CN115892531A - Tunnel detection unmanned aerial vehicle with flying and crawling structure and use method - Google Patents
Tunnel detection unmanned aerial vehicle with flying and crawling structure and use method Download PDFInfo
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- CN115892531A CN115892531A CN202211506343.6A CN202211506343A CN115892531A CN 115892531 A CN115892531 A CN 115892531A CN 202211506343 A CN202211506343 A CN 202211506343A CN 115892531 A CN115892531 A CN 115892531A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a flying and crawling structure unmanned aerial vehicle for tunnel detection and a using method thereof, and relates to the technical field of unmanned aerial vehicles. The invention comprises a supporting framework, an obstacle avoidance positioning system and a pressure sensing system, wherein the obstacle avoidance positioning system and the pressure sensing system are arranged in the supporting framework; the supporting framework comprises two hole site plates, one hole site plate upper surface is located at the bottom, a main frame rod is fixedly connected to the middle of the hole site plate upper surface, one hole site plate upper surface is located at the bottom, and two sides of the hole site plate upper surface are both rotatably connected with a steering shaft through a supporting frame and are fixedly connected to a steering engine of the rotor shaft, close to the middle of the steering shaft, of the hole site plate upper surface. The rotor shaft steering engine is matched with the rotor steering engine to respectively drive the steering shaft and the support rod to realize two planes of the blade to rotate, different flight states are met, the driven wheel can fly close to the wall in a tunnel without damaging the vector rotor, direction control can be provided through the steering wheel, detection equipment is carried to replace traditional high-altitude operation, and personal safety of detection personnel is effectively guaranteed.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a flying and crawling structure unmanned aerial vehicle for tunnel detection and a using method thereof.
Background
In recent years, the investment of the country in the building industry is increasing, and the construction of infrastructure projects is developing towards more intellectualization. After highway, railway project tunnel construction are accomplished, need to spend a large amount of manpower and materials to carry out the detection of tunnel section structure, need cooperate the vehicle simultaneously, set up support, artifical aerial work to place equipment in the tunnel surface and detect, detection efficiency is low, brings very big threat for the constructor person.
Therefore, the invention provides a flying and crawling structure unmanned aerial vehicle for tunnel detection and a using method thereof.
Disclosure of Invention
The invention aims to provide a flying and climbing structure unmanned aerial vehicle for tunnel detection and a using method thereof, wherein the unmanned aerial vehicle with the flying and climbing structure carries tunnel structure detection equipment (such as a ground penetrating radar, an elastic wave detector, a visible light lens and the like) to carry out tunnel nondestructive detection, so that the problems of high-altitude dangerous operation and low detection efficiency of traditional manual detection can be effectively solved, and the personal safety of detection personnel is guaranteed.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the unmanned aerial vehicle with the flying climbing structure for tunnel detection comprises a supporting framework, and an obstacle avoidance positioning system and a pressure sensing system which are arranged in the supporting framework;
the supporting framework comprises two hole site plates, a main frame rod is fixedly connected to the middle of the upper surface of one hole site plate at the bottom, and steering shafts and rotor shaft steering engines fixedly connected to the upper surfaces of the hole site plates and close to the middle of the steering shafts are rotatably connected to the two sides of the upper surface of the hole site plate at the bottom through supporting frames;
four vector rotors, the vector rotor includes fixed connection in the rotor fender bracket of two steering spindle tip, rotate connect in the bracing piece of rotor fender bracket inside wall, fixed connection in the rotor motor at bracing piece middle part, fixed connection are in the paddle of rotor motor output and the rotor of fixed connection in the rotor motor outer wall turn to the steering wheel.
Further, two through solid fixed ring fixed connection between the hole site board, pressure sensing system includes four pressure sensor, four pressure sensor is used for measuring the power state of four vector rotors.
Further, keep away barrier system and include gyroscope, laser radar and two mesh cameras, gyroscope and laser radar fixed mounting are between two hole site boards, two mesh cameras set up around the fuselage, two mesh cameras are used for acquireing fuselage all around left right direction visual information, laser radar is used for the range finding, the gyroscope is used for acquireing fuselage state data.
Furthermore, a power supply system is arranged on one hole site plate positioned at the top and used for supplying power to electrical components in the machine body, and a load system is arranged between the two hole site plates and used for controlling equipment placed on the machine body.
Furthermore, the rotor motor supplies power through a power supply system, so that the blades generate thrust, and the thrust is used for overcoming the gravity of the body to enable the body of the unmanned aerial vehicle to hover in the air or enable the body of the unmanned aerial vehicle to be attached to the surface of a structure.
Further, rotor motor comprises a pair of, is upper and lower position distribution for the drive forms double-deck power to a pair of paddle, rotor fender bracket is inside to be fixed through the support ring, rotor fender bracket internal gap is used for arranging the electric wire.
Furthermore, the edges of the two rotor protection frames are rotatably connected with a driven wheel through a rod piece, and the diameter of the driven wheel is larger than the radius of the outermost edge of the rotor protection frame, so that the blades can avoid structures during rotation.
Furthermore, one side, far away from the driven wheel, of the hole site plate located at the bottom is fixedly connected with a wheel steering engine, an output end of the wheel steering engine is fixedly connected with a wheel support, the inner side wall of the wheel support is rotatably connected with a steering wheel, and the outer side wall of the wheel support is further provided with an encoder.
As a second object, the method for using the unmanned aerial vehicle for tunnel detection provided by the invention comprises the following steps:
s1, mounting detection equipment on a support framework, connecting the detection equipment with a load system, and controlling the detection equipment through the load system;
s2, supplying power to all electrical appliance parts through a power supply system, starting a rotor motor, and driving blades to form double-layer power by the rotor motor so as to provide driving force for the unmanned aerial vehicle;
s3, two steering shafts are synchronously driven by two steering wing shaft steering engines to rotate, so that four vector rotors can synchronously adjust the direction, and the steering wing steering engines drive each support rod to drive a blade to adjust the direction, so that the rotation in two plane directions is realized;
s4, when the unmanned aerial vehicle is close to a structure, the vector rotor wings are enabled to slide through the driven wheels so as not to touch the structure, meanwhile, the wheel steering engine is started to drive the steering wheels to rotate, steering direction control is provided when the unmanned aerial vehicle is attached to the wall, and advancing data of the steering wheels are obtained through the encoder;
s5, the flying power state of each rotor wing when the unmanned aerial vehicle is adsorbed on the wall can be judged by measuring the pressure of the 4 pressure sensors and the pressure difference between the pressure sensors, so that the power feedback and regulation of the rotor wing system can be carried out;
s6, the binocular camera acquires visual information in the front, back, left and right directions, so that the unmanned aerial vehicle can visually avoid obstacles; measuring the distance by a laser radar; the body state is confirmed by the gyroscope.
The invention has the following beneficial effects:
through the vector rotor, support the framework, pressure sensing system and keep away the setting of barrier system, two planes that the paddle can be realized to rotor shaft steering wheel cooperation rotor steering wheel can drive steering spindle and bracing piece respectively rotate, satisfy different flight status, can fly and can not harm the vector rotor from the driving wheel adherent in the tunnel, still can provide directional control through the directive wheel simultaneously, carry on the traditional high altitude construction of check out test set replacement, effectively ensured measurement personnel's personal safety.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
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 description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a bottom perspective view of the present invention;
FIG. 2 is a top axial view of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention;
FIG. 4 is a three-dimensional view of a rotor structure of the present invention;
FIG. 5 is a three-dimensional view of a rotor structure of the present invention;
fig. 6 is a three-dimensional view of the structure of the steering wheel of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
5. a paddle; 6. a rotor wing fender bracket; 7. a rotor wing steering engine; 8. a rotor motor; 9. a steering engine for a rotor shaft; 10. a support bar; 11. a steering shaft; 12. a main frame bar; 13. a hole site plate; 14. a pressure sensor; 15. a wheel steering engine; 16. an encoder; 17. a wheel carrier; 18. a driven wheel; 19. and a steering wheel.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of devices consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 6, the unmanned aerial vehicle with a flying and climbing structure for tunnel detection provided by the invention comprises a supporting framework, and an obstacle avoidance positioning system and a pressure sensing system which are arranged in the supporting framework;
the supporting framework comprises two hole site plates 13, a main frame rod 12 is fixedly connected to the middle of the upper surface of one hole site plate 13 at the bottom, steering shafts 11 and a rotor shaft steering engine 9 fixedly connected to the upper surface of one hole site plate 13 at the bottom and close to the middle of the steering shafts 11 are rotatably connected to the two sides of the upper surface of the hole site plate 13 at the bottom through supporting frames, the steering shafts 11 can be driven to rotate through the rotor shaft steering engine 9, and the four vector rotors can be synchronously adjusted through the steering shafts 11.
Four vector rotors, the vector rotor includes the rotor fender bracket 6 of fixed connection in 11 tip of two steering shafts, rotate the bracing piece 10 of connecting in 6 inside walls of rotor fender bracket, fixed connection is in the rotor motor 8 at bracing piece 10 middle part, fixed connection is in the paddle 5 of rotor motor 8 output and the rotor steering wheel 7 of fixed connection in the 8 outer walls of rotor motor, rotor motor 8 work can drive two corresponding paddles 5 and rotate, produce double-deck power through two paddles 5, produce the lift that is used for unmanned aerial vehicle work, steering shaft 11, rotor shaft steering wheel 9, bracing piece 10, rotor motor 8, rotor steering wheel 7 can drive steering shaft 11 and bracing piece 10 respectively and rotate, make unmanned aerial vehicle carry out two planar rotations of vector rotor system.
Through solid fixed ring fixed connection between two hole site boards 13, pressure sensing system includes four pressure sensor 14, and four pressure sensor 14 are used for measuring the power state of four vector rotors, and the through-hole has still been seted up to the upper surface of hole site board 13, can alleviate unmanned aerial vehicle's dead weight, also can be used for the installation of equipment to use.
The obstacle avoidance system comprises a gyroscope, a laser radar and a binocular camera, wherein the gyroscope and the laser radar are fixedly arranged between two hole site plates 13, the binocular camera is arranged around the machine body and used for acquiring visual information of the machine body in the front-back and left-right directions, the laser radar is used for distance measurement, the gyroscope is used for acquiring state data of the machine body, and the binocular camera is arranged around the machine body and used for visual obstacle avoidance in the front-back and left-right directions; the laser radar is used for ranging to assist in obstacle avoidance; the gyroscope is used for confirming the state of the body of the unmanned aerial vehicle.
Wherein the edge of two rotor fender brackets 6 rotates through the member and is connected with from driving wheel 18, the diameter from driving wheel 18 is greater than the radius of rotor fender bracket 6 outermost edge, make paddle 5 avoid the structure thing when rotatory, not only can realize the protection to the paddle through rotor fender bracket 6 still can realize the fixed mounting to the cable, one side that a hole site board 13 that is located the bottom kept away from driving wheel 18 still fixedly connected with wheel steering wheel 15, the wheel turns to 15 output fixedly connected with wheel support 17 of steering wheel, the inside wall of wheel support 17 rotates and is connected with directive wheel 19, the lateral wall of wheel support 17 still is provided with encoder 16. The encoder is used for the travel data of the steering wheel 19 and can be used for positioning the data and confirming the position state of the unmanned aerial vehicle.
Be provided with electrical power generating system on a hole site board 13 at top, electrical power generating system is used for the power supply of fuselage internal electrical apparatus part, still is provided with load system between two hole site boards 13 for the equipment of control putting on the fuselage, electrical power generating system provides power supply for whole unmanned aerial vehicle, and the power is rechargeable battery.
The invention provides an unmanned aerial vehicle using method for tunnel detection, which comprises an unmanned aerial vehicle with a flying climbing structure and further comprises the following operation steps:
s1, mounting detection equipment on a support framework, connecting the detection equipment with a load system, controlling the detection equipment through the load system, remotely controlling the detection equipment through an unmanned aerial vehicle load system, and replacing traditional personnel detection through the detection equipment to ensure that the detection process is better and safer;
s2, supplying power to each electrical appliance part through a power supply system, starting the rotor motor 8, and driving the blades 5 to form double-layer power by the rotor motor 8 so as to provide driving force for the unmanned aerial vehicle;
s3, two steering shafts 11 are synchronously driven by two steering wing shaft steering engines 9 to rotate, so that four vector rotors are synchronously adjusted in direction, and the steering wing steering engines 7 drive each support rod 10 to drive the blades 5 to adjust the direction, so that the rotation in two plane directions is realized, and the adjustment of different flight states is met;
s4, when the unmanned aerial vehicle approaches to a structure, the vector rotor wing is prevented from touching the structure through sliding of the driven wheel 18, meanwhile, the wheel steering engine 15 is started to drive the steering wheel 19 to rotate, steering direction control is provided when the unmanned aerial vehicle adheres to the wall, the advancing data of the steering wheel 19 is obtained through the encoder 16, and personnel can detect the driving distance of the unmanned aerial vehicle;
s5, the flying power state of each rotor wing when the unmanned aerial vehicle is adsorbed on the wall can be judged by measuring the pressure of the 4 pressure sensors 14 and the pressure difference between the pressure sensors, so that the power feedback and regulation of the rotor wing system are carried out, and the intelligent control is realized;
s6, the binocular camera acquires visual information in the front, back, left and right directions, so that the unmanned aerial vehicle can visually avoid obstacles; measuring the distance by a laser radar; confirm the fuselage state through the gyroscope, make things convenient for personnel to observe unmanned aerial vehicle's state in real time.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims.
Claims (9)
1. The utility model provides a tunnel detects flies to climb structure unmanned aerial vehicle which characterized in that: the device comprises a supporting framework, an obstacle avoidance positioning system and a pressure sensing system, wherein the obstacle avoidance positioning system and the pressure sensing system are arranged in the supporting framework;
the supporting framework comprises two hole position plates (13), the middle part of the upper surface of one hole position plate (13) at the bottom is fixedly connected with a main frame rod (12), and two sides of the upper surface of one hole position plate (13) at the bottom are rotatably connected with a steering shaft (11) and a rotor shaft steering engine (9) which is fixedly connected to the upper surface of the hole position plate (13) and is close to the middle part of the steering shaft (11) through a supporting frame;
four vector rotors, the vector rotor includes rotor fender bracket (6) of fixed connection in two steering spindle (11) tip, rotate connect in bracing piece (10) of rotor fender bracket (6) inside wall, fixed connection in rotor motor (8) at bracing piece (10) middle part, fixed connection turn to steering wheel (7) in paddle (5) and the rotor of fixed connection in rotor motor (8) outer wall of rotor motor (8) output.
2. The unmanned aerial vehicle with the flying structure according to claim 1, wherein two hole site plates (13) are fixedly connected through a fixing ring, the pressure sensing system comprises four pressure sensors (14), and the four pressure sensors (14) are used for measuring the dynamic states of four vector rotors.
3. The unmanned aerial vehicle with the flying structure of claim 1, wherein the obstacle avoidance system comprises a gyroscope, a laser radar and a binocular camera, the gyroscope and the laser radar are fixedly installed between two hole site plates (13), the binocular camera is arranged around the body, the binocular camera is used for acquiring visual information of the body in all directions, the laser radar is installed inside the body and used for measuring distance, and the gyroscope is installed inside the body and used for acquiring state data of the body.
4. The unmanned aerial vehicle with the flying climbing structure as claimed in claim 1, wherein a power supply system is arranged on one hole plate (13) at the top and used for supplying power to electrical components in the fuselage, and a loading system is arranged between the two hole plates (13) and used for controlling equipment placed on the fuselage.
5. A unmanned aerial vehicle with climbing structure according to claim 4, wherein the rotor motor (8) is powered by a power supply system, so that the blade (5) generates thrust for overcoming the gravity of the body to make the unmanned aerial vehicle hover in the air or make the unmanned aerial vehicle body stick to the surface of a structure.
6. A structure unmanned aerial vehicle flies to crawl according to claim 5, characterized in that, rotor motor (8) comprises a pair, is upper and lower position distribution for drive a pair of paddle (5) form double-deck power, rotor fender bracket (6) is inside to be fixed through the support ring, rotor fender bracket (6) inside clearance is used for arranging the electric wire.
7. A flying structure drone according to claim 1, characterised in that the edges of the two rotor-guards (6) are rotatably connected by levers to driven wheels (18), the diameter of the driven wheels (18) being greater than the radius of the outermost edge of the rotor-guards (6), so that the blades (5) avoid the structure while rotating.
8. The unmanned aerial vehicle with the flying climbing structure according to claim 7, wherein one side, away from a driven wheel (18), of the hole site plate (13) at the bottom is further fixedly connected with a wheel steering engine (15), the output end of the wheel steering engine (15) is fixedly connected with a wheel support (17), the inner side wall of the wheel support (17) is rotatably connected with a steering wheel (19), and the outer side wall of the wheel support (17) is further provided with an encoder (16).
9. A method for using unmanned aerial vehicle for tunnel detection, comprising the unmanned aerial vehicle for flying structure of any one of claims 1-8, characterized by further comprising the following operation steps:
s1, mounting detection equipment on a support framework, connecting the detection equipment with a load system, and controlling the detection equipment through the load system;
s2, supplying power to all electrical appliance parts through a power supply system, starting a rotor motor, and driving blades to form double-layer power by the rotor motor so as to provide driving force for the unmanned aerial vehicle;
s3, two steering shafts are synchronously driven by two steering wing shaft steering engines to rotate, so that four vector rotors can synchronously adjust the direction, and the steering wing steering engines drive each support rod to drive a blade to adjust the direction, so that the rotation in two plane directions is realized;
s4, when the unmanned aerial vehicle is close to a structure, the vector rotor wings are enabled to slide through the driven wheels so as not to touch the structure, meanwhile, the wheel steering engine is started to drive the steering wheels to rotate, steering direction control is provided when the unmanned aerial vehicle is attached to the wall, and advancing data of the steering wheels are obtained through the encoder;
s5, the flying power state of each rotor wing when the unmanned aerial vehicle is adsorbed on the wall can be judged by measuring the pressure of the 4 pressure sensors and the pressure difference between the pressure sensors, so that the power feedback and regulation of the rotor wing system can be carried out;
s6, the binocular camera acquires visual information in the front, back, left and right directions, so that the unmanned aerial vehicle can visually avoid obstacles; measuring the distance by a laser radar; the body state is confirmed by the gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506343.6A CN115892531A (en) | 2022-11-28 | 2022-11-28 | Tunnel detection unmanned aerial vehicle with flying and crawling structure and use method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211506343.6A CN115892531A (en) | 2022-11-28 | 2022-11-28 | Tunnel detection unmanned aerial vehicle with flying and crawling structure and use method |
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| Publication Number | Publication Date |
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| CN115892531A true CN115892531A (en) | 2023-04-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211506343.6A Pending CN115892531A (en) | 2022-11-28 | 2022-11-28 | Tunnel detection unmanned aerial vehicle with flying and crawling structure and use method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885829A (en) * | 2024-03-15 | 2024-04-16 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
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2022
- 2022-11-28 CN CN202211506343.6A patent/CN115892531A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117885829A (en) * | 2024-03-15 | 2024-04-16 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
| CN117885829B (en) * | 2024-03-15 | 2024-05-10 | 中冶建筑研究总院（深圳）有限公司 | Wall climbing unmanned aerial vehicle and control method thereof |
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