CN206797734U - A kind of patrol unmanned machine of infrared imaging fixed-wing - Google Patents
A kind of patrol unmanned machine of infrared imaging fixed-wing Download PDFInfo
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- CN206797734U CN206797734U CN201720265813.2U CN201720265813U CN206797734U CN 206797734 U CN206797734 U CN 206797734U CN 201720265813 U CN201720265813 U CN 201720265813U CN 206797734 U CN206797734 U CN 206797734U
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Abstract
The utility model belongs to patrol unmanned machine technical field, discloses a kind of patrol unmanned machine of infrared imaging fixed-wing, including：VTOL fixed-wing unmanned plane and high speed aerial camera, video camera and the infrared thermoviewer being arranged on the fixed-wing unmanned plane；The high speed aerial camera, the video camera and the infrared thermoviewer are connected with the flight controller of the fixed-wing unmanned plane, are communicated by the flight controller with earth station；The video camera is fixed on the fuselage of the fixed-wing unmanned plane by being remotely controlled head；The remote control head is connected with the flight controller；The high speed aerial camera and the infrared thermoviewer are fixed on the underbelly of the fixed-wing unmanned plane by gondola.The utility model provides a kind of patrol unmanned machine of infrared imaging fixed-wing, has reached lifting routing inspection efficiency and reliability.
Description
Technical field
Patrol unmanned machine technical field is the utility model is related to, more particularly to a kind of infrared imaging fixed-wing is patrol unmanned
Machine.
Background technology
With the continuous quickening of power grid construction, the administrative transmission line of electricity of Baise power supply administration in 2016 up to 3894.88 kilometers,
The operational management workload of transmission line of electricity is increasing, and transmission line of electricity field line patrol setting is more in addition, wide and geographical environment
Complexity, add the difficulty and danger of operation.
Influenceed by factors such as shaft tower height, complicated landform, personnel status, power transmission line inspection work is traditionally mainly by patrolling
Depending on personnel's visual observations, but many circuits are only patrolled by line attendant with telescope, can not find definite trouble point, routinely
Face is maked an inspection tour, and is often influenceed by weather, light, observation angle etc., can not also be seen shaft tower top clearly on ground even with telescope
Existing tiny important component defect.Meanwhile line range is big, mileage is long, passage way environment is complicated, the work of artificial line walking is strong
Degree is big, artificial treatment failure increases, emergency first-aid repair difficulty increases, cost is high；And in recent years, ice and snow, the water and soil occurred in succession
The natural calamities such as loss, landslide, flood, mud-rock flow and earthquake, suffer some areas network system and traffic route facility
To heavy damage, electric network emergency system receives unprecedented test, and traditional emergency first-aid repair and inspection means can not be comprehensive in time
Ground obtains power network disaster-stricken situation, provides Informational support for the policymaker at rear, makes an inspection tour means and fall behind, the safety for ensureing power network
Run totally unfavorable.
Utility model content
The utility model provides a kind of patrol unmanned machine of infrared imaging fixed-wing, solves polling transmission line in the prior art
Complex operation, labor intensity is big, the technical problem of failure inspection poor reliability.
In order to solve the above technical problems, the utility model provides a kind of patrol unmanned machine of infrared imaging fixed-wing, including：
Fixed-wing unmanned plane and high speed aerial camera, video camera and the infrared thermoviewer being arranged on the fixed-wing unmanned plane；
The flight of the high speed aerial camera, the video camera and the infrared thermoviewer and the fixed-wing unmanned plane
Controller is connected, and is communicated by the flight controller with earth station；
The video camera is fixed on the fuselage of the fixed-wing unmanned plane by being remotely controlled head；The remote control head and institute
Flight controller is stated to be connected；
The high speed aerial camera and the infrared thermoviewer are fixed on the machine of the fixed-wing unmanned plane by gondola
Body bottom；
VTOL structure is set on the fuselage of the fixed-wing unmanned plane；The VTOL structure includes：
First cantilever and the first rotor for being arranged on the first cantilever both ends；
Second cantilever and the second rotor for being arranged on the second cantilever both ends；
First cantilever and second cantilever are separately fixed on the fixed-wing of fixed-wing unmanned plane；
Wherein, first rotor and second rotor operating produce lift or resistance, pull fixed-wing unmanned plane
Fuselage rises, declines or hovered.
Further, the unmanned plane also includes：Wireless electroscope；
The wireless electroscope is fixed on the fixed-wing unmanned plane, is connected with the flight controller, and pass through institute
Flight controller is stated to communicate with the earth station.
Further, the wireless electroscope includes：Electroscope support and the electric-field sensor that is provided at its inner portion with
And electrical verification controller；
The electric-field sensor is connected with the electrical verification controller；
The electrical verification controller is connected with the flight controller of the unmanned plane, the earth station with the fixed-wing unmanned plane
Communication.
Further, an inducing probes are set on the electric-field sensor；The inducing probes beyond the fixed-wing without
Man-machine propeller scope.
Further, the inducing probes include：Probe rotating basis and shank；
The rotating basis is fixed on the electroscope support；
The shank is fixed on the rotating basis, and is connected with the electric-field sensor.
Further, the shaft of the shank is scalable shaft.
Further, the electroscope support includes：Rack body and it is connected to its Quick Release between unmanned plane and connects
Fitting；
The rack body is fixedly linked by the fuselage of the Quick Release connector and the fixed-wing unmanned plane.
Further, the gondola includes：Quick Release connector pair, the secondary first connecting portion of the Quick Release connector are used for solid
It is scheduled on fuselage, the secondary second connecting portion of the Quick Release connector is locked in the first connecting portion；
First rotary body, first rotary body are rotatably fixed in the second connecting portion, can turned in the horizontal plane
It is dynamic；
Second rotary body, second rotary body are rotatably fixed on first rotary body, with the described first rotation
Body is pivotally connected, can be in the first vertical rotation in surface；
3rd rotary body, the 3rd rotary body are embedded in second a rotating body, pivot and connect with second rotary body
Connect, can be in the second vertical rotation in surface；
Camera device, the camera device are fixed on the 3rd a rotating body, follow the 3rd rotary body to move, and adjust
Shooting angle in whole second vertical plane；Follow second rotating mass to move, adjust the shooting angle in the first vertical plane；With
Moved with first rotating mass, adjust the shooting angle in horizontal plane；
Gondola control circuit, filled respectively with first rotary body, the second rotary body, the 3rd rotary body and the shooting
Put connected；It is fixed in the second connecting portion；
Wherein, first vertical plane is mutually perpendicular to second vertical plane.
Further, first rotary body includes：
Supporing shell, the supporing shell are rotatably fixed in the second connecting portion；Second rotary body rotates
Ground is fixed in the supporing shell；
First actuator, first actuator is connected between the second connecting portion and the supporing shell, for driving
The dynamic supporing shell rotates, and is connected with the gondola control circuit；
The supporing shell includes：
First turning end, first turning end are rotationally connected in the second connecting portion, first actuator
Fixing end and turning end be connected respectively with first turning end and the second connecting portion；
Second turning end, second turning end are flexibly connected with second rotary body；Second rotary body can phase
For the supporing shell, in the described first vertical rotation in surface；
Transition connection portion, the transition connection portion are connected between first turning end and second turning end；
Second rotary body includes：
Shell body, the shell body are rotatably fixed to second turning end；3rd rotary body is fixed on described
On shell body；
Second actuator, second actuator is connected between second turning end and the shell body, for driving
The shell body rotates, and is connected with the gondola control circuit；
The shell body is in hollow ball-shape structure；Including：
The second actuator connecting portion at the top of the chondritic, rotation are connected in second turning end,
The turning end and fixing end of second actuator respectively with second turning end and the second drive connection portion phase
Even；
The pivotal support arm being oppositely arranged positioned at the side of the chondritic, for connecting support the 3rd rotation
Body；
Wherein, the 3rd rotary body is pivotally connected with the pivotal support arm, for being rotated relative to the shell body,
To adjust the shooting angle in the second perpendicular；
3rd rotary body includes：
Inner housing, the inner housing are rotatably fixed on the pivotal support arm, can relatively described shell body, described
Second vertical rotation in surface；
3rd actuator, the 3rd actuator is connected between the pivotal support arm and the inner housing, for driving
The inner housing rotates, and is connected with the gondola control circuit；
The inner housing is in hollow ball-shape structure；
The camera device is fixed in the inner housing；
The inner housing side, the 3rd actuator connecting portion is set with the rotation supporting cantilever junction, for fixing
Connect the 3rd actuator；
The inner housing opposite side, set with the rotation supporting cantilever junction and be flexibly connected with the pivotal support arm
Rotating shaft, embedded in it is described rotation supporting cantilever in；
The inner housing includes：Protecgulum and matching bonnet；
Device window is opened up on the protecgulum.
Further, the gondola control circuit includes：Control circuit and fixed structure；
The control circuit is fixed in the fixed structure, respectively with the flight controller, first rotary body,
Second rotary body and the 3rd rotary body are connected；
The fixed structure is arranged between the second connecting portion part and the supporing shell, and the supporing shell turns
Dynamic ground is connected with the fixed structure.
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
The patrol unmanned machine of infrared imaging fixed-wing provided in the embodiment of the present application, by set fixed-wing unmanned plane and
High speed aerial camera, video camera and the infrared thermoviewer being arranged on the fixed-wing unmanned plane；It is defeated to realize that unmanned plane performs
Electric line inspection, is substantially improved routing inspection efficiency；Simultaneously by high speed aerial camera and video camera, realize that line fault is shot, and
Inspection information is fed back by flight controller in real time；By infrared thermoviewer, it is present in height using infrared visible ray scientific discovery
Indiscoverable thermic potential faults and External Defect on pressure transmission line, so as to which inspection reliability and specific aim be substantially improved.
It by setting wireless electrical verification structure, can be realized to a certain extent under complicated circuit and environment, avoid transmission line of electricity, lift nothing
Man-machine security.Pass through rotationally the first rotary body, rotationally the second rotation in the first vertical plane in separate horizontal plane
Rotationally the 3rd rotary body in swivel and the second vertical plane, three shooting angle being mutually perpendicular in face adjustment are realized, are simplified
Rotational structure, while so as to loss of weight so that shooting control operation is smooth, efficiently.VTOL fixed-wing unmanned plane, passes through
First and second rotors produce lift or resistance, by the first cantilever and the second cantilever action on fixed-wing, so as to
Reform the landing pattern of fixed-wing unmanned plane；Specifically, when taking off, aircraft can be drawn high by landing structure certain
Highly, in the dynamic structure carried by it, horizontal thrust is produced, pulls aircraft to slide in the air and takes off, into stabilized flight；
When declining, fuselage is pulled from eminence, stable decline by resistance caused by the first and second rotors, until stable landing, keeps away
The damage of fuselage and carrying equipment caused by having exempted from fuselage hard landing, greatly reduce the risk of landing accident；So as to significantly simple
Change the hardware and software condition required for its landing operation, for example, the limitation of landing geographical environment is overcome, or ejection is set
Standby demand.
Further, the frame structure matching design of supporing shell, inner housing and shell body is passed through so that the entirety of gondola
Structure is divided into three big parts, and while realizing functional independence, structure also clearly simplifies so that function is smooth reliable, weight
Also it is greatly reduced.
Further, being reliably connected for gondola and fuselage is built by Quick Release connector pair, significantly simplifies the fixation of gondola
Bindiny mechanism so that while weight significantly mitigates, also cause the destabilizing factor of angle adjustment operation to reduce.
Brief description of the drawings
Fig. 1 is wireless electroscope structural representation provided by the utility model；
Fig. 2 is structure for pod schematic diagram provided by the utility model.
Embodiment
The embodiment of the present application solves power transmission line in the prior art by providing a kind of patrol unmanned machine of infrared imaging fixed-wing
Road inspection complex operation, labor intensity is big, the technical problem of failure inspection poor reliability；Lifting routing inspection efficiency, failure are reached
Examination performance, the technique effect of reliability.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the utility model embodiment and embodiment are to this Shen
Please technical scheme detailed description, rather than the restriction to technical scheme, in the case where not conflicting, the application is real
Applying the technical characteristic in example and embodiment can be mutually combined.
Referring to Fig. 1 and Fig. 2, a kind of patrol unmanned machine of infrared imaging fixed-wing, including：Fixed-wing unmanned plane and it is arranged on
High speed aerial camera, video camera and infrared thermoviewer on the fixed-wing unmanned plane；
The flight of the high speed aerial camera, the video camera and the infrared thermoviewer and the fixed-wing unmanned plane
Controller is connected, and is communicated by the flight controller with earth station；
The video camera is fixed on the fuselage of the fixed-wing unmanned plane by being remotely controlled head；The remote control head and institute
Flight controller is stated to be connected；
The high speed aerial camera and the infrared thermoviewer are fixed on the machine of the fixed-wing unmanned plane by gondola
Body bottom.
By high speed aerial camera and the infrared thermoviewer, the situation of captured in real-time transmission line of electricity, and utilize infrared
Visible ray scientific discovery is present in indiscoverable thermic potential faults and External Defect on ultra-high-tension power transmission line, so as to significantly carry
Rise inspection reliability and specific aim.
VTOL structure is set on the fuselage of the fixed-wing unmanned plane；The VTOL structure includes：
First cantilever and the first rotor for being arranged on the first cantilever both ends；
Second cantilever and the second rotor for being arranged on the second cantilever both ends；
First cantilever and second cantilever are separately fixed on the fixed-wing of fixed-wing unmanned plane；
Wherein, first rotor and second rotor operating produce lift or resistance, pull fixed-wing unmanned plane
Fuselage rises, declines or hovered.
VTOL fixed-wing unmanned plane, lift or resistance are produced by the first and second rotors, passes through the first cantilever
With the second cantilever action on fixed-wing, so as to reform the landing pattern of fixed-wing unmanned plane；Specifically, when taking off
When, aircraft can be drawn high by certain altitude by landing structure, in the dynamic structure carried by it, produce horizontal thrust,
Pull aircraft to slide in the air to take off, into stabilized flight；When declining, pulled by resistance caused by the first and second rotors
Fuselage is from eminence, stable decline, until stable land, the damage of fuselage and carrying equipment caused by avoiding fuselage hard landing,
Greatly reduce the risk of landing accident；So as to significantly simplify the hardware and software condition required for its landing operation, for example,
Overcome the limitation of landing geographical environment, or the demand of ejection device.
The unmanned plane also includes：Wireless electroscope；The wireless electroscope is fixed on the fixed-wing unmanned plane, with
The flight controller is connected, and is communicated by the flight controller with the earth station.
The wireless electroscope includes：Electroscope support and the electric-field sensor being provided at its inner portion and electrical verification control
Device；The electric-field sensor is connected with the electrical verification controller；The flight controller of the electrical verification controller and the unmanned plane
It is connected, is communicated with the earth station of the fixed-wing unmanned plane.
One inducing probes are set on the electric-field sensor；The inducing probes exceed the spiral of the fixed-wing unmanned plane
Oar scope.
The inducing probes include：Probe rotating basis and shank；The rotating basis is fixed on the electroscope branch
On frame；The shank is fixed on the rotating basis, and is connected with the electric-field sensor.
The shaft of the shank is scalable shaft.
The electroscope support includes：Rack body and it is connected to its Quick Release connector between unmanned plane；It is described
Rack body is fixedly linked by the fuselage of the Quick Release connector and the fixed-wing unmanned plane.
By wireless electrical verification structure, unmanned aerial vehicle body surrounding electric field intensity is monitored in real time, so as to avoid transmission line of electricity, is avoided
Unmanned plane is collided on transmission line of electricity.
The gondola includes：Quick Release connector pair, gondola control circuit, the first rotary body, the second rotary body, the 3rd rotation
Body and camera device.
The secondary first connecting portion of the Quick Release connector is used to be fixed on fuselage, the second secondary company of the Quick Release connector
Socket part 1 is locked in the first connecting portion；So as to establish the connecting interface of gondola and fuselage.
First rotary body is rotatably fixed in the second connecting portion, can be rotated in the horizontal plane；Establish
One rotary body realizes the shooting angle adjustment in horizontal plane relative to the rotation relation in the horizontal plane of fuselage.
Second rotary body is rotatably fixed on first rotary body, is pivotally connected with first rotary body,
Can be in the first vertical rotation in surface；So as to establish rotation relation of second rotary body relative to fuselage in the first perpendicular,
Realize the shooting angle adjustment in the first perpendicular.
3rd rotary body is embedded in second a rotating body, is pivotally connected with second rotary body, can be second
Vertical rotation in surface；So as to establish rotation relation of three rotary bodies relative to fuselage in the second perpendicular, realize second
Shooting angle adjustment in perpendicular.Need what is illustrated, first vertical plane is mutually perpendicular to second vertical plane, is matched somebody with somebody
The horizontal plane vertical with both is closed, so as to be formed based on the full angle shooting in three-dimensional system of coordinate.
The camera device and infrared thermoviewer are fixed on the 3rd a rotating body, follow the 3rd rotary body to move
It is dynamic, adjust shooting angle in the second vertical plane；Follow second rotating mass to move, adjust the shooting angle in the first vertical plane
Degree；Follow first rotating mass to move, adjust the shooting angle in horizontal plane.So as to realize that the image information of multi-angle obtains
Take.
Gondola control circuit fills with first rotary body, the second rotary body, the 3rd rotary body and the shooting respectively
Put connected；It is fixed in the second connecting portion.The centralized Control of rotation is realized, and is connected with the flight controller of fuselage, from
And realize remote control shooting.
Function is completed so as to coordinate by the concise rotary body of three structures, so that structure for pod simplifies, stream of action
Freely, complexity is reduced, so that overall weight significantly mitigates.
For the Quick Release connector pair, the secondary first connecting portion of the Quick Release connector is used to be fixed on the fuselage
On, the secondary second connecting portion 1 of the Quick Release connector is locked in the first connecting portion；Fixed so as to form reliable Quick Release
Structure.
When three axle gondolas are mounted on fuselage, first rotary body is fixed in the second connecting portion, by fast
It is sealed to tear secondary two connecting portions of connector open, completes to fix, during dismounting, it is only necessary to opening；Efficiently, its is simple and reliable for structure.
In general, the secondary optional dovetail groove connector pair of the Quick Release connector；Put down and be fixed on fuselage on dovetail groove,
Put down under dovetail groove and be connected with the first rotary body.
For first rotary body, first rotary body includes：Supporing shell (21,22,23,24,25) and
First actuator 11.
Specifically, the supporing shell is rotatably fixed in the second connecting portion 1；Second rotary body rotates
Ground is fixed in the supporing shell；First actuator is connected between the second connecting portion and the supporing shell, is used
Rotated in driving the supporing shell.
For the supporing shell, the supporing shell includes：First turning end 21, the second turning end 24 and transition
Connecting portion 22.
Specifically, first turning end 21 is rotationally connected in the second connecting portion 1, first actuator
11 are connected with first turning end and the second connecting portion respectively；So as to which the supporing shell can rotate in level,
Adjust shooting angle.
Specifically, the fixing end of first actuator 11 and turning end are connected to the He of the first turning end 21
In the second connecting portion 1, so as to drive the supporing shell relative to the second connecting portion 1 and the fuselage, in water
Rotation with surface.
The transition connection portion 22 is connected between first turning end 21 and second turning end 24.
Second turning end 24 is flexibly connected with second rotary body；That is the second rotary body is rotatably fixed to described
In second turning end, so as to be rotated relative to the supporing shell.Realize and obtaining the base of the first rotary body rotational angle
Secondary angle adjustment is carried out on plinth.
Preferably, in order to lift the safety of structure of the first rotary body；The transition connection portion 22 is curved, to described
Two rotary bodies leave the rotation space of abundance.Meanwhile containment vessel 23 is set, it is covered in the supporing shell, environmental protection rain
The influence of the factors such as water.
For second rotary body, second rotary body includes：The actuator 26 of shell body 20 and second.
The shell body 20 is rotatably fixed to second movable end 24；Can be relative to first rotary body and fuselage
Rotate, i.e., rotated in first perpendicular.
Second actuator 26 is connected between second turning end 24 and the shell body 20, described outer for driving
Housing 20 rotates.
Preferably, motor cover is set in second turning end, protects second actuator 26.
For shell body 20, the shell body 20 is in hollow ball-shape structure；Including：At the top of the chondritic
Second actuator connecting portion and the pivotal support arm being oppositely arranged positioned at the side of the chondritic.
Second actuator connecting portion is used to be fixedly connected with second actuator；The second actuator connecting portion is rotationally
It is fixed in second turning end 24；Specifically, 26 fixing end and turning end connect institute respectively between second driving
State the second actuator and second turning end 24.Form reliable and stable relative rotation structure.
Pivotal support arm, which is used to connect, supports the 3rd rotary body；3rd rotary body and the pivotal support arm pivot
Turn connection, for being rotated relative to the shell body 20, to adjust the shooting angle in the second vertical plane.
For the 3rd rotary body, the 3rd rotary body includes：Inner housing (13 and 14) and the 3rd actuator 18.
The inner housing is rotatably fixed on the pivotal support arm, can be rotated relative to the shell body 20；I.e. in institute
State the second vertical rotation in surface.
3rd actuator 18 is connected between the pivotal support arm and the shell body 20, for driving the inner casing
Body rotates.
The inner housing is in hollow ball-shape structure；The camera device 19 is fixed in the inner housing.
The inner housing side, the 3rd actuator connecting portion is set with the rotation supporting cantilever junction, for fixing
Connect the 3rd actuator 18；Match, the 3rd actuator neck is set on the inside of this pivotal support arm, with the described 3rd
Actuator connecting portion connects the fixing end and turning end of the 3rd actuator 18 respectively；So as to establish stable driven rotation knot
Structure relation.
The inner housing opposite side, set with the rotation supporting cantilever junction and be flexibly connected with the pivotal support arm
Rotating shaft 16, embedded in it is described rotation supporting cantilever in, fixed by the locking member 15 matched with rotating shaft 16.
Further, the inner housing includes：Protecgulum 14 and matching bonnet 13；
Device window, the camera lens of the fixed camera device 19 are opened up on the protecgulum；HDMI is set on the inner housing
Interface, it is connected with the camera device.
Radiator fan 17 is preferably set in the inner housing and opens up corresponding heat emission hole.
For the gondola control circuit, the gondola control circuit includes：Control circuit and fixed structure.
The control circuit is fixed in the fixed structure, is driven respectively with the fuselage flight controller, described first
Moving part 11, second actuator 26, the 3rd actuator 18 and the camera device 19 are connected；Establish stable control
Circuit.
The fixed structure is arranged between the second connecting portion part 1 and the supporing shell, is exactly established
Between first turning end 21 and second connecting portion 1.First turning end 21 is rotatably fixed to the fixed structure
Bottom.
For the control circuit, the control circuit can be divided into according to function：Equipment control circuit 5 and rotation
Control circuit 4, mu balanced circuit 6 is respectively used to the capture apparatus that control is carried, such as camera device 19；First actuator 11, second
26 and the 3rd actuator 18 between driving.
For the fixed structure, including：Upper damping carbon plate 10 and lower damping carbon plate 12；First actuator 11 is solid
It is scheduled between the upper damping carbon plate 10 and lower damping carbon plate 12, and is fixedly linked with the upper damping carbon plate 10, suppresses first
The vibration of actuator 11.
The fixed structure also includes：Fixed seat 7 and upper lid 3；The control circuit is fixed in the fixed seat 7,
And compressed by upper lid 3.The fixed seat 7 is fixed on the upper damping carbon plate 10.
The second connecting portion 1 is connected by connecting plate 2 with the fixed structure.
Preferably, HIMI interfaces 9 are opened up in the fixed seat 7, connect control circuit, obtain photographing information.Avoid disassembling
Gondola.
The one or more technical schemes provided in the embodiment of the present application, have at least the following technical effects or advantages：
The patrol unmanned machine of infrared imaging fixed-wing provided in the embodiment of the present application, by set fixed-wing unmanned plane and
High speed aerial camera, video camera and the infrared thermoviewer being arranged on the fixed-wing unmanned plane；It is defeated to realize that unmanned plane performs
Electric line inspection, is substantially improved routing inspection efficiency；Simultaneously by high speed aerial camera and video camera, realize that line fault is shot, and
Inspection information is fed back by flight controller in real time；By infrared thermoviewer, it is present in height using infrared visible ray scientific discovery
Indiscoverable thermic potential faults and External Defect on pressure transmission line, so as to which inspection reliability and specific aim be substantially improved.
It by setting wireless electrical verification structure, can be realized to a certain extent under complicated circuit and environment, avoid transmission line of electricity, lift nothing
Man-machine security.Pass through rotationally the first rotary body, rotationally the second rotation in the first vertical plane in separate horizontal plane
Rotationally the 3rd rotary body in swivel and the second vertical plane, three shooting angle being mutually perpendicular in face adjustment are realized, are simplified
Rotational structure, while so as to loss of weight so that shooting control operation is smooth, efficiently.
Further, the frame structure matching design of supporing shell, inner housing and shell body is passed through so that the entirety of gondola
Structure is divided into three big parts, and while realizing functional independence, structure also clearly simplifies so that function is smooth reliable, weight
Also it is greatly reduced.
Further, being reliably connected for gondola and fuselage is built by Quick Release connector pair, significantly simplifies the fixation of gondola
Bindiny mechanism so that while weight significantly mitigates, also cause the destabilizing factor of angle adjustment operation to reduce.
It should be noted last that above embodiment is only illustrating the technical solution of the utility model rather than limit
System, although the utility model is described in detail with reference to example, it will be understood by those within the art that, can be right
The technical solution of the utility model is modified or equivalent substitution, without departing from the spirit and model of technical solutions of the utility model
Enclose, it all should cover among right of the present utility model.
Claims (10)
- A kind of 1. patrol unmanned machine of infrared imaging fixed-wing, it is characterised in that including：Fixed-wing unmanned plane and it is arranged on described High speed aerial camera, video camera and infrared thermoviewer on fixed-wing unmanned plane；The flight of the high speed aerial camera, the video camera and the infrared thermoviewer and the fixed-wing unmanned plane controls Device is connected, and is communicated by the flight controller with earth station；The video camera is fixed on the fuselage of the fixed-wing unmanned plane by being remotely controlled head；The remote control head flies with described Line control unit is connected；The high speed aerial camera and the infrared thermoviewer are fixed on by gondola under the fuselage of the fixed-wing unmanned plane Portion；VTOL structure is set on the fuselage of the fixed-wing unmanned plane；The VTOL structure includes：First cantilever and the first rotor for being arranged on the first cantilever both ends；Second cantilever and the second rotor for being arranged on the second cantilever both ends；First cantilever and second cantilever are separately fixed on the fixed-wing of fixed-wing unmanned plane；Wherein, first rotor and second rotor operating produce lift or resistance, pull fixed-wing unmanned aerial vehicle body Rise, decline or hover.
- 2. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 1, it is characterised in that the unmanned plane also includes： Wireless electroscope；The wireless electroscope is fixed on the fixed-wing unmanned plane, is connected with the flight controller, and is flown by described Line control unit communicates with the earth station.
- 3. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 2, it is characterised in that the wireless electroscope bag Include：Electroscope support and the electric-field sensor being provided at its inner portion and electrical verification controller；The electric-field sensor is connected with the electrical verification controller；The electrical verification controller is connected with the flight controller of the unmanned plane, leads to the earth station of the fixed-wing unmanned plane Letter.
- 4. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 3, it is characterised in that set on the electric-field sensor Put an inducing probes；The inducing probes exceed the propeller scope of the fixed-wing unmanned plane.
- 5. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 4, it is characterised in that the inducing probes include： Probe rotating basis and shank；The rotating basis is fixed on the electroscope support；The shank is fixed on the rotating basis, and is connected with the electric-field sensor.
- 6. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 5, it is characterised in that：The shaft of the shank is can Telescopic rod body.
- 7. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 6, it is characterised in that：The electroscope support bag Include：Rack body and it is connected to its Quick Release connector between unmanned plane；The rack body is fixedly linked by the fuselage of the Quick Release connector and the fixed-wing unmanned plane.
- 8. the patrol unmanned machine of infrared imaging fixed-wing as described in any one of claim 1~7, it is characterised in that the gondola Including：Quick Release connector pair, the secondary first connecting portion of the Quick Release connector are used to be fixed on fuselage, the Quick Release connector Secondary second connecting portion is locked in the first connecting portion；First rotary body, first rotary body are rotatably fixed in the second connecting portion, can rotated in the horizontal plane；Second rotary body, second rotary body are rotatably fixed on first rotary body, with the first rotary body pivot Turn connection, can be in the first vertical rotation in surface；3rd rotary body, the 3rd rotary body are embedded in second a rotating body, are pivotally connected with second rotary body, can In the second vertical rotation in surface；Camera device, the camera device are fixed on the 3rd a rotating body, follow the 3rd rotary body to move, adjustment the Shooting angle in two vertical planes；Follow second rotating mass to move, adjust the shooting angle in the first vertical plane；Follow institute The movement of the first rotating mass is stated, adjusts the shooting angle in horizontal plane；Gondola control circuit, respectively with first rotary body, the second rotary body, the 3rd rotary body and the camera device phase Even；It is fixed in the second connecting portion；Wherein, first vertical plane is mutually perpendicular to second vertical plane.
- 9. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 8, it is characterised in that：The first rotary body bag Include：Supporing shell, the supporing shell are rotatably fixed in the second connecting portion；Second rotary body is rotationally solid It is scheduled in the supporing shell；First actuator, first actuator is connected between the second connecting portion and the supporing shell, for driving Supporing shell rotation is stated, and is connected with the gondola control circuit；The supporing shell includes：First turning end, first turning end are rotationally connected in the second connecting portion, and first actuator is consolidated Fixed end and turning end are connected with first turning end and the second connecting portion respectively；Second turning end, second turning end are flexibly connected with second rotary body；Second rotary body can be relative to The supporing shell, in the described first vertical rotation in surface；Transition connection portion, the transition connection portion are connected between first turning end and second turning end；Second rotary body includes：Shell body, the shell body are rotatably fixed to second turning end；3rd rotary body is fixed on the shell On body；Second actuator, second actuator are connected between second turning end and the shell body, described for driving Shell body rotates, and is connected with the gondola control circuit；The shell body is in hollow ball-shape structure；Including：The second actuator connecting portion at the top of the chondritic, being connected in second turning end for rotation are described The turning end and fixing end of second actuator are connected with second turning end and the second drive connection portion respectively；The pivotal support arm being oppositely arranged positioned at the side of the chondritic, the 3rd rotary body is supported for connecting；Wherein, the 3rd rotary body is pivotally connected with the pivotal support arm, for being rotated relative to the shell body, to adjust Shooting angle in whole second perpendicular；3rd rotary body includes：Inner housing, the inner housing are rotatably fixed on the pivotal support arm, can relatively described shell body, described second Vertical rotation in surface；3rd actuator, the 3rd actuator are connected between the pivotal support arm and the inner housing, described for driving Inner housing rotates, and is connected with the gondola control circuit；The inner housing is in hollow ball-shape structure；The camera device is fixed in the inner housing；The inner housing side, the 3rd actuator connecting portion is set with the rotation supporting cantilever junction, for being fixedly connected 3rd actuator；The inner housing opposite side, set what is be flexibly connected with the pivotal support arm to turn with the rotation supporting cantilever junction Axle, in the rotation supporting cantilever；The inner housing includes：Protecgulum and matching bonnet；Device window is opened up on the protecgulum.
- 10. the patrol unmanned machine of infrared imaging fixed-wing as claimed in claim 9, it is characterised in that the gondola control circuit Including：Control circuit and fixed structure；The control circuit is fixed in the fixed structure, respectively with the flight controller, first rotary body, described Second rotary body and the 3rd rotary body are connected；The fixed structure is arranged between the second connecting portion part and the supporing shell, and the supporing shell is rotationally It is connected with the fixed structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720265813.2U CN206797734U (en) | 2017-03-17 | 2017-03-17 | A kind of patrol unmanned machine of infrared imaging fixed-wing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720265813.2U CN206797734U (en) | 2017-03-17 | 2017-03-17 | A kind of patrol unmanned machine of infrared imaging fixed-wing |
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| Publication Number | Publication Date |
|---|---|
| CN206797734U true CN206797734U (en) | 2017-12-26 |
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| CN201720265813.2U Expired - Fee Related CN206797734U (en) | 2017-03-17 | 2017-03-17 | A kind of patrol unmanned machine of infrared imaging fixed-wing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108105593A (en) * | 2018-01-29 | 2018-06-01 | 四川尚航智能科技有限公司 | A kind of infrared camera and the unmanned plane that natural gas line inspection is carried out based on infrared camera |
| CN108263606A (en) * | 2018-01-29 | 2018-07-10 | 四川尚航智能科技有限公司 | One kind is based on VTOL fixed-wing unmanned plane and its natural gas line cruising inspection system, method |
-
2017
- 2017-03-17 CN CN201720265813.2U patent/CN206797734U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108105593A (en) * | 2018-01-29 | 2018-06-01 | 四川尚航智能科技有限公司 | A kind of infrared camera and the unmanned plane that natural gas line inspection is carried out based on infrared camera |
| CN108263606A (en) * | 2018-01-29 | 2018-07-10 | 四川尚航智能科技有限公司 | One kind is based on VTOL fixed-wing unmanned plane and its natural gas line cruising inspection system, method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171226 Termination date: 20190317 |