CN113928563A - A unmanned aerial vehicle for detecting bridge bottom - Google Patents
A unmanned aerial vehicle for detecting bridge bottom Download PDFInfo
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- CN113928563A CN113928563A CN202111399611.4A CN202111399611A CN113928563A CN 113928563 A CN113928563 A CN 113928563A CN 202111399611 A CN202111399611 A CN 202111399611A CN 113928563 A CN113928563 A CN 113928563A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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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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- 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
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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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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an unmanned aerial vehicle for detecting the bottom of a bridge, which comprises: unmanned aerial vehicle, locating component and image acquisition spare, locating component connects in unmanned aerial vehicle for generate unmanned aerial vehicle's position signal, and realize unmanned aerial vehicle along the flight route flight of presetting according to position signal, image acquisition spare is connected in unmanned aerial vehicle, be used for collecting unmanned aerial vehicle along the image or the video information of bridge bottom on the flight route of presetting, with the supplementary detection achievement to the bridge bottom. The method can solve the problem that in the prior art, due to the fact that the bridge bottom environment is complex and GPS signals are unstable, low-altitude line patrol obstacle avoidance flight of the unmanned aerial vehicle is difficult to achieve, accurate detection on the bottom of the bridge cannot be achieved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for detecting the bottom of a bridge.
Background
Compare in traditional bridge detection mode, utilize the unmanned aerial vehicle technique to carry out regular detection and maintenance to the bridge, can avoid sealing the way or seal circumstances such as navigation, avoid utilizing simultaneously that expensive equipment carries out complicated detection from under bridge floor or the bridge to lead to the problem at high price and have the detection dead angle.
For example, application numbers are: the Chinese invention patent of CN201710047919.X is named as: a unmanned aerial vehicle for long-range bridge detects, including frame and bridge detecting system, the both sides of frame pass through shaft coupling fixedly connected with wing, and fixed mounting has first motor in the wing, and the output shaft of first motor runs through the wing and extends to outside it, and the outer fixedly connected with axle sleeve of wing, fixedly connected with screw on the output shaft of the outer first motor of wing. According to the invention, by arranging the bridge detection system, the infrared camera, the ultrasonic flaw detector, the concrete resiliometer and the remote controller, the bridge detection device is carried by combining the modern high-tech unmanned aerial vehicle technology, so that the bridge is remotely detected, the unmanned aerial vehicle can regularly detect the safety condition of the bridge efficiently and rapidly, the omnibearing and efficient detection is realized, and the manual field detection is not needed. When this device carries out the process of unmanned detection to the bridge, need the manual work to operate unmanned aerial vehicle in real time in long-range and fly to control unmanned aerial vehicle and fly the bridge at the bottom of the bridge and detect, because the bridge at the bottom of the bridge environment is complicated and GPS signal is unstable, probably can't accurately control unmanned aerial vehicle and carry out the low latitude to the bottom of bridge and keep away the barrier flight among the real-time remote operation process, thereby the problem that can't play and carry out accurate detection to the bridge bottom exists.
Therefore, need an unmanned aerial vehicle for detecting bridge bottom urgently, solve among the prior art because the bottom environment of bridge is complicated and GPS signal is unstable and be difficult to realize that unmanned aerial vehicle's low latitude patrols line and keeps away barrier flight to lead to having the problem that can't play and carry out accurate detection to the bridge bottom.
Disclosure of Invention
In view of this, it is necessary to provide an unmanned aerial vehicle for detecting a bridge bottom, which solves the technical problem in the prior art that accurate detection of the bridge bottom cannot be performed due to the complex bridge bottom environment and the unstable GPS signal, which makes it difficult to realize low-altitude line patrol obstacle avoidance flight of the unmanned aerial vehicle.
In order to achieve the above technical object, the technical solution of the present invention provides an unmanned aerial vehicle for detecting a bottom of a bridge, comprising:
an unmanned aerial vehicle;
the positioning assembly is connected to the unmanned aerial vehicle and used for generating a position signal of the unmanned aerial vehicle and realizing that the unmanned aerial vehicle flies along a preset flying path according to the position signal;
the image acquisition part is connected to the unmanned aerial vehicle and used for collecting images or video information of the bottom of the bridge on the preset flight path of the unmanned aerial vehicle so as to assist in completing the detection work of the bottom of the bridge.
Further, locating component includes setting element and control, the setting element connect in unmanned aerial vehicle for generate and send unmanned aerial vehicle's position signal, the control connect in unmanned aerial vehicle, and with the setting element carries out communication connection, is used for receiving the position signal of setting element, in order to control unmanned aerial vehicle accomplishes the line patrol obstacle-avoiding flight of bridge bottom.
Further, the setting element includes at least one UWB mobile station, UWB mobile station connect in unmanned aerial vehicle to with set up UWB basic station on waiting to detect the bridge and carry out communication connection, be used for realizing unmanned aerial vehicle's position location.
Further, the setting element still includes the millimeter wave radar, the millimeter wave radar connect in the bottom of unmanned aerial vehicle's organism, and with the control with the UWB basic station all carries out communication connection, is used for measuring distance between unmanned aerial vehicle's bottom and the ground, and with measured data feedback extremely the control.
Further, the setting element still includes the rotatory radar of laser, the rotatory radar of laser connect in the top of unmanned aerial vehicle's organism, and with the control with the UWB basic station all carries out communication connection, is used for measuring distance between unmanned aerial vehicle's top and the bridge bottom, and with measured data feedback extremely the control.
Further, locating component still includes keeps away barrier spare, keep away barrier spare and include four and keep away the barrier radar, four keep away the barrier radar and follow the circumference of unmanned aerial vehicle's organism sets up, and be connected in unmanned aerial vehicle's organism, four keep away the barrier radar with the control homogeneous phase is connected, is used for realizing unmanned aerial vehicle's circumference is kept away the barrier and is patrolled and fly.
Further, the setting element still includes the GPS module, the GPS module connect in unmanned aerial vehicle's organism, and with the control carries out communication connection, is used for realizing unmanned aerial vehicle's location.
Further, still include the battery, the battery connect in unmanned aerial vehicle's organism, and with unmanned aerial vehicle the setting element reaches the control all carries out the electricity and connects.
Further, the image acquisition part comprises a camera, and the camera is connected to the body of the unmanned aerial vehicle, electrically connected with the battery and used for collecting images or video information when the unmanned aerial vehicle flies along a preset flight path.
Further, still include the ground satellite station, the ground satellite station with unmanned aerial vehicle the setting element the control reaches the camera all communicates the intercommunication for the control unmanned aerial vehicle the setting element the control reaches the operational data of camera.
Compared with the prior art, the invention has the beneficial effects that: be provided with the locating component who is used for generating unmanned aerial vehicle's position signal on the unmanned aerial vehicle, be used for realizing that unmanned aerial vehicle flies along preset flight path, keep away the barrier flight with the line patrol of realization to bridge bottom environment, still be provided with the image acquisition spare that is used for collecting the image or the video information of bridge bottom on preset flight path on the unmanned aerial vehicle simultaneously, with the supplementary detection achievement to the bridge bottom, such structure, realize the line patrol of bridge bottom and keep away the barrier flight through set up locating component at unmanned aerial vehicle and last, solve among the prior art because the bridge bottom environment is complicated and GPS signal is unstable to realize that unmanned aerial vehicle's low latitude patrols the line and keeps away the barrier flight, thereby lead to having the technical problem that can't play and carry out accurate detection to the bridge bottom.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle for detecting a bottom of a bridge according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another view angle of the unmanned aerial vehicle for detecting the bottom of the bridge according to the embodiment of the present invention;
FIG. 3 is a schematic view of the connection relationship between the control member, the unmanned aerial vehicle, the positioning member and the ground station according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a ground base station of an unmanned aerial vehicle for detecting the bottom of a bridge according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Referring to fig. 1 and 4, the invention provides an unmanned aerial vehicle for detecting the bottom of a bridge, which includes an unmanned aerial vehicle 1, a positioning assembly 2 and an image acquisition element 3, wherein the positioning assembly 2 is connected to the unmanned aerial vehicle 1 and is used for generating a position signal of the unmanned aerial vehicle 1 and realizing that the unmanned aerial vehicle 1 flies along a preset flight path according to the position signal, and the image acquisition element 3 is connected to the unmanned aerial vehicle 1 and is used for collecting image or video information of the bottom of the bridge on the preset flight path of the unmanned aerial vehicle 1 so as to assist in completing the detection work of the bottom of the bridge.
It can be understood, be provided with the locating component 2 that is used for generating unmanned aerial vehicle 1's position signal on unmanned aerial vehicle 1, be used for realizing that unmanned aerial vehicle 1 flies along preset flight path, keep away the barrier flight with the line patrol of realization to bridge bottom environment, still be provided with the image acquisition piece 3 that is used for collecting image or the video information of bridge bottom on the flight path of following preset simultaneously on unmanned aerial vehicle 1, with the supplementary detection achievement to the bridge bottom.
In this embodiment, still include at least one UWB mobile station that is used for cooperating locating component to realize unmanned aerial vehicle 1's position location, be used for unmanned aerial vehicle 1, locating component 2 and image acquisition 3 battery 4 of power supply to and be used for carrying out real time monitoring's ground satellite station 5 to unmanned aerial vehicle 1, locating component 2 and image acquisition 3.
Further, the drone 1 of the present invention employs conventional arrangements known to those skilled in the art, and will not be described herein too much.
Furthermore, the UWB mobile station is arranged in the unmanned aerial vehicle, the UWB base stations are fixedly arranged on the bridge to be detected and are in communication connection with the UWB mobile station, and the UWB mobile station receives wireless signals transmitted by the UWB base stations and is used for realizing the positioning of the unmanned aerial vehicle 1.
Still further, the abbreviation UWB base station, i.e. ultra wide band base station, is a wireless carrier communication technology, and the ultra wide band base station belongs to the conventional setting known to those skilled in the art, and can refer to the application numbers: the Chinese invention patent of CN201910257990.X is named as: an autonomous positioning system and method for an unmanned aerial vehicle for bridge inspection are not described herein in detail.
As shown in fig. 1 and fig. 3, locating component 2 includes setting element 21 and control 22, and setting element 21 is connected in unmanned aerial vehicle 1 for generate and send unmanned aerial vehicle 1's position signal, control 22 is connected in unmanned aerial vehicle 1, and carry out communication connection with setting element 21, be used for receiving setting element 21's position signal, avoid the barrier flight with the line of patrolling of control unmanned aerial vehicle 1 completion bridge bottom.
It can be understood that setting element 21 is connected in unmanned aerial vehicle 1 for generate and send unmanned aerial vehicle 1's position signal, unmanned aerial vehicle 1 is placed in control 22, is used for according to setting element 21, UWB mobile station and UWB basic station's communication signal, control unmanned aerial vehicle 1 in order to accomplish the low latitude and patrol the line flight.
In the present invention, the control member 22 is a flight controller for controlling the flight of the unmanned aerial vehicle 1, and the flight controller is disposed inside the unmanned aerial vehicle 1, where the control member 22 is a conventional arrangement known to those skilled in the art and will not be described herein too much.
Further, as shown in fig. 1, the positioning assembly 2 further includes an obstacle avoidance member 23 for assisting the unmanned aerial vehicle 1 to complete low-altitude line patrol obstacle avoidance flight, and the obstacle avoidance member 23 is connected to the unmanned aerial vehicle and connected to the control member 22.
As shown in fig. 1, the positioning member 21 includes a millimeter wave radar 211, the millimeter wave radar 211 is connected to the bottom of the body of the unmanned aerial vehicle 1, and is in communication connection with the control member 22 and the UWB base station, so as to measure the distance between the bottom of the unmanned aerial vehicle 1 and the ground, and feed back the measured data to the control member.
It can be understood that in the invention, the distance between the bottom of the unmanned aerial vehicle 1 and the ground is measured and monitored through the communication connection between the millimeter wave radar 211 and the UWB base station and the control member 2, so as to prevent the collision between the unmanned aerial vehicle 1 and the ground due to the unevenness of the ground, which leads to the failure of accurate detection of the bottom of the bridge.
Further, as shown in fig. 1, the millimeter wave radar 211 is disposed at the bottom of the body of the unmanned aerial vehicle 1, and the measurement end thereof is disposed at the farthest end of the bottom of the unmanned aerial vehicle 1 relatively far away.
Further, the millimeter wave radar 211 is a conventional arrangement known to those skilled in the art and will not be described herein in any greater detail.
As shown in fig. 2, the positioning member 21 further includes a laser rotating radar 212, the laser rotating radar 212 is connected to the top of the body of the unmanned aerial vehicle 1, and is in communication connection with the control member 22 and the UWB base station, so as to measure the distance between the top of the unmanned aerial vehicle 1 and the top of the bridge, and feed back the measured data to the control member 22.
It can be understood that in the present invention, the distance between the top of the unmanned aerial vehicle 1 and the bottom of the bridge is measured and monitored by the wireless connection between the laser rotation radar 212 and the UWB base station and the control member 22, so as to prevent the collision between the unmanned aerial vehicle 1 and the bottom of the bridge, which may result in the failure to accurately detect the bottom of the bridge.
Further, as shown in fig. 1, the laser rotating radar 212 is disposed at the front end of the body of the unmanned aerial vehicle 1, and the measurement end thereof is disposed at the farthest end relatively far away from the top of the unmanned aerial vehicle 1.
Further, lidar 212 is a conventional arrangement known to those skilled in the art and will not be described in greater detail herein.
As shown in fig. 1, the obstacle avoidance unit 23 includes four obstacle avoidance radars 231, and the four obstacle avoidance radars 231 are arranged along the circumferential direction of the body of the unmanned aerial vehicle 1 and are connected to the body of the unmanned aerial vehicle 1.
It can be understood that four obstacle avoidance radars 231 set up respectively in front end, rear end, left side and the right side of 1 base member of unmanned aerial vehicle for detect the distance of 1 circumference barrier of unmanned aerial vehicle, so that unmanned aerial vehicle 1 keeps away the obstacle flight.
Further, the obstacle avoidance radar 231 is a conventional arrangement known to those skilled in the art, and will not be described herein.
As shown in fig. 1, the positioning member 21 further includes a GPS module 213, and the GPS module 213 is connected to the body of the unmanned aerial vehicle 1, so as to realize positioning of the unmanned aerial vehicle 1.
It can be understood that GPS module 213 is used for realizing the location of unmanned aerial vehicle 1 under the non-bridge bottom detection condition, and is the position fix when unmanned aerial vehicle 1 under the good condition of other GPS signals outside the bridge promptly, as shown in fig. 1, GPS module 213 sets up in the top of unmanned aerial vehicle 1 organism to through leg joint in unmanned aerial vehicle 1's organism.
Further, the GPS module 213 is a conventional arrangement known to those skilled in the art and will not be described herein in any greater detail.
Wherein, as shown in fig. 1, image acquisition 3 is the camera, and the camera sets up in the front end of unmanned aerial vehicle 1's organism to be connected in the front end of unmanned aerial vehicle 1's organism, collect image or video information when being used for unmanned aerial vehicle 1 to fly along preset flight path, and carry out real-time feedback with the data of collecting, be used for the person of facilitating the use to detect and assess the bridge bottom according to the data of cell-phone.
Further, the camera of the present invention employs a conventional arrangement known to those skilled in the art, and will not be described herein in detail.
As shown in fig. 1 and fig. 2, the battery 4 is connected to the body of the unmanned aerial vehicle 1 and is electrically connected to the unmanned aerial vehicle 1, the positioning member 21 and the image acquisition member 3.
It can be understood that battery 4 is connected with unmanned aerial vehicle 1, millimeter wave radar 211, rotatory radar of laser 212, keeps away barrier radar 231, GPS module 213 and camera homogeneous phase for to unmanned aerial vehicle 1, millimeter wave radar 211, rotatory radar of laser 212, keep away the normal work power supply of barrier radar 231, GPS module 213 and camera, as shown in fig. 2, battery 4 sets up in the below of unmanned aerial vehicle 1's organism, and set up between unmanned aerial vehicle 1 and millimeter wave radar 211.
As shown in fig. 3, the ground station 5 communicates with the unmanned aerial vehicle 1, the positioning member 21, the control member 22 and the camera, and is used for collecting and monitoring the operation data of the unmanned aerial vehicle 1, the positioning member 21, the control member 22 and the camera.
It can be understood that ground station 5 carries out communication connection with unmanned aerial vehicle 1 through communication equipment such as antennas for the operational data of collection and control unmanned aerial vehicle 1, setting element 21, control 22 and camera, with the normal clear of guarantee unmanned aerial vehicle 1 and detection achievement.
According to the specific working process, a positioning piece 21 used for generating and sending a position signal of the unmanned aerial vehicle 1 is arranged on the unmanned aerial vehicle 1, the positioning piece 21 is in communication connection with a control piece 22 and used for receiving and feeding back the signal of the positioning piece 21 so as to enable the unmanned aerial vehicle 1 to fly along a preset flight path and achieve obstacle avoidance flying of the environment at the bottom of the bridge, meanwhile, an image acquisition piece 3 used for collecting images or videos at the bottom of the bridge along the preset flight path is further arranged on the unmanned aerial vehicle 1, and the collected images or video signals are fed back in real time so as to assist in completing detection of the bottom of the bridge.
When the user uses the unmanned aerial vehicle, an open area is selected on the shore of the bridge and used as a takeoff place of the unmanned aerial vehicle 1; starting a power supply of the ground station 5, starting a remote controller, and simultaneously carrying out power-on operation on the bridge bottom detection unmanned aerial vehicle 1; when the ground station 5 displays that the takeoff state of the unmanned aerial vehicle 1 is normal, the positioning mode of the GPS module 213 is used for displaying the positioning information of the unmanned aerial vehicle 1;
after the bridge bottom detection unmanned aerial vehicle 1 finishes self-detection and is normal, unlocking the unmanned aerial vehicle 1, and controlling the height of the aircraft to fly in a ground simulating manner by using the millimeter wave radar 211 to approach the bridge bottom to be detected; when detecting that the unmanned aerial vehicle 1 flies to the bottom of the bridge, detecting that the unmanned aerial vehicle 1 enters a UWB positioning mode, realizing horizontal positioning in the UWB mode, and simultaneously detecting whether the state of the unmanned aerial vehicle 1 enters the UWB mode or not by a ground station 5;
after the unmanned aerial vehicle 1 realizes horizontal positioning at the bridge bottom, on the premise that the data of the laser rotating radar 212 is healthy, the distance measuring sensor in the height direction is changed from the millimeter wave radar 211 to the laser rotating radar 212, the influence of different plate types on the laser rotating radar 212 can be eliminated by processing the data of the laser rotating radar 212, and a constant distance value of the unmanned aerial vehicle 1 from the bridge bottom is output;
after the loop control of the unmanned aerial vehicle 1 in the direction of height of the bridge bottom is stable, the control of the unmanned aerial vehicle 1 in the direction of height can be performed based on the output value of the laser rotating radar 212, so that the detection of the bridge bottom by the unmanned aerial vehicle 1 can realize the ground-imitating flight of the terrain of the bridge bottom.
When the fixed-point hovering state of the unmanned aerial vehicle 1 is detected to be stable at the bottom of the bridge, the automatic line patrol flying mode can be switched, and the flying height is 3m away from the bottom of the bridge. At the bottom of the bridge detect unmanned aerial vehicle 1 and patrol the in-process of flying, the camera is taken pictures according to fixed interval time, can accomplish the collection of bottom of the bridge picture data.
Such structure, through the cooperation of unmanned aerial vehicle 1 and control, solve among the prior art because the bridge bottom environment is complicated and GPS signal is unstable and is difficult to realize that unmanned aerial vehicle 1's low latitude patrols the line and keeps away the barrier flight to lead to having the technical problem that can't play and carry out accurate detection to the bridge bottom.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle for detecting bridge bottom which characterized in that includes:
an unmanned aerial vehicle;
the positioning assembly is connected to the unmanned aerial vehicle and used for generating a position signal of the unmanned aerial vehicle and realizing that the unmanned aerial vehicle flies along a preset flying path according to the position signal;
the image acquisition part is connected to the unmanned aerial vehicle and used for collecting images or video information of the bottom of the bridge on the preset flight path of the unmanned aerial vehicle so as to assist in completing the detection work of the bottom of the bridge.
2. The unmanned aerial vehicle for detecting the bottom of the bridge as claimed in claim 1, wherein the positioning assembly comprises a positioning member and a control member, the positioning member is connected to the unmanned aerial vehicle for generating and sending a position signal of the unmanned aerial vehicle, and the control member is connected to the unmanned aerial vehicle and is in communication connection with the positioning member for receiving the position signal of the positioning member so as to control the unmanned aerial vehicle to complete the line patrol and obstacle avoidance flight of the bottom of the bridge.
3. The unmanned aerial vehicle for detecting the bottom of the bridge, according to claim 2, wherein the positioning member comprises at least one UWB mobile station, and the UWB mobile station is connected to the unmanned aerial vehicle and is in communication connection with a UWB base station disposed on the bridge to be detected, so as to realize the position location of the unmanned aerial vehicle.
4. The unmanned aerial vehicle for detecting the bottom of a bridge of claim 3, wherein the positioning member further comprises a millimeter wave radar, the millimeter wave radar is connected to the bottom of the unmanned aerial vehicle body and is in communication connection with the control member, and is used for measuring the distance between the bottom of the unmanned aerial vehicle and the ground and feeding measured data back to the control member.
5. The unmanned aerial vehicle for detecting the bottom of a bridge as claimed in claim 4, wherein the positioning member further comprises a laser rotary radar, the laser rotary radar is connected to the top of the unmanned aerial vehicle body and is in communication connection with the control member, and is used for measuring the distance between the top of the unmanned aerial vehicle and the bottom of the bridge and feeding measured data back to the control member.
6. The unmanned aerial vehicle for detecting the bottom of the bridge as claimed in claim 2, wherein the positioning assembly further comprises an obstacle avoidance member, the obstacle avoidance member comprises four obstacle avoidance radars, the four obstacle avoidance radars are arranged along the circumference of the unmanned aerial vehicle body and connected to the unmanned aerial vehicle body, and the four obstacle avoidance radars are connected to the control member, so as to realize the circumferential obstacle avoidance and patrol of the unmanned aerial vehicle.
7. The unmanned aerial vehicle for detecting the bottom of a bridge as claimed in claim 6, wherein the positioning member further comprises a GPS module, the GPS module is connected to the unmanned aerial vehicle body and is in communication connection with the control member for realizing positioning of the unmanned aerial vehicle.
8. The unmanned aerial vehicle for detecting the bottom of a bridge as claimed in any one of claims 1 to 7, further comprising a battery, wherein the battery is connected to the unmanned aerial vehicle body and electrically connected to the unmanned aerial vehicle, the positioning member and the control member.
9. The unmanned aerial vehicle for detecting the bottom of a bridge as claimed in claim 8, wherein the image capturing element comprises a camera, and the camera is connected to the unmanned aerial vehicle body and electrically connected to the battery for collecting image or video information when the unmanned aerial vehicle flies along a preset flight path.
10. The unmanned aerial vehicle for detecting the bottom of a bridge of claim 9, further comprising a ground station, the ground station being in communication with the unmanned aerial vehicle, the positioning member, the control member, and the camera for monitoring operational data of the unmanned aerial vehicle, the positioning member, the control member, and the camera.
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|---|---|---|---|---|
| CN115096268A (en) * | 2022-06-17 | 2022-09-23 | 西南交通大学 | Bridge damage depth detection method based on unmanned aerial vehicle aerial photography and ultrasonic detection |
| CN115096268B (en) * | 2022-06-17 | 2023-06-30 | 西南交通大学 | Bridge damage depth detection method based on unmanned aerial vehicle aerial photography and ultrasonic detection |
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