CN208021768U - A kind of bridge Surface testing unmanned plane - Google Patents
A kind of bridge Surface testing unmanned plane Download PDFInfo
- Publication number
- CN208021768U CN208021768U CN201820115922.0U CN201820115922U CN208021768U CN 208021768 U CN208021768 U CN 208021768U CN 201820115922 U CN201820115922 U CN 201820115922U CN 208021768 U CN208021768 U CN 208021768U
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- gear
- motor
- steering engine
- forewing
- fuselage
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Abstract
The utility model discloses a kind of bridge Surface testing unmanned planes, including fuselage, and forewing, steering engine, land sky converting system, postposition wing, universal wheel, motor cabinet, brushless motor, rotor, camera and the control system being arranged on the fuselage, wherein, the forewing sets the front there are two and positioned at the fuselage；The steering engine sets there are two and is connected respectively with described two forewings；There are two the land sky converting system is set, which is connected with described two forewings and respectively positioned at the lower section of forewing；The postposition wing sets the rear portion there are two and positioned at the fuselage；The utility model is designed reasonably, convenient and practical, easy to operate, superior performance, reliability are high, the conversion of land walking and airflight state may be implemented, and utilize image processing techniques detection bridge surface crack and rusty stain.
Description
Technical field
The utility model relates to air vehicle technique field, and in particular to a kind of bridge Surface testing unmanned plane.
Background technology
With the development of economy, bridge construction has also obtained unprecedented development, and current bridge service life is long, hands over
Logical load is big, and bridge machinery is made to become the important outpost of the tax office for ensureing safety, and nondestructive inspection detection technique is monitoring building for bridge
It builds quality, the currently used situation for detecting bridge, ensure that the safe to use etc. of bridge plays increasingly important role.
Bridge machinery work is a task that difficulty is big, workload is more, danger coefficient is high, conventional bridge surface inspection apparatus or side
Method mainly takes the measuring instrument of profession, long-range shooting, bridge inspection vehicle, binoculars etc., still, the detection of these modes
Precision is low, efficiency is low, and exists and check blind area.And the appearance of unmanned plane, this problem will be largely solved, mesh
Before, since unmanned plane has light weight, simple in structure, flying quality is superior, being capable of spot takeoff, landing and hovering etc. in the air
Advantage has become research hotspot, and is increasingly being used to the fields such as highway bridge detection, power circuit polling.But it is existing
Bridge machinery unmanned plane can only fly and cannot walk on the ground in the air, reduce unmanned plane cruising ability, and existing
Bridge machinery unmanned plane carries out medium and long distance using wireless module and transmits image, although not influenced by circuit, this side
The poor transmission of formula, it is inadequate not only result in post-processing precision, and in addition special construction or algorithm need to be used to image
Steady picture is carried out, control is made to become complicated.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts with it is insufficient, a kind of reasonable design is provided, facilitates reality
With the high bridge Surface testing unmanned plane of, easy to operate, superior performance, reliability.
The purpose of this utility model is achieved through the following technical solutions：
A kind of bridge Surface testing unmanned plane, including fuselage, and be arranged on the fuselage forewing, steering engine,
Land sky converting system, postposition wing, universal wheel, motor cabinet, brushless motor, rotor, camera and control system, wherein described
Forewing sets the front there are two and positioned at the fuselage；The steering engine set there are two and respectively with described two forewings
It is connected, the steering engine is arranged with the forewing in 135 ° of bendings；There are two the land sky converting system is set, two lands
Empty converting system is connected with described two forewings and respectively positioned at the lower section of forewing；The postposition wing is equipped with two
Rear portion a and positioned at the fuselage；The universal wheel sets there are two and is connected respectively with described two postposition wings；It is described
There are four motor cabinet is set, two of which motor cabinet is connected with described two steering engines respectively, other two motor cabinet respectively with institute
Two postposition wings are stated to be connected；The brushless motor and rotor are designed with four, four rotors respectively with described four
Brushless motor is connected, and four brushless motors are connected with four motor cabinets respectively；The steering engine, brushless motor and
Camera is connected with the control system respectively；
The land sky converting system includes gear reduction box and preposition wheel, the gear reduction box by fixed frame with it is described
Forewing is connected, and the preposition wheel is connected with the gear reduction box；Be equipped in the gear reduction box friction pulley and
Three-stage gear reduction transmission mechanism, the three-stage gear reduction transmission mechanism includes three groups of gears being connected with each other, wherein every group
Gear all includes power input gear and power output gear, and the friction pulley is connected with the power input gear of first group of gear
It connects, the preposition wheel is connected with the power output gear of third group gear；
The brushless motor on the motor cabinet of steering engine is equipped with one layer of rubber ring, makes brushless motor that can pass through rubber ring
It is in contact with the friction pulley in the gear reduction box, to deliver power to gear reduction box and then drive preposition wheel fortune
It is dynamic；
The control system includes controller, and be connected with the controller figure transmission module, attitude algorithm module,
GPS module, motor drive module, wireless communication module, memory and battery, wherein the steering engine is connected with the controller
It connects, the brushless motor is connected with the motor drive module, and the camera is connected with the figure transmission module.
Preferably, the controller includes arm processor.
Preferably, the controller is internally provided with embedded OS.
The operation principle of the utility model：
When work, operator sends instructions to controller by wireless communication module, and then remote controlled drone is close to bridge
Flight, and the image that camera obtains is passed back by figure transmission module in real time, bridge is detected；If necessary to detect bridge table
Face can then make unmanned plane carry out land dummy status conversion, and operator sends instructions to controller, control the steering engine rotation on forewing
Turning, drives motor cabinet and brushless motor rotation, then the rubber ring of brushless motor and the friction pulley of land sky converting system are in contact, from
And the three-stage gear reduction transmission mechanism that the power for making brushless motor transmit passes through in gear reduction box is transmitted on preposition wheel, this
When, unmanned plane can be walked by preposition wheel and universal wheel in bridge surface uplink；In detection process, camera is by collected bridge
The image of beam surface and other parts is transferred to controller by figure transmission module, and controller utilizes image processing techniques detection figure
Whether the bridge surface as in has crack and rusty stain, while the image in the place detected being preserved in memory, if detection
Go out crack and rusty stain, then marks its geography information and status information in the picture；After the completion of detection, unmanned plane returns, operator
Image in memory can be checked and be analyzed, the abnormal position occurred when detection is searched simultaneously according to analysis result
Repair.
The utility model has advantageous effect below compared with prior art：
(1) the utility model is designed reasonably, convenient and practical, easy to operate, superior performance, reliability are high, and land may be implemented
Ground is walked and the conversion of airflight state, and utilizes image processing techniques detection bridge surface crack and rusty stain；
(2) the land sky conversion system structure of the utility model is simple and small-sized light and handy, reduces the burden of unmanned plane；It can be with
The function of realizing unmanned plane land walking and the conversion of airflight state, improves the cruising ability of unmanned plane；
(3) arm processor of the utility model carries embedded OS, has working frequency height, real-time, can
The feature high by property can carry out complicated image procossing automatically, eliminate transmission image and return the process that earth station is handled,
It solves the problems, such as that wire transmission distance limits and be wirelessly transferred low precision, ensures the original degree of institute's the image collected, significantly
Improve the accuracy of detection, reliability；
(4) the utility model using flexible, solve conventional detection bridge surface means efficiency it is low, influence traffic, exist
The problems such as security risk.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the vertical view of the utility model；
Fig. 3 is the structural schematic diagram of the utility model land walking state；
Fig. 4 is the vertical view of the utility model land walking state；
Fig. 5 is the structural schematic diagram of the utility model land sky converting system；
Fig. 6 is the structural schematic diagram of the utility model forewing part；
Fig. 7 is the system block diagram of the utility model control system.
Reference numeral is in figure：1, fuselage；2, forewing；3, postposition wing；4, rotor；5, brushless motor；6, it rubs
Wheel；7, three-stage gear reduction transmission mechanism；8, gear reduction box；9, steering engine；10, motor cabinet；11, fixed frame；12, preposition wheel；
13, universal wheel；14, controller；15, camera；16, figure transmission module；17, attitude algorithm module；18, GPS module；19, motor
Drive module；20, wireless communication module；21, memory；22, battery.
Specific implementation mode
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model
Mode is without being limited thereto.
As shown in Fig. 1~7, a kind of bridge Surface testing unmanned plane, including fuselage 1, and be arranged on the fuselage 1
Forewing 2, steering engine 9, land sky converting system, postposition wing 3, universal wheel 13, motor cabinet 10, brushless motor 5, rotor 4, camera shooting
First 15 and control system, wherein the forewing 2 sets the front there are two and positioned at the fuselage 1；The steering engine 9 is equipped with
Two and it is connected respectively with described two forewings 2, the steering engine 9 is arranged with the forewing 2 in 135 ° of bendings, then
Two forewings 2 all curve inwardly 135 °, and setting in this way can make two preposition wheels, the 12 keeping parallelism state of 9 lower section of steering engine,
Make unmanned plane can be in land walking；There are two the land sky converting system is set, two land sky converting systems are respectively with described two
A forewing 2 is connected and positioned at the lower section of forewing 2；The postposition wing 3 sets there are two and is located at the fuselage 1
Rear portion；The universal wheel 13 sets there are two and is connected respectively with described two postposition wings 3, and the universal wheel 13 is for assisting
The land walking of unmanned plane and turning；There are four the motor cabinet 10 is set, two of which motor cabinet 10 respectively with described two rudders
Machine 9 is connected, and specifically, the motor cabinet 10 is connected with forewing 2 by screw thread, and passes through turn of axis and steering engine 9
Son is connected；Other two motor cabinet 10 is connected with described two postposition wings 3 respectively；The brushless motor 5 and rotor 4 are all
If there are four, four rotors 4 are connected with four brushless motors 5 respectively, four brushless motors 5 respectively with institute
Four motor cabinets 10 are stated to be connected；The steering engine 9, brushless motor 5 and camera 15 are connected with the control system respectively.
As shown in figure 5, the land sky converting system includes gear reduction box 8 and preposition wheel 12, the gear reduction box 8 is logical
It crosses fixed frame 11 with the forewing 2 to be connected, the preposition wheel 12 is connected with the gear reduction box 8；The gear
Friction pulley 6 and three-stage gear reduction transmission mechanism 7 are equipped in reduction box 8, the three-stage gear reduction transmission mechanism 7 includes mutual
Three groups of gears of connection, wherein every group of gear all includes power input gear and power output gear, the friction pulley 6 and first
The power input gear of group gear is connected, and the preposition wheel 12 is connected with the power output gear of third group gear.It is described
Brushless motor 5 on the motor cabinet 10 of steering engine 9 is equipped with one layer of rubber ring, make brushless motor 5 can by rubber ring with it is described
Friction pulley 6 in gear reduction box 8 is in contact, to deliver power to gear reduction box 8 and then preposition wheel 12 is driven to move.
As shown in fig. 7, the control system includes controller 14, the controller 14 includes arm processor, the control
Device 14 is internally provided with embedded OS, and be connected with the controller 14 figure transmission module 16, attitude algorithm module
17, GPS module 18, motor drive module 19, wireless communication module 20, memory 21 and battery 22, wherein the steering engine 9 with
The controller 14 is connected, and the brushless motor 5 is connected with the motor drive module 19, and controller 14 is according to receiving
Flight directive sends out instruction so as to adjust the rotating speed of brushless motor 5 to motor drive module 19, realizes the stabilized flight of unmanned plane；
The camera 15 is connected with the figure transmission module 16；Device 14 provides unmanned plane during flying to the attitude algorithm module 17 in order to control
Status information needed for control；The GPS module 18 is for providing geographical location information；The wireless communication module 20 is for connecing
It brings drill to an end the flight directive of author；The battery 22 is powered for entire unmanned plane.
When work, operator sends instructions to controller 14 by wireless communication module 20, and then remote controlled drone is close
Bridge flies, and passes the image of the acquisition of camera 15 back in real time by figure transmission module 16, is detected to bridge；If necessary to examine
Bridge surface is surveyed, then unmanned plane can be made to carry out land dummy status conversion, operator sends instructions to controller 14, controls forewing
Steering engine 9 on 2 rotates, and drives motor cabinet 10 and brushless motor 5 to rotate, then the rubber ring of brushless motor 5 and land sky converting system
Friction pulley 6 be in contact, to make brushless motor 5 transmit power pass through in gear reduction box 8 three-stage gear reduction transmission
Mechanism 7 is transmitted on preposition wheel 12, at this point, unmanned plane can be walked by preposition wheel 12 and universal wheel 13 in bridge surface uplink；?
In detection process, the image on collected bridge surface and other parts is transferred to control by camera 15 by figure transmission module 16
Whether device 14 processed, controller 14 have crack and rusty stain using the bridge surface in image processing techniques detection image, while will inspection
The image in the place surveyed is stored in memory 21, if it is detected that crack and rusty stain, mark its geography information in the picture
And status information；After the completion of detection, unmanned plane returns, and operator can check and analyze to the image in memory 21, root
The abnormal position occurred when detection is searched and repaired according to analysis result.
The utility model is designed reasonably, convenient and practical, easy to operate, superior performance, reliability are high, and land row may be implemented
The conversion with airflight state is walked, and utilizes image processing techniques detection bridge surface crack and rusty stain；Land sky converting system
It is simple in structure and small-sized light and handy, reduce the burden of unmanned plane；Unmanned plane land walking may be implemented and airflight state turns
The function of changing improves the cruising ability of unmanned plane；Arm processor carries embedded OS, has working frequency height, real
Shi Xingqiang, the high feature of reliability can carry out complicated image procossing automatically, eliminate transmission image and return at earth station
The process of reason solves the problems, such as that wire transmission distance limits and be wirelessly transferred low precision, ensures the original of institute's the image collected
Beginning degree substantially increases the accuracy of detection, reliability；Using flexible, solve conventional detection bridge surface means efficiency it is low,
Influence traffic, the problems such as there are security risks.
Above-mentioned is the preferable embodiment of the utility model, but the embodiment of the utility model is not by the above
Limitation, other any Spirit Essences without departing from the utility model under principle made by changes, modify, substitute, combine, simple
Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.
Claims (3)
1. a kind of bridge Surface testing unmanned plane, which is characterized in that including fuselage, and the front end processor that is arranged on the fuselage
The wing, steering engine, land sky converting system, postposition wing, universal wheel, motor cabinet, brushless motor, rotor, camera and control system,
In, the forewing sets the front there are two and positioned at the fuselage；The steering engine set there are two and respectively with it is described two
Forewing is connected, and the steering engine is arranged with the forewing in 135 ° of bendings；There are two the land sky converting system is set,
Two land sky converting systems are connected with described two forewings and respectively positioned at the lower sections of forewing；The postposition machine
The wing sets the rear portion there are two and positioned at the fuselage；The universal wheel sets there are two and is connected respectively with described two postposition wings
It connects；There are four the motor cabinet is set, two of which motor cabinet is connected with described two steering engines respectively, other two motor cabinet point
It is not connected with described two postposition wings；The brushless motor and rotor are designed with four, four rotors respectively with institute
It states four brushless motors to be connected, four brushless motors are connected with four motor cabinets respectively；It is the steering engine, brushless
Motor and camera are connected with the control system respectively；
The land sky converting system includes gear reduction box and preposition wheel, the gear reduction box by fixed frame with it is described preposition
Wing is connected, and the preposition wheel is connected with the gear reduction box；Friction pulley and three-level are equipped in the gear reduction box
Gear reduced drive mechanism, the three-stage gear reduction transmission mechanism includes three groups of gears being connected with each other, wherein every group of gear
All include power input gear and power output gear, the friction pulley is connected with the power input gear of first group of gear,
The preposition wheel is connected with the power output gear of third group gear；
The brushless motor on the motor cabinet of steering engine is equipped with one layer of rubber ring, makes brushless motor can be by rubber ring and institute
The friction pulley stated in gear reduction box is in contact, to deliver power to gear reduction box and then drive preposition wheel movement；
The control system includes controller, and figure transmission module, attitude algorithm module, the GPS being connected with the controller
Module, motor drive module, wireless communication module, memory and battery, wherein the steering engine is connected with the controller,
The brushless motor is connected with the motor drive module, and the camera is connected with the figure transmission module.
2. bridge Surface testing unmanned plane according to claim 1, which is characterized in that the controller includes ARM processing
Device.
3. bridge Surface testing unmanned plane according to claim 1, which is characterized in that the controller is internally provided with insertion
Formula operating system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820115922.0U CN208021768U (en) | 2018-01-24 | 2018-01-24 | A kind of bridge Surface testing unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820115922.0U CN208021768U (en) | 2018-01-24 | 2018-01-24 | A kind of bridge Surface testing unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN208021768U true CN208021768U (en) | 2018-10-30 |
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ID=63902611
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820115922.0U Expired - Fee Related CN208021768U (en) | 2018-01-24 | 2018-01-24 | A kind of bridge Surface testing unmanned plane |
Country Status (1)
| Country | Link |
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| CN (1) | CN208021768U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657429A (en) * | 2018-05-11 | 2018-10-16 | 广东工业大学 | A kind of four land and air double-used axis unmanned planes |
| CN110145989A (en) * | 2019-06-11 | 2019-08-20 | 广州珠江黄埔大桥建设有限公司 | Distress in concrete detection device and detection method based on unmanned plane |
-
2018
- 2018-01-24 CN CN201820115922.0U patent/CN208021768U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657429A (en) * | 2018-05-11 | 2018-10-16 | 广东工业大学 | A kind of four land and air double-used axis unmanned planes |
| CN108657429B (en) * | 2018-05-11 | 2020-05-19 | 广东工业大学 | Land-air dual-purpose four-axis unmanned aerial vehicle |
| CN110145989A (en) * | 2019-06-11 | 2019-08-20 | 广州珠江黄埔大桥建设有限公司 | Distress in concrete detection device and detection method based on unmanned plane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20181030 Termination date: 20200124 |