CN115367130A - Unmanned aerial vehicle for thickness measurement - Google Patents
Unmanned aerial vehicle for thickness measurement Download PDFInfo
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- CN115367130A CN115367130A CN202211166298.4A CN202211166298A CN115367130A CN 115367130 A CN115367130 A CN 115367130A CN 202211166298 A CN202211166298 A CN 202211166298A CN 115367130 A CN115367130 A CN 115367130A
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- 238000005259 measurement Methods 0.000 title claims abstract description 60
- 238000001514 detection method Methods 0.000 claims abstract description 97
- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 210000000078 claw Anatomy 0.000 claims abstract description 68
- 238000012545 processing Methods 0.000 claims abstract description 62
- 239000000523 sample Substances 0.000 claims description 34
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- 238000010276 construction Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 239000000463 material Substances 0.000 description 6
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000009530 blood pressure measurement Methods 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
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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
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
- G01B17/02—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring thickness
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Abstract
The invention provides a thickness measurement unmanned aerial vehicle, relates to the technical field of measurement equipment, and aims to reduce the complicated construction before the thickness measurement of the equipment to a certain extent and improve the detection efficiency of the thickness of the equipment. The invention provides a thickness measurement unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a thickness measurement device; the thickness measuring device is connected with the unmanned aerial vehicle and comprises a data processing mechanism, a detecting rod assembly and a detecting mechanism; the data processing mechanism is arranged at one end of the detection rod assembly, and the detection mechanism is arranged at the other end of the detection rod assembly; the detection mechanism comprises a supporting claw and a detection head, the supporting claw is movably connected with the detection head, the detection head can be extended out to be in contact with the outer wall surface of the detection body when the supporting claw is unfolded, and the detection head is retracted when the supporting claw is folded; the detecting head is connected with the data processing mechanism through a circuit so as to transmit the detected thickness signal to the data processing mechanism.
Description
Technical Field
The invention relates to the technical field of measuring equipment, in particular to a thickness measuring unmanned aerial vehicle.
Background
The special equipment is boiler, pressure vessel and pressure pipeline which have great danger to personal and property safety, in order to ensure the stability and safety of the special equipment, the equipment needs to be checked regularly, the inspection mainly comprises the inspection of the thickness of the wall body of the equipment, and if the thickness of a certain position of the equipment is detected to change, the maintenance needs to be carried out in time.
However, because the special equipment is arranged at a special position, part of the special equipment can be arranged in the air and needs to be checked through the high-altitude operation of the maintainers, but the high-altitude operation position of the maintainers is limited, a large amount of preparation work is needed before the maintenance, the maintenance efficiency is low, the maintenance process is complex, in addition, all positions of the equipment cannot be checked well, and certain potential safety hazards exist.
Therefore, it is urgently needed to provide a thickness measurement unmanned aerial vehicle to solve the problems existing in the prior art to a certain extent.
Disclosure of Invention
The invention aims to provide a thickness measurement unmanned aerial vehicle, which aims to reduce the complicated construction before the thickness measurement of equipment to a certain extent and improve the detection efficiency and the detection effect of the thickness of the equipment.
The invention provides a thickness measurement unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a thickness measurement device, wherein the unmanned aerial vehicle is provided with a base; the thickness measuring device is connected with the unmanned aerial vehicle and comprises a data processing mechanism, a detecting rod assembly and a detecting mechanism; the data processing mechanism is arranged at one end of the detection rod assembly, and the detection mechanism is arranged at the other end of the detection rod assembly; the detection mechanism comprises a supporting claw and a detection head, the supporting claw is movably connected with the detection head, the detection head can be extended out to be in contact with the outer wall surface of the detection body when the supporting claw is unfolded, and the detection head is retracted when the supporting claw is folded; the detecting head is connected with the data processing mechanism through a circuit so as to transmit the detected thickness signal to the data processing mechanism.
The detection mechanism further comprises a first connecting member and a second connecting member, one end of the first connecting member is connected with one end, far away from the data processing mechanism, of the detection rod assembly, one end of the second connecting member is rotatably connected with the other end of the first connecting member, and the other end of the second connecting member is connected with the supporting claw.
Specifically, the first connecting member includes a housing and a limiting piece, the limiting piece is movably disposed in the housing and is located at one end of the housing close to the second connecting member, and the limiting piece can reciprocate in the housing along an axial direction of the housing; the second connecting component comprises a connecting support arm and an engaging piece, and the engaging piece is arranged in the shell and is engaged with the limiting piece.
The thickness measurement unmanned aerial vehicle further comprises a third connecting component, the second connecting component further comprises a hinge base, one end, far away from the meshing part, of the connecting support arm is connected with the hinge base, one end of the third connecting component is hinged with the hinge base, and one end of the support claw is connected with the other end of the third connecting component.
Specifically, the third connecting member with the articulated seat looks articulated one end is the spheroid structure, articulated seat is hemisphere cell type structure, the third connecting member is the one end embedding of spheroid structure articulated seat setting.
Specifically, one end of the probe is arranged in the third connecting member, the other end of the probe protrudes out of the third connecting member, a first engaging portion is formed on the outer wall surface of the probe, the supporting claw is rotatably connected with the third connecting member, a second engaging portion is formed at one end of the supporting claw facing the probe, the first engaging portion is engaged with the second engaging portion, and when the supporting claw rotates relative to the third connecting member, the second engaging portion rotates to drive the probe to move towards or away from the third connecting member.
Furthermore, an elastic component is arranged in the third connecting component, one end of the elastic component is abutted to the probe, and the other end of the elastic component is connected with the third connecting component, so that the probe can move relative to the third connecting component along the axial direction of the third connecting component.
Furthermore, one end, far away from the third connecting component, of the support claw is provided with a pressure detection piece, the pressure detection piece is in communication connection with a control terminal of the unmanned aerial vehicle, and the control terminal adjusts the flight attitude of the unmanned aerial vehicle according to a pressure signal detected by the pressure detection piece.
Wherein, also include the carrier; the carrying frame is connected with the unmanned aerial vehicle, a guide part is formed on one side of the carrying frame, which is far away from the unmanned aerial vehicle, the guide part extends along the length direction of the carrying frame, a limiting part is formed at one end of the guide part, and a clamping part is formed at one end of the carrying frame, which is far away from the limiting part; the data processing mechanism is provided with a first matching part corresponding to the guide part, the first matching part is connected with the guide part, a second matching part is formed at the end part of the data processing mechanism, and the clamping piece is matched with the second matching part so that the data processing mechanism can move relative to the carrying frame and is detachably connected with the carrying frame.
Specifically, the detecting rod assembly comprises a plurality of detecting rods and a plurality of connecting sleeves, and the end parts of two adjacent detecting rods are respectively connected with the two ends of the connecting sleeves; the connecting sleeve comprises a connecting part and a locking part, the end part of the detection rod can be inserted into the connecting part, and the locking part can be folded to reduce the diameter of the connecting part, so that the detection rod can be detachably connected with the connecting sleeve.
Compared with the prior art, the thickness measurement unmanned aerial vehicle provided by the invention has the following advantages:
the invention provides a thickness measurement unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a thickness measurement device; the thickness measuring device is connected with the unmanned aerial vehicle and comprises a data processing mechanism, a detecting rod assembly and a detecting mechanism; the data processing mechanism is arranged at one end of the detection rod assembly, and the detection mechanism is arranged at the other end of the detection rod assembly; the detection mechanism comprises a supporting claw and a detection head, the supporting claw is movably connected with the detection head, the detection head can be extended out to be in contact with the outer wall surface of the detection body when the supporting claw is unfolded, and the detection head is retracted when the supporting claw is folded; the detecting head is connected with the data processing mechanism through a circuit so as to transmit the detected thickness signal to the data processing mechanism.
From this analysis can know, through being connected thickness measurement device with unmanned aerial vehicle to through control unmanned aerial vehicle's flight, can drive thickness measurement device and reach the corresponding position that needs check out test set. Because only need be connected thickness measurement device with unmanned aerial vehicle before detecting, consequently, very big reduction operating procedure and detection preparation, promoted detection efficiency and the detection degree of difficulty.
And this application is through setting up the detection mechanism in detection pole subassembly one end, and detection mechanism is including supporting claw and detecting head, because the supporting claw that this application provided can make the detecting head withdraw when drawing in, when supporting the claw and expanding, the detecting head stretches out, consequently, drive thickness measuring device arrival when unmanned aerial vehicle and wait to detect the structure and correspond the position, and when control supporting the claw and waiting to detect the outer wall looks butt of structure, the supporting claw can expand gradually, thereby drive the detecting head and stretch out, until and wait to detect the outer wall of structure and contact.
It will be appreciated that the measurement of the thickness of the walls of the apparatus is primarily by electromagnetic ultrasound, and therefore the probe provided herein is capable of generating ultrasonic pulses when in contact with the side surface of the object to be measured, which are reflected back to the probe when they reach the material interface surface through the object to be measured. Because the probe in this application is connected with data processing mechanism circuit, consequently, after ultrasonic pulse reflects back the probe, can pass through the circuit transmission to data processing mechanism in, can accurate measurement ultrasonic pulse time of propagating in the material through data processing mechanism to can confirm the material thickness of corresponding position.
Repeating the above actions, all the positions to be detected of the equipment to be detected can be quickly measured, so that the stability and the safety of the equipment can be improved to a certain extent.
And, because thickness measurement device in this application need combine together with unmanned aerial vehicle, and touch the check equipment for avoiding unmanned aerial vehicle's power oar when measuring, lead to unmanned aerial vehicle's damage, consequently, detection mechanism in this application is connected with data processing mechanism through the probe rod subassembly, thereby can guarantee that unmanned aerial vehicle is in the position far away of check equipment relatively when detecting head and check equipment contact, and then can guarantee to a certain extent that unmanned aerial vehicle and check equipment produce the problem that the collision caused unmanned aerial vehicle damage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an overall structure of a thickness measuring device in a thickness measuring unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a detection mechanism in a thickness measurement apparatus according to an embodiment of the present invention;
fig. 3 is a schematic view of an internal structure of a housing of a first connecting member in a thickness measuring apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic view of a connection structure of a third connecting member with a supporting jaw and a probing tip in the thickness measuring apparatus according to the embodiment of the present invention;
FIG. 5 is a schematic view of a connection structure of an elastic member and a probe head in the thickness measuring apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mounting frame in the thickness measuring device according to the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a connecting sleeve in a thickness measuring device according to an embodiment of the present invention;
fig. 8 is a schematic view of an internal structure of a connection sleeve in the thickness measuring device according to the embodiment of the present invention;
fig. 9 is a schematic view of a feedback process of a pressure sensor in a thickness measuring apparatus according to an embodiment of the present invention.
In the figure: 1-a data processing mechanism; 101-switch key; 102-a first mating portion; 2-a feeler lever assembly; 201-a probe rod; 202-connecting sleeve; 2021-a connection; 2022-locking part; 3-a detection mechanism; 301-support jaws; 3011-a second engagement portion; 302-a probe head; 3021-a first engagement portion; 303-a first connecting member; 3031-a housing; 3032-a limit piece; 304-a connecting member; 3041-connecting the support arm; 3042-an engaging member; 3043-a hinged seat; 305-a third connecting member; 3051-an elastic component; 4-carrying the frame; 401-a guide; 402-a limiting part; 403-a clip; 404-positioning holes; 405-a locating boss; 5-a position controller; 6-attitude controller; 7-controlling the dispenser; 8-a motor controller; 9-pressure sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the present invention is used to place as usual, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As used herein, the term "and/or" includes any one of the associated listed items and any combination of any two or more of the items.
For ease of description, spatial relationship terms such as "above 8230 \8230; above", "upper", "above 8230 \8230; below" and "lower" may be used herein to describe the relationship of one element to another element as shown in the figures. Such spatial relationship terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. The singular forms also are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.
Variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, may be expected. Thus, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shape that occur during manufacturing.
The features of the examples described herein may be combined in various ways that will be apparent after understanding the disclosure of this application. Further, while the examples described herein have a variety of configurations, other configurations are possible, as will be apparent after understanding the disclosure of the present application. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
As shown in fig. 1, the present invention provides a thickness measurement unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a thickness measurement device; the thickness measuring device is connected with the unmanned aerial vehicle and comprises a data processing mechanism 1, a detection rod assembly 2 and a detection mechanism 3; the data processing mechanism 1 is arranged at one end of the detection rod assembly 2, and the detection mechanism 3 is arranged at the other end of the detection rod assembly 2; the detection mechanism 3 comprises a supporting claw 301 and a detection head 302, the supporting claw 301 is movably connected with the detection head 302, when the supporting claw 301 is unfolded, the detection head 302 can be extended out to be in contact with the outer wall surface of the detection body, and when the supporting claw 301 is folded, the detection head 302 is retracted; the probing head 302 is connected to the data processing mechanism 1 by wires to transmit the detected thickness signal to the data processing mechanism 1.
Compared with the prior art, the thickness measurement unmanned aerial vehicle provided by the invention has the following advantages:
according to the thickness measurement unmanned aerial vehicle provided by the invention, the thickness measurement device is connected with the unmanned aerial vehicle, so that the thickness measurement device can be driven to reach the corresponding position of equipment to be detected by controlling the flight of the unmanned aerial vehicle. Because before unmanned aerial vehicle flies, only need be connected thickness measurement device with unmanned aerial vehicle on ground, need not to carry out a large amount of assembly operations to thickness measurement device, therefore, very big reduction the operating procedure of integrated device assembly, and from the assembly between thickness measurement device and the unmanned aerial vehicle, unmanned aerial vehicle drives thickness measurement device flight and thickness measurement device and carries out measuring process and all belong to holistic testing process, therefore, this application can improve the efficiency of assembly process through above-mentioned structure, thereby can promote detection efficiency to a certain extent.
And this application is through setting up the detection mechanism 3 in 2 one ends of gauge stick subassembly, and detection mechanism 3 is including supporting claw 301 and detecting head 302, because the supporting claw 301 that this application provided is when drawing in, can make detecting head 302 withdraw, when supporting claw 301 expandes, detecting head 302 stretches out, consequently, it corresponds the position to detect the structure to drive thickness measuring device arrival as unmanned aerial vehicle, and control supporting claw 301 and when detecting the outer wall looks butt of structure, supporting claw 301 can expand gradually, thereby drive detecting head 302 and stretch out, until with to detect the outer wall contact of structure.
It will be appreciated that the measurement of wall thickness of the device is primarily by electromagnetic ultrasound, and thus the probe 302 provided herein is capable of generating ultrasonic pulses when in contact with the object being measured, which are reflected back to the probe 302 when they reach the material interface through the object being measured. Because the detecting head 302 in this application is connected with the line of the data processing mechanism 1, after the ultrasonic pulse is reflected back to the detecting head 302, the ultrasonic pulse can be transmitted to the data processing mechanism 1 through the line, the time of the ultrasonic pulse propagating in the material can be accurately measured through the data processing mechanism 1, and thus the thickness of the material at the corresponding position can be determined.
By repeating the actions, all positions to be detected of the equipment to be detected can be quickly measured, so that the stability and the safety of the equipment can be improved to a certain extent.
And, because thickness measurement device in this application need combine together with unmanned aerial vehicle, and touch the check equipment for avoiding unmanned aerial vehicle's power oar when measuring, lead to unmanned aerial vehicle's damage, consequently, detection mechanism 3 in this application is connected with data processing mechanism 1 through detection pole subassembly 2, thereby can guarantee that unmanned aerial vehicle is in the relative position far away of check equipment when detecting head 302 contacts with check equipment, and then can guarantee to a certain extent that unmanned aerial vehicle and check equipment produce the problem that the collision caused unmanned aerial vehicle damage.
What need additionally explain here is that be equipped with switch button 101 in the data processing mechanism 1 in this application, before unmanned aerial vehicle flight, open data processing mechanism 1's button to can realize the accurate record to the equipment thickness measurement time that awaits measuring, realize the accurate measurement to thickness.
It should be further added that, in the present application, the data processing mechanism 1 is connected to the probe 302 through a line, and the line is output by the data processing mechanism 1 and extends to one end of the detecting mechanism 3 along the inside of the probe rod assembly 2, and is connected to the probe 302, so that the line can be protected to a certain extent through the probe rod assembly 2, and the operation stability of the whole device is improved.
Since there is a difference in the angle of the outer wall surface of the device to be measured, not only the outer wall surface in the vertical direction, but also the outer wall surface in the inclined or horizontal direction, based on the above structure, the present application further provides an embodiment capable of changing the angle of the probe 302, as shown in fig. 2, the probe mechanism 3 in the present application further includes a first connecting member 303 and a second connecting member 304, one end of the first connecting member 303 is connected to one end of the probe rod assembly 2 away from the data processing mechanism 1, one end of the second connecting member 304 is rotatably connected to the other end of the first connecting member 303, and the other end of the second connecting member 304 is connected to the supporting claw 301.
Except that the outer wall surface that extends along vertical direction in the equipment to be measured, when still having the wall body of other angles, then before unmanned aerial vehicle flies, operating personnel is through rotating second connecting elements 304, change the angle of second connecting elements 304 relative first connecting elements 303, thereby can change the detection direction of detecting head 302, and then after unmanned aerial vehicle drives thickness measurement device and flies to corresponding position, can make the better outer wall surface with the equipment to be measured of detecting head 302 laminate mutually, improve measuring accuracy.
Preferably, in this embodiment, as shown in fig. 2 and fig. 3, the first connecting member 303 includes a housing 3031 and a limiting member 3032, the limiting member 3032 is movably disposed in the housing 3031 and is located at one end of the housing 3031 close to the second connecting member 304, and the limiting member 3032 can reciprocate in the housing 3031 along the axial direction of the housing 3031; the second connecting member 304 includes a connecting arm 3041 and an engaging member 3042, and the engaging member 3042 is disposed in the housing 3031 and engaged with the retaining member 3032.
As shown in fig. 3, the engaging member 3042 in this application is a gear, the limiting member 3032 is a sword-shaped structure capable of being inserted into a corresponding tooth slot of the gear, and the rotation of the second connecting member 304 relative to the first connecting member 303 can be realized by the cooperation between the limiting member 3032 and the engaging member 3042.
Since the limiting member 3032 in the present application can reciprocate in the housing 3031 along the axial direction of the first connecting member 303, the engaging member 3042 can be locked and unlocked, and the second connecting member 304 can be maintained at a corresponding rotation angle.
It can be understood that, in order to lock and unlock the meshing part 3042, a spring and a limiting bolt are further disposed in the housing 3031 in the present application, one end of the spring abuts against one end of the limiting part 3032 far from the meshing part 3042, and the other end abuts against the housing 3031, and the limiting bolt can penetrate through the spring to abut against one end of the limiting part 3032 far from the meshing part 3042.
When the angle of the second connecting member 304 needs to be adjusted, the limiting bolt is screwed out, the limiting element 3032 is only engaged with the engaging member 3042 by the elastic force of the spring, and when the second connecting member 304 is rotated to drive the engaging member 3042 to rotate, the engaging member 3042 can push the limiting element 3032 and compress the spring, thereby achieving the angle adjustment of the second connecting member 304.
After the angle adjustment is completed, the limit bolt is screwed in, so that the limit bolt abuts against the limit part 3032, and in this state, the meshing position between the limit part 3032 and the meshing part 3042 is fixed, thereby realizing the position locking of the second connecting member 304.
It should be added here that the above-mentioned manner is only one manner of achieving the angle adjustment and locking of the second connection member 304, and other structural forms may also be adopted to achieve the rotation and locking of the second connection member 304.
Based on the above structure, as shown in fig. 2 to fig. 5, the thickness measuring unmanned aerial vehicle further includes a third connecting member 305, the second connecting member 304 further includes a hinge base 3043, one end of the connecting arm 3041 away from the engaging piece 3042 is connected to the hinge base 3043, one end of the third connecting member 305 is hinged to the hinge base 3043, and one end of the supporting claw 301 is connected to the other end of the third connecting member 305.
As shown in fig. 2 and fig. 4, in the present application, the third connecting member 305 is disposed between the supporting claw 301 and the second connecting member 304, and the third connecting member 305 is hinged to the second connecting member 304, so that 360 ° rotation adjustment of the supporting claw 301 can be realized, and after the second connecting member 304 adjusts and determines the overall measurement angle, further fine adjustment of the angle can be realized through the third connecting member 305, so that the probing head 302 can better adhere to the wall body during the detection, and the detection accuracy is improved.
As shown in fig. 2 and fig. 4, based on the above embodiment, preferably, an end of the third connecting member 305 hinged to the hinge seat 3043 in the present application is in a spherical structure, the hinge seat 3043 is in a semi-spherical groove structure, and an end of the third connecting member 305 in the spherical structure is embedded in the hinge seat 3043.
By making the hinge base 3043 a hemispherical groove type structure, i.e., a bowl type structure, the third connecting member 305 in a spherical shape can be carried, and the third connecting member 305 can be stably and freely moved in the hinge base 3043. It can be understood that the inner diameter of the hinge seat 3043 in the present application is slightly larger than the outer diameter of the third connecting member 305, so that the third connecting member 305 can rotate relative to the hinge seat 3043, and a certain friction force exists between the outer wall surface of the third connecting member 305 and the inner wall surface of the hinge seat 3043, so that the third connecting member 305 can be maintained at a fine-adjusted angle.
In order to achieve the above-mentioned actions of extending the probing tip 302 and retracting the probing tip 302 by the supporting claw 301 when the supporting claw 301 is unfolded, as shown in fig. 4 and fig. 5, in this application, one end of the probing tip 302 is disposed in the third connecting member 305, the other end protrudes out of the third connecting member 305, a first engaging portion 3021 is formed on the outer wall surface of the probing tip 302, the supporting claw 301 is rotatably connected to the third connecting member 305, a second engaging portion 3011 is formed at one end of the supporting claw 301 facing the probing tip 302, the first engaging portion 3021 is engaged with the second engaging portion 3011, and when the supporting claw 301 rotates relative to the third connecting member 305, the second engaging portion 3011 rotates to drive the probing tip 302 to move toward or away from the third connecting member 305.
As shown in fig. 5, the first engaging portion 3021 and the second engaging portion 3011 in the present application are configured as a rack gear, so that the probing tip 302 is extended when the supporting jaw 301 is unfolded and the probing tip 302 is retracted when the supporting jaw 301 is folded by the engagement of the first engaging portion 3021 and the second engaging portion 3011.
Preferably, as shown in fig. 5, since the first engaging portion 3021 is planar and is more easily engaged with the second engaging portion 3011, the outer wall surface of the probing tip 302 in this application is formed with four first engaging portions 3021, accordingly, the number of the supporting claws 301 is four, and the third connecting member 305 is correspondingly provided with four connecting positions for connecting the supporting claws 301, so that the overall structure is more stable and smooth.
Further preferably, as shown in fig. 5, the third coupling member 305 of the present application is provided with a resilient member 3051, one end of the resilient member 3051 abuts against the probing tip 302, and the other end is connected to the third coupling member 305, so that the probing tip 302 can move relative to the third coupling member 305 along the axial direction of the third coupling member 305.
By the elastic member 3051 provided in the third coupling member 305, it is possible to provide a buffer when the probing tip 302 is in contact with the outer wall surface of the apparatus to be measured on the one hand, and to keep the probing tip 302 and the support claw 301 in a relatively fixed position in a non-measuring state on the other hand. During measurement, the probe 302 can be ensured to be always in the convex state, and the stability of the measurement stage is ensured.
In most measurement cases, the diameter of the device to be measured is larger than the diameter of the space enclosed by the ends of the four support claws 301 in the non-measurement state, so that the support claws 301 can be spread apart and the probe head 302 can be extended during measurement. When the device to be measured is a pipe and the diameter of the pipe is smaller than the diameter of the space surrounded by the supporting claws 301, the supporting claws 301 cannot contact with the pipe during measurement, and when the probing head 302 contacts with the pipe, the pressure of the probing head 302 contacting with the wall drives the supporting claws 301 to rotate through the rack, so that the supporting claws 301 are folded, thereby possibly affecting the stability of the probing head 302 contacting with the wall. Consequently, this application is through the elastic component 3051 that is connected with detecting head 302, when the less measuring operating mode of pipeline diameter appears, can balance the wall body to a certain extent to the thrust of detecting head 302 and support the rotation of claw 301 to can make detecting head 302 paste closely all the time and measure the face, guarantee measuring accuracy.
Optionally, support the claw 301 in this application and keep away from the one end of third connecting elements 305 and be equipped with pressure detection spare, pressure detection spare is connected with unmanned aerial vehicle's control terminal communication, and control terminal adjusts unmanned aerial vehicle's flight gesture according to the pressure signal that pressure detection spare detected.
When supporting claw 301 and the wall body of the equipment that awaits measuring and contacting, pressure measurement spare can detect the pressure value to in passing back the pressure value that detects to unmanned aerial vehicle's control terminal, unmanned aerial vehicle's control terminal is according to the pressure signal automatically regulated unmanned aerial vehicle's that pressure measurement spare detected flight gesture, thereby can make the wall body laminating mutually of detecting head 302 accuracy and the equipment that awaits measuring, in order to guarantee the measuring accuracy.
What need supplement to explain here is that pressure measurement spare in this application is pressure sensor 9 to corresponding the setting is at four support claw 301 front ends, when support claw 301 and the surface of testee contact, during the numerical value that pressure sensor 9 surveyed was retransferred to unmanned aerial vehicle's control terminal, the concrete data of control terminal analysis, and carry out automatically regulated to unmanned aerial vehicle's position appearance, thereby can make support claw 301 stable with be laminated mutually by survey structure, guarantee measuring accuracy.
The feedback process of the pressure sensor 9 is shown in fig. 9, where P is a control command, T is a desired lift force, θ is a desired attitude, and T is a desired momentAnd ω is the desired angular velocity,
for the desired rotation speed, fn1, fn2, fn3, fn4 are the pressures fed back by the top pressure sensors 9 of the four support claws 301.
The control terminal takes the center of the thickness measuring device as an original point, a coordinate system is established, stress conditions Fn1, fn2, fn3 and Fn4 of the four supporting claws 301 respectively exist in four quadrant positions of an XY plane, and the attitude of the unmanned aerial vehicle is regulated and controlled according to return values of Fn1, fn2, fn3 and Fn 4.
If Fn1 (+ -20%) = Fn2 (+ -20%) = Fn3 (+ -20%) = Fn4 (+ -20%), and (Fn 1, fn2, fn3 and Fn 4) < F (F is a preset pressure maximum value), judging that the thickness measuring device is in a stable state, if the condition is not met, shifting towards the position direction with large pressure, and continuously adjusting through a feedback process to realize the pose adjustment of the unmanned aerial vehicle.
Specifically, unmanned aerial vehicle's control terminal includes position controller 5, attitude control ware 6, control distributor 7 and machine controller 8, and unmanned aerial vehicle's position controller 5 reachs the form of thickness measurement device with the contact of the object that awaits measuring through distinguishing four quadrants at the numerical value size of Z axle, and then regulates and control unmanned aerial vehicle and change the position appearance.
Optionally, as shown in fig. 1 in combination with fig. 6, in the above embodiment, the thickness measuring apparatus in the present application further includes a carrier 4; the carrying frame 4 is connected with the unmanned aerial vehicle, a guide part 401 is formed on one side, away from the unmanned aerial vehicle, of the carrying frame 4, the guide part 401 extends along the length direction of the carrying frame 4, a limiting part 402 is formed at one end of the guide part 401, and a clamping piece 403 is formed at one end, away from the limiting part 402, of the carrying frame 4; the data processing mechanism 1 is provided with a first matching part 102 corresponding to the position of the guide part 401, the first matching part 102 is connected with the guide part 401, the end part of the data processing mechanism 1 is provided with a second matching part, and the clamping piece 403 is matched with the second matching part, so that the data processing mechanism 1 can move relative to the carrying frame 4 and is detachably connected with the carrying frame 4.
It can be understood that, as shown in fig. 6, the clip 403 in the present application is a pressing type clip, and the end of the carrying frame 4 corresponding to the clip 403 is provided with a positioning protrusion 405 capable of moving along with the clip 403, so that when the clip 403 is pressed, the positioning protrusion 405 can be lifted.
Preferably, in the present application, the clamping member 403 and the positioning protrusion 405 are an integral structure, and when the clamping member 403 is pressed, the positioning protrusion 405 descends along with the clamping member 403 to unlock the data processing mechanism 1. In the present invention, a spring is provided below the positioning protrusion 405, so that the positioning protrusion 405 can be kept in a raised state, and stable connection between the data processing mechanism 1 and the mounting rack 4 can be achieved.
It should be noted that, in the present application, since the positioning protrusion 405 has a triangular prism structure, when the positioning protrusion 405 is lifted, a plane parallel to the carrier 4 can be formed, so that the data processing mechanism 1 can be unlocked, and stable connection between the data processing mechanism 1 and the carrier 4 can be achieved.
Be connected with unmanned aerial vehicle through making carrier 4 to one side that deviates from unmanned aerial vehicle at carrier 4 forms guide part 401, thereby can make data measurement mechanism combine together with carrier 4 fast, because probe rod subassembly 2 is connected with data measurement mechanism in this application, consequently, can realize the quick assembly disassembly between thickness measurement device and the unmanned aerial vehicle in fact through carrier 4.
In order to ensure the stable connection between the data processing mechanism 1 and the carrier 4, a limiting part 402 is formed at one end of the guiding part 401, and when the end of the data processing mechanism 1 moves along the guiding part 401 and abuts against the limiting part 402, the data processing mechanism 1 cannot move continuously, so that the problem that the data processing mechanism 1 slides out of the carrier 4 when in use can be avoided.
In the present application, the mounting frame 4 is provided with the clamping piece 403 at the end away from the limiting portion 402, and the data processing mechanism 1 is provided with the second matching portion at the end close to the detection rod assembly 2, so that the data processing mechanism 1 and the mounting frame 4 can be locked at the position by clamping between the clamping piece 403 and the second matching portion.
It should be noted that the clip 403 in the present application is a push type clip, and when the data processing mechanism 1 and the carrier 4 need to be unlocked, the clip 403 can be pushed, so that the data processing mechanism 1 and the carrier 4 can be quickly separated.
Preferably, as shown in fig. 6, positioning holes 404 are formed on two sides of the carrier 4 in the present application, and the detachable connection between the carrier 4 and the unmanned aerial vehicle can be realized by setting fasteners in the positioning holes 404, so that the carrier 4 can be directly detached, and the data processing mechanism 1 can be selectively detached.
Specifically, as shown in fig. 1 in conjunction with fig. 7 and 8, the detection rod assembly 2 in the present application includes a plurality of detection rods 201 and a plurality of connection sleeves 202, and the ends of two adjacent detection rods 201 are respectively connected with two ends of the connection sleeves 202; the connecting sleeve 202 includes a connecting portion 2021 and a locking portion 2022, an end of the probe rod 201 can be inserted into the connecting portion 2021, and the locking portion 2022 can be folded to reduce a diameter of the connecting portion 2021, so that the probe rod 201 and the connecting sleeve 202 can be detachably connected.
In this application, the two ends of the connecting portion 2021 are insertion holes, the detection rod 201 can be connected with the connecting portion 2021 by inserting the insertion holes, and the diameter of the end portion of the connecting portion 2021 can be changed, so that the locking portion 2022 can fold the end portion of the connecting portion 2021, and the stable connection between the detection rod 201 and the connecting sleeve 202 can be realized.
It can be understood that, in the present application, the end of the connecting portion 2021 is formed with a thread, and the locking portion 2022 is a threaded sleeve, so that when the threaded sleeve is rotated on the thread of the connecting portion 2021, the end of the connecting portion 2021 can be drawn together, so that the connecting portion 2021 can be locked with the detection rod 201, and stable butt joint between the detection rods 201 is achieved. When the probe rod assembly 2 needs to be disassembled, the locking portion 2022 is rotated reversely, so that the end of the connecting portion 2021 can be restored to the initial loose state, and the probe rod 201 and the connecting sleeve 202 can be disassembled.
It should be added here that, since the length of the detection rod 201 is too large, the detection rod 201 is bent, so that the horizontal drop between the detection mechanism 3 and the data processing mechanism 1 occurs, and the measurement accuracy is affected, therefore, the overall length range of the detection rod 201 in the present application is 70cm to 120cm, so that the problem of the horizontal drop between the detection mechanism 3 and the data processing mechanism 1 can be avoided to a certain extent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An unmanned aerial vehicle for thickness measurement is characterized by comprising an unmanned aerial vehicle and a thickness measuring device;
the thickness measuring device is connected with the unmanned aerial vehicle and comprises a data processing mechanism, a detecting rod assembly and a detecting mechanism;
the data processing mechanism is arranged at one end of the detection rod assembly, and the detection mechanism is arranged at the other end of the detection rod assembly;
the detection mechanism comprises a supporting claw and a detection head, the supporting claw is movably connected with the detection head, the detection head can be extended out to be in contact with the outer wall surface of the detection body when the supporting claw is unfolded, and the detection head is retracted when the supporting claw is folded;
the detecting head is connected with the data processing mechanism through a circuit so as to transmit the detected thickness signal to the data processing mechanism.
2. The unmanned aerial vehicle for thickness measurement according to claim 1, wherein the detection mechanism further includes a first connection member and a second connection member, one end of the first connection member is connected to one end of the detection rod assembly away from the data processing mechanism, one end of the second connection member is rotatably connected to the other end of the first connection member, and the other end of the second connection member is connected to the supporting claw.
3. The unmanned aerial vehicle for thickness measurement according to claim 2, wherein the first connecting member includes a housing and a stopper, the stopper is movably disposed in the housing and located at an end of the housing close to the second connecting member, and the stopper is capable of reciprocating in the housing along an axial direction of the housing;
the second connecting component comprises a connecting support arm and an engaging piece, and the engaging piece is arranged in the shell and is engaged with the limiting piece.
4. The unmanned aerial vehicle for thickness measurement according to claim 3, further comprising a third connecting member, wherein the second connecting member further comprises a hinge base, one end of the connecting arm, which is away from the engaging member, is connected to the hinge base, one end of the third connecting member is hinged to the hinge base, and one end of the supporting claw is connected to the other end of the third connecting member.
5. The unmanned aerial vehicle for thickness measurement according to claim 4, wherein an end of the third connecting member hinged to the hinge base is of a spherical structure, the hinge base is of a semi-spherical groove structure, and an end of the third connecting member of the spherical structure is embedded into the hinge base.
6. The unmanned aerial vehicle for measuring thickness according to claim 4, wherein one end of the probing tip is disposed in the third connecting member, and the other end protrudes from the third connecting member, a first engaging portion is formed on an outer wall surface of the probing tip, the supporting claw is rotatably connected to the third connecting member, a second engaging portion is formed on an end of the supporting claw facing the probing tip, the first engaging portion is engaged with the second engaging portion, and when the supporting claw rotates relative to the third connecting member, the second engaging portion rotates to drive the probing tip to move toward or away from the third connecting member.
7. The unmanned aerial vehicle for measuring thickness according to claim 6, wherein an elastic component is disposed in the third connecting member, one end of the elastic component abuts against the probing tip, and the other end of the elastic component is connected to the third connecting member, so that the probing tip can move relative to the third connecting member along an axial direction of the third connecting member.
8. The unmanned aerial vehicle for thickness measurement according to claim 4, wherein a pressure detection piece is arranged at one end of the supporting claw, which is far away from the third connecting component, the pressure detection piece is in communication connection with a control terminal of the unmanned aerial vehicle, and the control terminal adjusts the flight attitude of the unmanned aerial vehicle according to a pressure signal detected by the pressure detection piece.
9. The thickness measurement drone of claim 1, further comprising a shipper;
the carrying frame is connected with the unmanned aerial vehicle, a guide part is formed on one side of the carrying frame, which is far away from the unmanned aerial vehicle, the guide part extends along the length direction of the carrying frame, a limiting part is formed at one end of the guide part, and a clamping piece is formed at one end of the carrying frame, which is far away from the limiting part;
the data processing mechanism is provided with a first matching part corresponding to the guide part, the first matching part is connected with the guide part, a second matching part is formed at the end part of the data processing mechanism, and the clamping piece is matched with the second matching part so that the data processing mechanism can move relative to the carrying frame and is detachably connected with the carrying frame.
10. The unmanned aerial vehicle for thickness measurement according to claim 1, wherein the probe rod assembly comprises a plurality of probe rods and a plurality of connecting sleeves, and the ends of two adjacent probe rods are respectively connected with two ends of the connecting sleeves;
the connecting sleeve comprises a connecting part and a locking part, the end part of the detection rod can be inserted into the connecting part, and the locking part can be folded to reduce the diameter of the connecting part, so that the detection rod can be detachably connected with the connecting sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211166298.4A CN115367130A (en) | 2022-09-23 | 2022-09-23 | Unmanned aerial vehicle for thickness measurement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211166298.4A CN115367130A (en) | 2022-09-23 | 2022-09-23 | Unmanned aerial vehicle for thickness measurement |
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| CN115367130A true CN115367130A (en) | 2022-11-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116697943A (en) * | 2023-08-02 | 2023-09-05 | 成都信息工程大学 | Snow depth measuring device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116697943A (en) * | 2023-08-02 | 2023-09-05 | 成都信息工程大学 | Snow depth measuring device and method |
| CN116697943B (en) * | 2023-08-02 | 2023-09-29 | 成都信息工程大学 | Snow depth measuring device and method |
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