CN116252977A - Unmanned aerial vehicle inspection equipment for intelligent road - Google Patents
Unmanned aerial vehicle inspection equipment for intelligent road Download PDFInfo
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- CN116252977A CN116252977A CN202310149169.2A CN202310149169A CN116252977A CN 116252977 A CN116252977 A CN 116252977A CN 202310149169 A CN202310149169 A CN 202310149169A CN 116252977 A CN116252977 A CN 116252977A
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/34—Alighting gear characterised by elements which contact the ground or similar surface wheeled type, e.g. multi-wheeled bogies
- B64C2025/345—Multi-wheel bogies having one or more steering axes
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention relates to the field of road inspection equipment, in particular to unmanned aerial vehicle inspection equipment for intelligent roads, which comprises a rack and fan blades; the fan blades are symmetrically arranged at four corners of the frame; the device also comprises a clamping unit, a supporting unit and a power conversion unit; the clamping unit is positioned at the bottom of the frame and is used for clamping the obstacle after the supporting unit of the unmanned aerial vehicle falls on the road; the supporting units are positioned at four corners of the bottom of the frame and are used for supporting the unmanned aerial vehicle to fall on the ground for movement when the obstacle clamped by the unmanned aerial vehicle exceeds the self flight load; the power conversion unit is positioned in the rack and is used for enabling the fan of the unmanned aerial vehicle to be horizontally converted into vertically placed after the supporting unit is started. The clamping jaw is used for clamping obstacles on a road; then, under the drive of the unmanned aerial vehicle, the vehicle is taken out of the road surface; finally, the temporary storage box thrown to the roadside waits for recovery and cleaning, thereby cleaning obstacles on the road and improving the cleanliness of the road.
Description
Technical Field
The invention relates to the field of road inspection equipment, in particular to unmanned aerial vehicle inspection equipment for intelligent roads.
Background
The intelligent road is a new-era road for uniformly and coordinately managing a road transportation system by utilizing a mobile information technology; the method can realize information interaction between the vehicle, the road and the environment; the existing intelligent road adopts fixed-point monitoring management of a fixed camera and mobile monitoring management of inspection personnel or inspection equipment, and the intelligent road completes daily maintenance of the intelligent road and realizes information support for optimizing road conditions by means of the two monitoring management modes.
The conventional inspection method is mainly that an inspector drives a vehicle to inspect a road, so that the inspection efficiency is low; with the development of unmanned aerial vehicle technology, more rapid response begins to appear in inspection unmanned aerial vehicle equipment; application number: CN201510921038.7 discloses an automatic inspection method and device based on unmanned aerial vehicle, which improves road inspection efficiency and reduces danger in the road inspection process by controlling unmanned aerial vehicle to automatically inspect the road to be inspected.
On roads, the situation that the vehicle carelessly drops or discards objects during running often occurs; common carryover is for example: goods falling on the road, objects such as plastic bags discarded on the road, and even parts falling off the running vehicle due to the fact that the goods are not firmly bound by the truck; in windy weather, the plastic bag can be blown on the front glass of the rear vehicle by windy, so that the safety risk of the vehicle in running is greatly improved; the falling goods on the trucks and the falling parts of the running vehicles can even suddenly enter the road and are crushed by the vehicles to leave small animal carcasses in the center of the road; the obstacles can cause that the rear vehicles can not be timely found due to the height problem of the driving view angle when the vehicles are driven, so that the vehicles can not avoid the vehicles, and the chassis of the vehicles with lower ground clearance can be scratched to form damage; even when the vehicle finds out the obstacles, the avoided vehicle is easy to run away because the reaction time of the avoidance of the vehicle is insufficient, so that traffic accidents are caused; in the face of the obstacles, most of the existing unmanned aerial vehicles for road inspection acquire the obstacles through image monitoring and then early warn vehicles on the road; finally, the command center processes the obstacles on the road in a manual mode according to the information returned by the unmanned aerial vehicle, and the waiting time is long; the unmanned aerial vehicle which is used for finding the obstacle first has no function of cleaning the obstacle out of the road surface at the same time, so that the unmanned aerial vehicle can only wait for the manual work to finish the subsequent cleaning work.
Based on the above problems, the prior art teaches related art unmanned aerial vehicles capable of holding objects together; application number: CN201720123460.2 discloses a mechanical clamping jaw mechanism and an unmanned aerial vehicle, which control a clamping jaw driving device to drive clamping jaws to clamp or open simultaneously, so as to ensure that the mechanical clamping jaw mechanism firmly grasps an object and prevent the object from falling from the clamping jaw range of the mechanical clamping jaw mechanism in the carrying and flying process; but when the unmanned aerial vehicle clamps objects and when the clamped objects exceed the self flight load, the clamped objects cannot be supported.
For this reason, an unmanned aerial vehicle inspection device for wisdom road is proposed.
Disclosure of Invention
The invention aims to provide unmanned aerial vehicle inspection equipment for intelligent roads, which solves the problem that an unmanned aerial vehicle for road inspection processes obstacles on roads and the problem that the obstacles grabbed by the unmanned aerial vehicle for road inspection exceed self flight load.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an unmanned aerial vehicle inspection device for intelligent roads comprises a rack and fan blades; the frame is of a rectangular structure; the length of the frame is 550-800mm, the width is 350-500mm, and the height is 250-400mm; the fan blades are symmetrically arranged at four corners of the frame;
the device also comprises a clamping unit, a supporting unit and a power conversion unit; the clamping unit is positioned at the bottom of the frame and is used for clamping an obstacle on a road after the supporting unit of the unmanned aerial vehicle falls on the road; the supporting units are positioned at four corners of the bottom of the frame and are used for supporting the unmanned aerial vehicle to fall on the ground when the unmanned aerial vehicle is clamped to exceed the self flight load; the power conversion unit is located inside the frame and is used for enabling the fan of the unmanned aerial vehicle to be changed from horizontal placement to vertical placement after the supporting unit is started.
An LED lamp strip is fixedly arranged on the side edge of the frame; the LED lamp strip is used for warning vehicles behind a road at night.
The clamping unit comprises a shell, a driving rod, a transmission rod, clamping jaws, a lifting rod and a constraint component; the shell is of a columnar structure; the shell is arranged at the bottom of the frame; the driving rods are annularly arranged in a plurality around the central shaft of the shell; one end of the driving rod is hinged with the side wall of the shell; the other end of the driving rod is hinged with one end of the transmission rod; the driving rod is an electric push rod; the thrust of the driving rod is 250N; the clamping jaw is hinged to the other end of the transmission rod;
the lifting rod is coaxially arranged in the shell; the bottom of the shell is provided with a camera; the lifting rod is an electric push rod, and the stroke of the lifting rod is 200-300mm; the constraint component is of a Y-shaped structure; the restraint assembly is annularly arranged in a plurality around the central shaft of the lifting rod; the number of the restraint components is equal to the number of the driving rods; the two ends of the constraint component are rotatably connected to the transmission rod and the clamping jaw, and the swinging angle of the clamping jaw can be controlled by controlling the transmission rod and the clamping jaw.
The constraint component comprises a first connecting rod and a second connecting rod; one end of the first connecting rod is hinged with the movable end of the lifting rod; the other end of the first connecting rod is hinged with the middle part of the transmission rod; a chute is formed in the middle of the first connecting rod; one end of the second connecting rod is hinged with the first connecting rod through the sliding groove; one end of the second connecting rod slides along the groove of the sliding groove; the other end of the second connecting rod is hinged with the middle part of the clamping jaw.
The hinge point of the first connecting rod and the second connecting rod is positioned at one quarter to one third of the hinge end of the second connecting rod and the driving rod.
The object clamping sides of the clamping jaws are provided with clamping strips along the length direction in an array manner; the length of the clamping strip is equal to the width of the clamping jaw.
The clamping strip is made of nitrile rubber.
Suction cups are arranged on the left side and the right side of the clamping object side of the clamping jaw along the length direction; the sucker is made of natural rubber.
The supporting unit comprises an electric push rod and an underframe wheel;
the electric push rod is fixedly arranged at the bottom of the frame; a sliding rod is sleeved at the moving end of the electric push rod;
the chassis wheels consist of electric telescopic rods at the top and rollers at the bottom; the electric push rod is fixedly connected with the top of the electric telescopic rod through the slide rod; an arc-shaped groove is formed in the hinged position of the electric push rod and the electric telescopic rod on the inner wall of the rack; the two ends of the sliding rod slide in the arc-shaped groove; the middle part of the electric telescopic rod is hinged with the inner wall of the rack; the thrust of the electric push rod is 250N; the stroke of the electric telescopic rod is 100-200mm.
The power conversion unit comprises a first rotating shaft, a second rotating shaft and a rotating motor;
the first rotating shaft is symmetrically arranged left and right along the central shaft of the frame; the central axis of the first rotating shaft is parallel to the central axis of the frame;
a spur gear is fixedly arranged at the top of the first rotating shaft; two drive bevel gears are fixedly arranged on the first rotating shaft along the central array of the first rotating shaft;
the second rotating shaft is horizontally and rotatably arranged along the vertical direction of the central shaft of the frame; one end of the second rotating shaft is fixedly connected with the side wall of the bottom of the fan blade; the other end of the second rotating shaft is fixedly connected with a driven bevel gear; the other end of the second rotating shaft penetrates through the rack and is rotationally connected with the first rotating shaft through the meshing of the driving bevel gear and the driven bevel gear;
the rotating motor is symmetrically arranged in the left and right of the rear end of the frame; the output end of the rotating motor is meshed with the straight gear of the first rotating shaft through a driving gear; the rotating motor is used for rotating the first rotating shaft to enable the second rotating shaft to rotate, so that the fan blades are rotated.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can be used for road inspection work, and can carry out round-trip inspection flight in the air along a road route; the invention can clean obstacles encountered on the road while carrying out road inspection, such as goods falling off due to loose binding on a truck, even parts falling off in the running process of an automobile, and the like; when clearing obstacles, the clamping jaw of the clamping unit is used for clamping the obstacles on the road; then carrying the unmanned aerial vehicle out of the range of the road surface under the driving of the flight force of the unmanned aerial vehicle; finally, throwing the vehicle to a temporary storage box on the roadside to wait for recovery and cleaning of professionals, so that the obstacle on the road cannot damage the chassis of the running vehicle; the cleanliness and the safety of the road are also improved.
2. The supporting unit can rotate around the middle parts of the supporting legs by utilizing the sliding rail, so that the rotating space of the sliding rail is effectively saved, and the space utilization rate in the rack is improved; simultaneously, the supporting unit enables the unmanned aerial vehicle to drag the obstacle on the ground instead under the condition that the flight load capacity is insufficient to drag the obstacle, and therefore the efficiency of the unmanned aerial vehicle for treating the obstacle is greatly improved.
3. The power conversion assembly is driven by the rotating motor, and is matched with the rotating motor by virtue of the meshing of the first rotating shaft and the second rotating shaft through the bevel gears; therefore, the unmanned aerial vehicle fan blade rotates around the central shaft of the second rotating shaft, and at the moment, the vertical upward driving force provided by the fan blade can be changed into the horizontal forward driving force; meanwhile, the power control assembly for the chassis wheels does not need to be additionally arranged in the equipment, and therefore the space in the unmanned aerial vehicle is saved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention in flight;
FIG. 2 is a schematic diagram of a floor state of the present invention;
FIG. 3 is a schematic view of the structure of the present invention in a ground-type state;
fig. 4 is a schematic structural view of the clamping unit;
FIG. 5 is a top view of the clamping unit;
fig. 6 is a front view of the clamping unit;
fig. 7 is a top view of the support unit;
FIG. 8 is a cross-sectional view taken along section A-A of FIG. 7;
FIG. 9 is a cross-sectional view of the frame at the power conversion unit;
fig. 10 is a schematic structural view of the clamping jaw.
In the figure: 1. a frame; 2. a fan blade; 3. a clamping unit; 31. a housing; 32. a driving rod; 33. a transmission rod; 34. a clamping jaw; 341. clamping the strip; 35. a lifting rod; 36. a restraint assembly; 361. a first connecting rod; 362. a second connecting rod; 363. a chute; 4. a supporting unit; 41. an electric push rod; 42. a slide bar; 43. an undercarriage wheel; 44. an arc-shaped groove; 5. a power conversion unit; 51. a first rotating shaft; 52. a second rotating shaft; 53. and rotating the motor.
Detailed Description
Fig. 1 to 10 show a first embodiment of an unmanned aerial vehicle inspection device for intelligent roads according to the present invention, which is applicable to the gripping of obstacles with a mass of 5kg or less.
The present invention will be described in detail with reference to the accompanying drawings. Referring to fig. 1 to 3, reference numerals 1 to 4 together form the whole unmanned aerial vehicle inspection equipment in the invention. The unmanned aerial vehicle inspection equipment can be applied to the field of road inspection, in particular to the road inspection of intelligent roads. The unmanned aerial vehicle inspection apparatus of the present invention can be manufactured by a variety of methods, with the preferred method being molding from plastic materials. However, the unmanned aerial vehicle inspection equipment can also be manufactured by other materials and processes, such as carbon fiber composite materials and other materials with light weight and high strength.
In the above embodiment, the unmanned aerial vehicle inspection apparatus specifically comprises the following components: comprises a frame 1 and fan blades 2; the frame 1 is of a rectangular structure; the length of the frame 1 is 350mm, the width is 250mm, and the height is 180mm; the fan blades 2 are symmetrically arranged at four corners of the frame 1;
the device also comprises a clamping unit 3, a supporting unit 4 and a power conversion unit 5; the clamping unit 3 is positioned at the bottom of the frame 1 and is used for clamping obstacles on the road after the supporting unit 4 of the unmanned aerial vehicle falls on the road; on roads, parts such as a front vehicle missing bumper and objects such as a discarded plastic bag can be generated at all times, and cargoes falling on trucks can be encountered; at this time, the vehicles behind the obstacles may not be found in time during running, so that the chassis of the vehicles is scratched; even when a vehicle traveling at a high speed runs over these obstacles, the tires of the vehicle come off the ground; even when serious, the vehicle can be turned over, and the safe running of the vehicle is affected;
the unmanned aerial vehicle is used for carrying the obstacles to the roadside, so that the obstacles do not influence the running of vehicles on the road, and when the large obstacles are encountered, the unmanned aerial vehicle can be communicated with an intelligent road network, so that the subsequent vehicles can be reminded to pay attention to avoidance at a far distance; particularly, when encountering large obstacles in the corners and dead zones of the road, the probability of accidents of the vehicle can be reduced; meanwhile, the rapidness and convenience of the unmanned aerial vehicle are utilized, and the information updating speed and focusing performance of the intelligent road can be improved;
the supporting units 4 in the embodiment are positioned at four corners of the bottom of the frame 1 and are used for supporting the unmanned aerial vehicle to fall on the ground when the unmanned aerial vehicle clamps the unmanned aerial vehicle to exceed the self flying load; compared with dragging a part of obstacle with large mass in the air for carrying, the unmanned aerial vehicle has a land driving function by utilizing the supporting unit 4; the force required for dragging the obstacle on the ground is smaller than the force required for driving the obstacle to fly, so that the unmanned aerial vehicle falls on the ground to drag the obstacle, and more energy is saved;
in this embodiment, in order to simplify the power system inside the unmanned aerial vehicle, a power conversion unit 5 is disposed inside the frame 1, and is used to convert the fan of the unmanned aerial vehicle from horizontal placement to vertical placement after the support unit 4 is started; therefore, the commute distance of the unmanned aerial vehicle is greatly reduced, and the transmission rate of intelligent road information can be weakened.
In a preferred embodiment of the invention, in order for the drone to operate at night, it is not impacted by the incoming and outgoing vehicles, resulting in damage to the drone; an LED lamp strip is fixedly arranged on the side edge of the frame 1; the LED lamp strip can warn vehicles behind the road at night; therefore, when the unmanned aerial vehicle works at night, the LED lamp strip gives an obvious prompt to a driver at the rear at night, and strong light does not irradiate to a driver of the vehicle at the rear; the unmanned aerial vehicle is prevented from being damaged by the vehicle, and the influence on the sight of a driver on a road caused by the use of a strong light source is also prevented.
Referring to fig. 4 to 6, in a preferred embodiment of the present invention, the clamping unit 3 includes a housing 31, a driving lever 32, a transmission lever 33, a clamping jaw 34, a lifting lever 35, and a restraining assembly 36; the housing 31 has a columnar structure; the housing 31 is arranged at the bottom of the frame 1; the driving rod 32 is annularly arranged in a plurality around the central axis of the housing 31; one end of the driving rod 32 is hinged with the side wall of the shell 31; the other end of the driving rod 32 is hinged with one end of a transmission rod 33; the driving rod 32 is an electric push rod; the thrust of the driving lever 32 is 250N; the other end of the transmission rod 33 is hinged with a clamping jaw 34;
the lifting rod 35 is coaxially disposed inside the housing 31; the bottom of the shell 31 is provided with a camera; the lifting rod 35 is an electric push rod, and the stroke of the lifting rod 35 is 100mm; the restraint assembly 36 in the preferred embodiment is of a Y-type configuration; the restraint assembly 36 is annularly arranged in a plurality around the central axis of the lifting rod 35; the number of restraint assemblies 36 is equal to the number of drive rods 32; the two ends of the restraint assembly 36 are rotatably connected to the transmission rod 33 and the clamping jaw 34, and the swinging angle of the clamping jaw 34 can be controlled by controlling the transmission rod 33 and the clamping jaw 34;
when the unmanned aerial vehicle observes an obstacle on a road through a camera during routine inspection of the road section of the unmanned aerial vehicle; the unmanned aerial vehicle flies to 100-150mm above the obstacle, and then slowly falls to the position above the obstacle; at this time, the driving rod 32 is contracted, and the clamping jaw 34 is driven to be opened outwards by the driving rod 33, so that the space of the clamping jaw 34 at two sides is enlarged; then the lifting rod 35 stretches downwards to enable the bottom of the lifting rod 35 to contact an obstacle, after that, the driving rod 32 stretches to drive the clamping jaw 34 to rotate inwards through the transmission rod 33, so that the space of the clamping jaw 34 at two sides becomes smaller to clamp the obstacle, and then the lifting rod 35 contracts upwards to enable the obstacle to be separated from the ground; the drone then flies over the curb temporary storage station, at which point the jaws 34 are again controlled to open so that the obstacle falls into the curb-mounted temporary storage station waiting for uniform recovery processing.
For controlling the angle of the jaws 34, referring to fig. 6, in a preferred embodiment of the invention, the restraint assembly 36 is specifically configured to: including a first link 361 and a second link 362; one end of the first connecting rod 361 is hinged with the movable end of the lifting rod 35; the other end of the first connecting rod 361 is hinged with the middle part of the transmission rod 33; a chute 363 is arranged in the middle of the first connecting rod 361; one end of the second connecting rod 362 is hinged with the first connecting rod 361 through a chute 363; one end of the second link 362 slides along the slot of the slot 363; the other end of the second connecting rod 362 is hinged with the middle part of the clamping jaw 34;
according to the above embodiment, when the driving rod 32 is contracted, one end of the second link 362 slides outwards in the chute 363 formed in the middle of the first link 361, thereby driving the clamping jaw 34 to expand; when the driving rod 32 is extended, one end of the second connecting rod 362 slides inward in the sliding slot 363 formed in the middle of the first connecting rod 361, thereby driving the clamping jaw 34 to retract.
In a preferred embodiment of the present invention, in order to improve the gripping efficiency of the gripping unit 3 for handling obstacles; the hinge point of the first connecting rod 361 and the second connecting rod 362 is positioned at one third of the hinge end of the second connecting rod 362 and the driving rod 32; the first connecting rod 361 is hinged with the middle part of the second connecting rod 362; the second link 362 thus rotates about the hinge point; while a larger obstacle may be required during the clamping process, the hinge point is arranged at one third of the hinged end of the second connecting rod 362 and the driving rod 32, so that the rotation arc length of one end of the second connecting rod 362 hinged to the clamping jaw 34 can be increased, and the rotation arc length of the clamping jaw 34, that is, the maximum clamping volume of the clamping jaw 34 unit clamping obstacle, can be increased.
In a preferred embodiment of the invention, in order to avoid slipping of the jaws when they encounter objects with smooth surfaces; the clamping side of the clamping jaw 34 is provided with clamping strips 341 along the length direction in an array manner; the length of the clamping bar 341 is equal to the width of the clamping jaw 34; the clamping strip 341 reduces the contact area of the clamping jaw 34 with the object, so that the normal pressure of the contact surface is increased, and therefore, a stronger clamping friction is provided.
The clamping strip 341 is preferably made of nitrile rubber; in order for the jaws 34 to grip an obstacle with liquid, the jaws 34 are not rusted; the use of nitrile rubber can make the clamping bar 341 have better wear resistance, and can deform when clamping objects due to the partial deformability of the clamping bar, so that the clamping is more stable.
As shown in fig. 7 to 8, the supporting unit 4 includes an electric push rod 41 and a chassis wheel 43; the electric push rod 41 is fixedly arranged at the bottom of the frame 1; a sliding rod 42 is sleeved at the moving end of the electric push rod 41; the chassis wheel 43 consists of an electric telescopic rod at the top and a roller at the bottom; the electric push rod 41 is fixedly connected with the top of the electric telescopic rod through a slide bar 42; an arc-shaped groove 44 is formed in the inner wall of the frame 1 at the hinge joint of the electric push rod 41 and the electric telescopic rod; both ends of the slide bar 42 slide in the arc-shaped grooves 44; the middle part of the electric telescopic rod is hinged with the inner wall of the frame 1; the thrust of the preferred electric putter 41 is 250N; the stroke of the electric telescopic rod is 100mm; compared with other pushing rods such as a hydraulic rod, the electric pushing rod has more sensitive reaction speed;
in the preferred embodiment, the efficiency of the unmanned aerial vehicle for processing the obstacle is enhanced, so that the weight of the obstacle which can be processed by the unmanned aerial vehicle is greatly improved; fig. 2 is a schematic structural diagram of the unmanned aerial vehicle after the support unit 4 is changed, and in combination with fig. 8, when the obstacle clamped by the unmanned aerial vehicle exceeds the flight load of the unmanned aerial vehicle, the electric push rod 41 stretches to drive the slide rod 42 to slide in the sliding groove; because the middle part of the underframe wheel 43 is hinged on the frame 1, the underframe wheel 43 rotates to a vertical state around a hinge point under the drive of the electric push rod 41; at this time, the telescopic rod inside the chassis wheel 43 is extended, so that the roller at the bottom of the chassis wheel 43 contacts the ground; because the force required to fly the obstacle exceeds the force required to drag the obstacle on the ground; therefore, the efficiency of the unmanned aerial vehicle for processing the obstacle can be improved; and the chassis wheel 43 rotates around its center, so that the occupied rotation space is smaller and the movement is more flexible.
In order to make the unmanned aerial vehicle no longer need to install a driving motor at the underframe wheel 43, thereby improving the utilization efficiency of energy sources; the power conversion unit 5 is arranged in the frame 1 and is used for converting the horizontal placement of the fan of the unmanned aerial vehicle into the vertical placement after the supporting unit 4 is started; as a preferred embodiment of the present invention, the power conversion unit 5 includes a first rotation shaft 51, a second rotation shaft 52, and a rotation motor 53; the first rotating shaft 51 is symmetrically arranged along the central axis of the frame 1; the central axis of the first rotating shaft 51 is parallel to the central axis of the frame 1; a spur gear is fixedly arranged at the top of the first rotating shaft 51; two drive bevel gears are fixedly arranged on the first rotating shaft 51 along the central array thereof;
the second rotating shaft 52 is horizontally and rotatably arranged along the vertical direction of the central shaft of the frame 1; one end of the second rotating shaft 52 is fixedly connected with the side wall of the bottom of the fan blade 2; the other end of the second rotating shaft 52 is fixedly connected with a driven bevel gear; the other end of the second rotating shaft 52 passes through the frame 1 and is rotationally connected with the first rotating shaft 51 through the meshing of the driving bevel gear and the driven bevel gear; a rotary motor 53 is symmetrically arranged inside the rear end of the frame 1; the output end of the rotating motor 53 is meshed with the spur gear of the first rotating shaft 51 through a driving gear; the rotation motor 53 is used to rotate the first rotation shaft 51 to rotate the second rotation shaft 52, thereby rotating the fan blades 2;
fig. 3 is a schematic view of the unmanned aerial vehicle after the power conversion unit 5 has completed its work; referring to fig. 9, the rotation motor 53 rotates the spur gear through the driving gear, thereby driving the rotation shaft number one 51 to rotate; the first rotating shaft 51 rotates, so that the driving bevel gear fixedly connected to the first rotating shaft 51 rotates to drive the driven bevel gear to rotate, and the second rotating shaft 52 rotates to drive the fan blades 2 to rotate; thus completing the movement process of the fan blade 2 from horizontal to vertical; the rotation through flabellum 2 can provide the power that gos forward for unmanned aerial vehicle traveles on ground for unmanned aerial vehicle no longer need install driving motor additional in chassis wheel 43 department, has improved the utilization efficiency of the energy by this.
In order to better grasp a heavier object, suction cups are arranged on the left and right sides of the gripping side of the gripping jaw 34 along the length direction; when encountering an obstacle with a smoother side wall, the sucker on the object clamping side of the clamping jaw 34 can adsorb the side wall of the obstacle; the unmanned aerial vehicle for road inspection is prevented from shaking in the flying process, and compared with the measure of adopting the clamping strips 341, the unmanned aerial vehicle has better clamping stability in clamping heavier objects;
during clamping, the driving rod 32 is firstly stretched, so that the suction disc on the clamping jaw 34 is pressed on the surface of an obstacle, and then the suction disc discharges the space inside the suction disc under the action of thrust, so that the obstacle is adsorbed on the clamping jaw 34; when the unmanned aerial vehicle for road inspection flies above the temporary storage box on the roadside, the driving rod 32 contracts so that the sucker moves in a direction away from the obstacle; the suction cup is pulled away from the obstacle by means of the pulling force, so that the obstacle falls off; in order to ensure the adsorption effect and the high deformation effect of the sucker, the sucker is made of a preferable natural rubber material.
In the above embodiment, the length of the frame 1 is 800mm, the width is 450mm, and the height is 350mm; the thrust of the driving lever 32 is 250N; the stroke of the lifting rod 35 is 200mm; the thrust of the electric push rod 41 is 250N; the above embodiments are applicable to the gripping of obstacles having a mass of 6-15 kg.
Working principle: the unmanned aerial vehicle meets the obstacle in the flight process and can be connected with a command center of an intelligent road, so that a vehicle positioned behind the lane can timely avoid the obstacle after knowing the information of the obstacle, and unnecessary accident collision is avoided; then, the unmanned plane begins to hover above the obstacle when the obstacle is in the grabbing size range of the unmanned plane, and then the driving rod 32 contracts to drive the clamping jaw 34 to expand under the action of the constraint component 36; then the unmanned aerial vehicle descends to a height of 50-80mm downwards, after the clamping jaw 34 contacts the bottom of the object, the driving rod 32 stretches, and the clamping jaw 34 is driven to shrink under the action of the constraint assembly 36, so that the clamping work of the object is completed.
When the object clamped by the unmanned aerial vehicle exceeds 1.5-2 times of the self flight load, the electric push rod 41 of the unmanned aerial vehicle starts to shrink, and the chassis wheel 43 of the unmanned aerial vehicle with the hinged moving end is driven to rotate; since the middle part of the chassis wheel 43 is hinged with the frame 1, the chassis wheel 43 rotates around the middle part thereof; the undercarriage wheel 43 then begins to elongate until it contacts the ground; and the weight of the obstacle that unmanned aerial vehicle can the centre gripping at this moment greatly increased.
Then a rotating motor 53 in the unmanned aerial vehicle rotates, and the first rotating shaft 51 is driven to rotate by the engagement of the driving gear and the straight gear; the driving bevel gear fixedly connected to the first rotating shaft 51 is meshed with the driven bevel gear fixedly connected to the second rotating shaft 52, so that the second rotating shaft 52 rotates around the central shaft of the second rotating shaft; thereby driving the fan blade 2 fixedly connected with the free end of the second rotating shaft 52 to start rotating, so that the horizontal placement is changed into vertical placement.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An unmanned aerial vehicle inspection device for intelligent roads comprises a frame (1) and fan blades (2); the frame (1) is of a rectangular structure; the fan blades (2) are symmetrically arranged at four corners of the frame (1) left and right; the method is characterized in that:
the device also comprises a clamping unit (3), a supporting unit (4) and a power conversion unit (5); the clamping unit (3) is positioned at the bottom of the frame (1) and is used for clamping an obstacle on a road after the supporting unit (4) of the unmanned aerial vehicle falls on the road; the supporting units (4) are positioned at four corners of the bottom of the frame (1) and are used for supporting the unmanned aerial vehicle to fall on the ground for movement when the obstacle clamped by the unmanned aerial vehicle exceeds the self flight load; the power conversion unit (5) is positioned in the rack (1) and is used for enabling the fan of the unmanned aerial vehicle to be changed from horizontal placement to vertical placement after the supporting unit (4) is started.
2. An unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 1, wherein: the side of the frame (1) is fixedly provided with an LED lamp strip.
3. An unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 2, wherein: the clamping unit (3) comprises a shell (31), a driving rod (32), a transmission rod (33), clamping jaws (34), a lifting rod (35) and a constraint assembly (36);
the shell (31) is of a columnar structure; the shell (31) is arranged at the bottom of the frame (1);
the driving rods (32) are annularly arranged in a plurality around the central shaft of the shell (31); one end of the driving rod (32) is hinged with the side wall of the shell (31); the other end of the driving rod (32) is hinged with one end of the transmission rod (33); the other end of the transmission rod (33) is hinged with the clamping jaw (34);
the lifting rod (35) is coaxially arranged in the shell (31); a camera is arranged at the bottom of the shell (31);
the constraint component (36) is of a Y-shaped structure; the restraint assembly (36) is annularly arranged in a plurality around the central shaft of the lifting rod (35); the number of restraint assemblies (36) is equal to the number of drive rods (32); the two ends of the constraint component (36) are rotatably connected to the transmission rod (33) and the clamping jaw (34), and the swinging angle of the clamping jaw (34) can be controlled by controlling the transmission rod (33) and the clamping jaw (34).
4. A drone inspection apparatus for intelligent roadways as claimed in claim 3, characterized in that: the restraint assembly (36) comprises a first connecting rod (361) and a second connecting rod (362); one end of the first connecting rod (361) is hinged with the movable end of the lifting rod (35); the other end of the first connecting rod (361) is hinged with the middle part of the transmission rod (33); a chute (363) is formed in the middle of the first connecting rod (361); one end of the second connecting rod (362) is hinged with the first connecting rod (361) through the sliding groove (363); one end of the second connecting rod (362) slides along the groove of the sliding groove (363); the other end of the second connecting rod (362) is hinged with the middle part of the clamping jaw (34).
5. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 4, wherein: the clamping side of the clamping jaw (34) is provided with clamping strips (341) in an array along the length direction.
6. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 5, wherein: the clamping strip (341) is made of nitrile rubber.
7. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 4, wherein: the left side and the right side of the clamping object side of the clamping jaw (34) are provided with sucking discs in an array mode along the length direction.
8. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 6, wherein: the hinge point of the first connecting rod (361) and the second connecting rod (362) is positioned at one quarter to one third of the hinge end of the second connecting rod (362) and the driving rod (32).
9. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 8, wherein: the supporting unit (4) comprises an electric push rod (41) and a chassis wheel (43);
the electric push rod (41) is fixedly arranged at the bottom of the frame (1); a sliding rod (42) is sleeved at the moving end of the electric push rod (41);
the underframe wheel (43) consists of an electric telescopic rod at the top and a roller at the bottom; the electric push rod (41) is fixedly connected with the top of the electric telescopic rod through the sliding rod (42); an arc-shaped groove (44) is formed in the hinged position of the electric push rod (41) and the electric telescopic rod on the inner wall of the frame (1); both ends of the sliding rod (42) slide in the arc-shaped groove (44); the middle part of the electric telescopic rod is hinged with the inner wall of the frame (1).
10. The unmanned aerial vehicle inspection apparatus for intelligent roads according to claim 9, wherein: the power conversion unit (5) comprises a first rotating shaft (51), a second rotating shaft (52) and a rotating motor (53);
the first rotating shaft (51) is symmetrically arranged left and right along the central shaft of the frame (1); the central axis of the first rotating shaft (51) is parallel to the central axis of the frame (1);
a spur gear is fixedly arranged at the top of the first rotating shaft (51); two drive bevel gears are fixedly arranged on the first rotating shaft (51) along the central array thereof;
the second rotating shaft (52) is horizontally and rotatably arranged along the vertical direction of the central shaft of the frame (1); one end of the second rotating shaft (52) is fixedly connected with the side wall of the bottom of the fan blade (2); the other end of the second rotating shaft (52) is fixedly connected with a driven bevel gear; the other end of the second rotating shaft (52) passes through the frame (1) and is rotationally connected with the first rotating shaft (51) through the meshing of the driving bevel gear and the driven bevel gear;
the rotating motor (53) is symmetrically arranged inside the rear end of the frame (1) in a left-right mode; the output end of the rotating motor (53) is meshed with the spur gear of the first rotating shaft (51) through a driving gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310149169.2A CN116252977A (en) | 2023-02-16 | 2023-02-16 | Unmanned aerial vehicle inspection equipment for intelligent road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310149169.2A CN116252977A (en) | 2023-02-16 | 2023-02-16 | Unmanned aerial vehicle inspection equipment for intelligent road |
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| CN116252977A true CN116252977A (en) | 2023-06-13 |
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| CN202310149169.2A Pending CN116252977A (en) | 2023-02-16 | 2023-02-16 | Unmanned aerial vehicle inspection equipment for intelligent road |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118559751A (en) * | 2024-08-05 | 2024-08-30 | 盐城工学院 | An end effector for a six-axis robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118559751A (en) * | 2024-08-05 | 2024-08-30 | 盐城工学院 | An end effector for a six-axis robot |
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