CN206155801U

CN206155801U - A unmanned aerial vehicle device for bridge bottom surface disease detection

Info

Publication number: CN206155801U
Application number: CN201621237152.4U
Authority: CN
Inventors: 程文胜; 莫帮杰; 王金旺; 杨文�
Original assignee: Wuhan University WHU
Current assignee: Wuhan University WHU
Priority date: 2016-11-18
Filing date: 2016-11-18
Publication date: 2017-05-10
Anticipated expiration: 2026-11-18

Abstract

The utility model discloses an unmanned aerial vehicle device for bridge bottom surface disease detection, including the unmanned aerial vehicle body, the unmanned aerial vehicle body includes well core plate, the arm of force that links to each other with well core plate, locate the terminal rotor of the arm of force, and the controlling means of control unmanned aerial vehicle body flight and the remote controller that can give controlling means sending control signal, the arm of force has a plurality ofly and symmetric distribution around well core plate, be equipped with the microspur camera on the well core plate, every arm of force is all gone up and all is equipped with buffer, buffer includes branch, the buffer, mecanum wheel, and drive arrangement, the buffer passes through branch to be fixed on the arm of force, the buffer includes buffer spring and locates the spacing post in the buffer spring, drive arrangement links to each other with buffer spring's free end is fixed, mecanum wheel links to each other with drive arrangement's output is fixed. This device carries the microspur camera through unmanned aerial vehicle and shoots high -quality disease picture to the bridge bottom surface, has improved bridge bottom surface disease detection's reliable degree and accuracy.

Description

A kind of SUAV device for bridge bottom surface Defect inspection

Technical field

The utility model belongs to unmanned air vehicle technique field, more particularly to a kind of small-sized nothing for bridge bottom surface Defect inspection Human-machine device.

Background technology

Bridge is the important component part of traffic system, and it is to ensure public friendship that inspection and maintenance is periodically carried out to bridge situation Lead to the important leverage of safety, bridge was checked by manual type and heavy construction facility in the past, by naked eyes disease is found Evil, inefficiency expends a large amount of manpower and materials.With the maturation of unmanned air vehicle technique, unmanned plane is used in bridge defect by someone In detection, detection efficiency is improve, however, when bridge bottom surface disease is detected, because the structure of multi-rotor unmanned aerial vehicle itself is limited System, often result in unmanned plane and collide with bridge in flight course, damage unmanned plane, also just cannot shooting at close range, reduce The degree of accuracy of detection.

Utility model content

The purpose of this utility model is to provide a kind of SUAV device for bridge bottom surface Defect inspection, it is intended to When solving using unmanned machine testing bridge bottom surface disease, it is to avoid collide and shooting at close range disease photo with bridge bottom surface Problem.

To solve the above problems, the technical scheme that the utility model is adopted is：

A kind of SUAV device for bridge bottom surface Defect inspection, including unmanned plane body, the unmanned plane sheet Body includes the control of the arm of force, the rotor located at arm of force end and the body flight of control unmanned plane that central plate is connected with central plate Device processed have multiple and symmetrically divide in central plate surrounding with the remote control that can give control device emissioning controling signal, the arm of force Cloth, it is characterised in that：The central plate is provided with the macro head for detecting bridge bottom surface disease, and each arm of force is gone up The buffer unit contacted with bridge bottom surface is provided with, the buffer unit includes pole, buffer, Mecanum wheel and drives The driving means of dynamic Mecanum wheel, the pole is fixed on the arm of force, and buffer is located at pole top, the buffer bag Buffer spring and the limited post in buffer spring are included, the buffer spring bottom is fixedly linked with spacing column bottom, described Driving means are fixedly linked with the free end of buffer spring, and Mecanum wheel is fixedly linked with the output end of driving means.

Preferably, the driving means include coding motor and Motor drive, the drive shaft output of the coding motor End is fixedly linked with Mecanum wheel, and Motor drive is connected by wire with the control device and coding motor of unmanned plane body, Coding motor is fixed on the top of buffer spring free end, the control signal that Motor drive receiving control device sends, and according to The control signal is controlling to encode motor so as to control the rotation of Mecanum wheel.

Preferably, shown pole bottom is hinged and connected with the arm of force, buffer can be driven when pole is rotated down to receive Gather into folds, so as to reduce floor space.

Preferably, the arm of force has 3-8, corresponding buffer also has 3-8.

The beneficial effects of the utility model are：By pole, buffer, Mecanum wheel, coding motor, Motor drive structure Into mobile device, unmanned plane can contact directly with bridge bottom surface, and moved with any direction along bridge bottom surface and braked, So as at utmost be close to the position for needing detection, it is to avoid collide with bridge, by macro head shooting at close range test section Position, obtains high-quality image, solves unmanned plane and easily collides bridge when near the flight of bridge bottom surface, and is unable to low coverage From the problem for shooting disease photo, unmanned plane contact bridge soffit can be made by Mecanum wheel and be close to bridge bottom surface with any Direction is moved, so as to provide reliable basis for bridge bottom surface disease conditions, rotatable pole when unwanted, with unmanned plane The arm of force is parallel, and reduction takes up room, and whole device is effectively solved to be provided using unmanned machine testing bridge bottom disease conditions Certainly scheme, substantially increases detection efficiency and accuracy, with low cost, reliable and stable.

Description of the drawings

Fig. 1 is the utility model example structure schematic diagram.

Fig. 2 is the utility model buffer structure schematic diagram.

FB(flow block) when Fig. 3 works for the unmanned plane of the utility model embodiment.

In figure, 1- rotors, 2- macro heads, 3- poles, 4- buffers, 5- Mecanum wheels, 6- coding motors, 7- is electric Machine drives, 8- remote controls, the 9- arm of forces, 10- central plates, 11- buffer springs, 12- limited posts.

Specific embodiment

By combination accompanying drawing described further below it will be further appreciated that the characteristics of the utility model and advantage.There is provided Example is only the explanation to the utility model method, and limits remaining content of the utility model announcement never in any form.

The utility model specific embodiment is described in detail below in conjunction with accompanying drawing：

As shown in figure 1, a kind of SUAV device for bridge bottom surface Defect inspection, including unmanned plane body, institute State the arm of force 9, the rotor 1 located at the end of the arm of force 9 and control that unmanned plane body is connected including central plate 10 with central plate 10 The control device of unmanned plane body flight and the remote control 8 that control device emissioning controling signal can be given, unmanned plane body choosing Select four rotor Small and micro-satellites, the arm of force 9 of four rotor Small and micro-satellites there are four and symmetrical in the surrounding of central plate 10, Macro head 2 for detecting bridge bottom surface disease is installed on the central plate 10, each arm of force 9 on be equipped with and bridge The buffer unit that soffit contacts, the buffer unit includes pole 3, buffer 4, Mecanum wheel 5 and drives Mike The driving means of Na Mu wheels 5, the pole 3 is fixed on the arm of force 9, and buffer 4 is wrapped located at the top of pole 3, the buffer 4 Buffer spring 11 and the limited post in buffer spring 11 12 are included, the bottom of the buffer spring 11 is fixed with the bottom of limited post 12 It is connected；As shown in Fig. 2 the driving means include coding motor 6 and Motor drive 7, the drive shaft output of the coding motor 6 End is fixedly linked with Mecanum wheel 5, and Motor drive 7 passes through the control device and the coding phase of motor 6 of wire and unmanned plane body Even, the top that motor 6 is fixed on the free end of buffer spring 11 is encoded, the control signal that the receiving control device of Motor drive 7 sends, And according to the control signal controlling to encode motor 6 so as to control the rotation of Mecanum wheel 5.The driving means and buffering elastic The free end of spring 11 is fixedly linked, and Mecanum wheel 5 is fixedly linked with the output end of driving means.

The control device controls the flying method of the four rotors Small and micro-satellite.

Being first according to Fig. 1 carries out device assembling, when using, by remote control 8 control of four rotor Small and micro-satellites is given Device sends instruction, and control device carries out the adjustment of heading and attitude according to the instruction for receiving, when the close bridge of unmanned plane During soffit, unmanned plane position is controlled by remote control 8, until pole 3, buffer 4, Mecanum wheel 5, coding motor 6, electricity Machine drives 7 mobile devices for constituting and bridge bottom surface directly contact, and is moved with any direction along bridge bottom surface and braked, and makes Unmanned plane can at utmost close disease position, by macro head 2 shoot high quality graphic, so as to obtain with regard to bridge The accurate authentic communication of soffit disease conditions, makes four rotor Small and micro-satellites keep hovering by remote control 8, now leads to Cross macro head 2 to shoot bridge bottom surface disease position, after shooting is finished, can continue to control four by remote control 8 Rotor Small and micro-satellite is slided along bridge bottom surface, and to bridge bottom surface, remaining detection position shoots for continuation, after the completion of shooting, Unmanned plane is controlled by remote control 8 and returns to appointed place, complete to detect work.

The part of pole 3 can be rotated down, and so as to reduce when unwanted volume is taken.

The utility model can pass through pole 3, buffer 4, Mecanum for bridge bottom surface position to be detected, unmanned plane The mobile device directly contact bridge bottom surface that wheel 5, coding motor 6, Motor drive 7 are constituted, holding is hovered and by macro 2 shooting images, effectively increase acquired image quality, so as to ensure that the reliability during Defect inspection of bridge bottom surface with it is accurate Degree, for bridge bottom Defect inspection a kind of practicable method is provided.

Claims

1. a kind of SUAV device for bridge bottom surface Defect inspection, including unmanned plane body, the unmanned plane body The control of the arm of force, the rotor located at arm of force end and the body flight of control unmanned plane that are connected with central plate including central plate Device have multiple and symmetrically divide in central plate surrounding with the remote control that can give control device emissioning controling signal, the arm of force Cloth, it is characterised in that：The central plate is provided with the macro head for detecting bridge bottom surface disease, and each arm of force is gone up The buffer unit contacted with bridge bottom surface is provided with, the buffer unit includes pole, buffer, Mecanum wheel and drives The driving means of dynamic Mecanum wheel, the pole is fixed on the arm of force, and buffer is located at pole top, the buffer bag Buffer spring and the limited post in buffer spring are included, the buffer spring bottom is fixedly linked with spacing column bottom, described Driving means are fixedly linked with the free end of buffer spring, and Mecanum wheel is fixedly linked with the output end of driving means.

2. a kind of SUAV device according to claim 1, it is characterised in that：The driving means include coding motor And Motor drive, the drive shaft output end of the coding motor is fixedly linked with Mecanum wheel, Motor drive by wire with The control device of unmanned plane body is connected with coding motor, encodes the top that motor is fixed on buffer spring free end, and motor drives The control signal that dynamic receiving control device sends, and according to the control signal come control encode motor, so as to control Mecanum The rotation of wheel.

3. a kind of SUAV device according to claim 2, it is characterised in that：Shown pole bottom is hinged with the arm of force It is connected, buffer can be driven to receive when pole is rotated down and gathered into folds, so as to reduce floor space.

4. a kind of SUAV device according to claim 3, it is characterised in that：The arm of force has 3-8 individual, corresponding slow Rushing device also has 3-8.