheels, quantitative information of the diseases can be obtained, and relative position information of the bridge diseases can be obtained through the rolling wheels 1 and the connecting rods 8 which are linked with the odometer 7.
As shown in fig. 1, in this embodiment, the radius of the rolling wheel is 0.5m, and the rolling wheel is required to be constrained by the connecting rod 8, so as to drive the connecting rod 8 to rotate together.
Furthermore, in order to avoid the rolling wheel from slipping on the bridge, the outer contour of the rolling wheel 1 is provided with a rough surface, and the rolling wheel can be made of carbon fiber composite materials.
As shown in figure 2, the upper and lower positions of the tail rod 10 and the balance weight wheel 5 can be adjusted by the relative power of the second power rotary propeller 9 and the first power rotary propeller 2 to control the advancing and retreating of the rolling wheel. The horizontal motion of the tail rod 10 and the counterweight wheel 5 can be controlled by adjusting the relative rotating speed of the upper blade and the lower blade in the second power propeller 9, so that the steering of the unmanned aerial vehicle is controlled.
As shown in fig. 1, the linkage rod 8 realizes driven constraint with the odometer 7 through the synchronous belt wheel 11 and the synchronous belt, and ensures that the rotation of the linkage rod can be transmitted to the odometer. The trace 8 is connected with the synchronous pulley 11 through the protrusion, and the synchronous pulley 11 is connected with the odometer 7 through the synchronous belt.
As shown in fig. 1 and 2, the camera has two directions of freedom including horizontal and vertical directions, and corresponds to image acquisition of the beam bottom and the bridge pier respectively, and the angle of the camera is perpendicular to the tangent plane of the shooting rolling wheel. The camera should have sufficient resolution and a large field of view as possible, and the SONY QX1L camera with 2000 ten thousand pixels is selected for this embodiment.
Preferably, the odometer has an infrared sensing function, such as an eight-way D-type trigger, and has a remote control zero clearing function.
As a preferred embodiment of the present invention, the camera should have a triggering capability, and can trigger photographing according to the feedback of the odometer 7.
As shown in fig. 2, the diameter of the weight wheel should be less than two-thirds of the diameter of the rolling wheel. In this embodiment, the diameter of the weight wheel is 0.25 m.
The invention further discloses a bridge detection method, based on the wheel-propelled unmanned aerial vehicle for bridge detection,
the upper and lower positions of the tail rod and the counterweight unit are adjusted by the relative power of the second power propeller and the first power propeller to control the rolling wheel to move forwards and backwards; the horizontal movement of the tail rod and the counterweight unit is controlled by adjusting the relative rotating speed of the upper blade and the lower blade in the second power propeller so as to control the steering of the unmanned aerial vehicle;
the method comprises the steps that the diameter of wheels and the position of a fixed camera on an unmanned aerial vehicle are determined, the distance from a camera to a shooting point is obtained when the unmanned aerial vehicle crawls at the bottom of a bridge, the proportional relation between a pixel point in a mapping image and the real physical size is obtained through the distance, and the real physical size is obtained through the proportional relation;
the odometer collects the rolling number of turns of the rolling wheel, the information of the number of turns of the rolling wheel in walking is sent to the control module, and the distance of the unmanned aerial vehicle relative to the bridge in walking is calculated by combining the wheel diameter of the rolling wheel inside the control module so as to obtain the relative position information of the bridge diseases.
Claims (8)
1. The utility model provides a formula unmanned aerial vehicle advances for bridge detects which characterized in that includes:
the unmanned aerial vehicle comprises an unmanned aerial vehicle body, wherein the unmanned aerial vehicle body comprises a body and a tail rod, two first power rotary propellers are symmetrically arranged on the left side and the right side of the body, and a second power rotary propeller is arranged on the tail rod;
the wheel shaft is rotationally connected to the machine body, and two ends of the wheel shaft are respectively and fixedly connected with a rolling wheel; the odometer is arranged on the machine body, is in transmission connection with the wheel shaft through a synchronous transmission mechanism and is used for recording the number of turns of the rotation of the wheel shaft;
the camera is arranged on the machine body and used for collecting images;
the counterweight unit is arranged at the tail part of the tail rod;
and the signal input end of the control module is connected with the odometer, and the signal output end of the control module is connected with the camera.
2. The unmanned aerial vehicle for bridge inspection of claim 1, wherein the rolling wheels are made of carbon fiber composite material, and the outer contour of the rolling wheels has a rough surface.
3. The unmanned aerial vehicle for bridge detection of claim 1, wherein the axle is in drive connection with the odometer via a synchronous pulley and a synchronous belt.
4. A wheeled drone for bridge detection according to claim 1, characterised in that the camera has at least two degrees of freedom, horizontal and vertical.
5. The unmanned aerial vehicle for bridge detection of claim 1, wherein the counterweight unit is a counterweight wheel disposed at an end of the tail rod.
6. A wheeled drone for bridge detection according to claim 5, characterised in that the diameter of the counterweight wheels is less than two thirds of the diameter of the rolling wheels.
7. The unmanned aerial vehicle for bridge detection of claim 1, wherein the fuselage is further provided with a GPS positioning module.
8. A bridge detection method based on the wheeled unmanned aerial vehicle for bridge detection in any one of claims 1 to 7,
the upper and lower positions of the tail rod and the counterweight unit are adjusted by the relative power of the second power propeller and the first power propeller to control the rolling wheel to move forwards and backwards; the horizontal movement of the tail rod and the counterweight unit is controlled by adjusting the relative rotating speed of the upper blade and the lower blade in the second power propeller so as to control the steering of the unmanned aerial vehicle;
by determining the diameter of the wheels and fixing the position of the camera on the unmanned aerial vehicle, the distance from the camera to a shooting point can be acquired when the unmanned aerial vehicle crawls at the bottom of the bridge, and the real physical size is obtained through the proportional relation by mapping the proportional relation between the pixel point in the image and the real physical size;
the odometer collects the rolling number of turns of the rolling wheel, the information of the number of turns of the rolling wheel in walking is sent to the control module, and the distance of the unmanned aerial vehicle relative to the bridge in walking is calculated by combining the wheel diameter of the rolling wheel inside the control module so as to obtain the relative position information of the bridge diseases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110783110.XA CN113716058A (en) | 2021-07-12 | 2021-07-12 | Wheeled unmanned aerial vehicle suitable for bridge detection and detection method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110783110.XA CN113716058A (en) | 2021-07-12 | 2021-07-12 | Wheeled unmanned aerial vehicle suitable for bridge detection and detection method thereof |
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| CN113716058A true CN113716058A (en) | 2021-11-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771837A (en) * | 2022-05-18 | 2022-07-22 | 李进都 | Flying type bridge detection data collector with stable suspension |
| CN117699085A (en) * | 2024-02-04 | 2024-03-15 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
-
2021
- 2021-07-12 CN CN202110783110.XA patent/CN113716058A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771837A (en) * | 2022-05-18 | 2022-07-22 | 李进都 | Flying type bridge detection data collector with stable suspension |
| CN117699085A (en) * | 2024-02-04 | 2024-03-15 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
| CN117699085B (en) * | 2024-02-04 | 2024-04-19 | 安徽省交规院工程智慧养护科技有限公司 | Detection equipment and method for bridge disease detection |
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