CN213620237U - Hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying data acquisition device - Google Patents
Hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying data acquisition device Download PDFInfo
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- CN213620237U CN213620237U CN202021223910.3U CN202021223910U CN213620237U CN 213620237 U CN213620237 U CN 213620237U CN 202021223910 U CN202021223910 U CN 202021223910U CN 213620237 U CN213620237 U CN 213620237U
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Abstract
The utility model relates to a hydroelectric engineering trade tunnel defect detection field. The technical scheme is as follows: the hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying the data acquisition device comprises an unmanned aerial vehicle; the method is characterized in that: the top of the unmanned aerial vehicle is provided with an upper layer structure, the middle of the unmanned aerial vehicle is provided with a middle layer structure, and the bottom of the unmanned aerial vehicle is provided with a lower layer structure; the superstructure comprises a camera and a number of light sources arranged around the camera; the middle-layer structure comprises a controller arranged in the unmanned aerial vehicle and anti-collision rods arranged on each horn of the unmanned aerial vehicle; the lower layer structure comprises a holder, and an air pressure altimeter, an inertial navigation unit and a laser sensor which are arranged on the holder; the controller is respectively connected with the camera, the light source, the barometric altimeter, the inertial navigation unit and the laser sensor. This unmanned aerial vehicle should be able to realize location and inertial navigation and tunnel inner wall image, some cloud data acquisition under the no GPS signal condition, simple structure, the dismouting of being convenient for.
Description
Technical Field
The utility model relates to a hydroelectric engineering trade tunnel defect detection field mainly is a many rotor unmanned aerial vehicle that is used for hydraulic tunnel to detect.
Background
1. Unmanned aerial vehicle technology
An unmanned aircraft is called an unmanned Aerial vehicle for short, and is called an uav (unmanned Aerial vehicle) in english, is an unmanned aircraft operated by using a radio remote control device and a self-contained program control device, and is widely applied to the fields of agriculture, transportation, engineering (measurement, detection) and the like besides the military field. With the development of unmanned aerial vehicle technology and the improvement of unmanned aerial vehicle performance, it is expected that unmanned aerial vehicles will play a great role in the fields of engineering safety operation and the like.
The hydraulic tunnel, especially an inclined shaft and a vertical shaft, has severe environment, long length and large inclination angle, and can hardly reach personnel, thereby bringing great difficulty to the tunnel defect detection work. In view of unmanned aerial vehicle's security and flexibility, it becomes possible to carry out the defect inspection with its carry-on data acquisition equipment to hydraulic tunnel.
At present, unmanned aerial vehicle's flight needs the location of GNSS signal and guides just can realize, and the GNSS signal can only be received at outdoor, and hydraulic tunnel belongs to the indoor space, can't receive the GNSS signal, will realize unmanned aerial vehicle at indoor autonomic, safe flight, must solve unmanned aerial vehicle's location and flight control problem.
2. Data acquisition technology
1) Image data acquisition is generally classified into still-recorded photography, which exposes a photosensitive medium by light reflected from an object, and continuous-motion-recorded photography, which converts an optical image signal into an electrical signal using a video camera (video camera) for storage or transmission. However, no natural light source exists in the underground limited space, and proper lighting equipment is required to be adopted, so that the lighting intensity, the lighting angle and the weight of the equipment are required to be balanced.
2) The airborne LiDAR equipment integrates equipment such as a laser scanner and an inertia measuring device. The active sensing system (laser scanner) can acquire high-resolution digital information of a detected target by utilizing returned pulses, the inertial measurement device can measure self three-axis attitude angles, current acceleration and traveling mileage, the attitude quantities are analyzed and calculated through an integral algorithm to obtain flight tracks, three-dimensional coordinates of sampling points one by one are calculated, and finally, a tunnel inner wall three-dimensional point cloud model is obtained through comprehensive processing.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming not enough among the above-mentioned background art, providing a carry on hydraulic tunnel of data acquisition device and detect autonomous flight unmanned aerial vehicle, this unmanned aerial vehicle should be able to realize location and inertial navigation and tunnel inner wall image, a cloud data acquisition under the no GPS signal condition to have simple structure, the characteristics of the dismouting of being convenient for.
The technical scheme of the utility model is that:
the hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying the data acquisition device comprises an unmanned aerial vehicle; the method is characterized in that: the top of the unmanned aerial vehicle is provided with an upper layer structure, the middle of the unmanned aerial vehicle is provided with a middle layer structure, and the bottom of the unmanned aerial vehicle is provided with a lower layer structure; the superstructure comprises a camera and a number of light sources arranged around the camera; the middle-layer structure comprises a controller arranged in the unmanned aerial vehicle and anti-collision rods arranged on each horn of the unmanned aerial vehicle; the lower layer structure comprises a holder, and an air pressure altimeter, an inertial navigation unit and a laser sensor which are arranged on the holder; the controller is respectively connected with the camera, the light source, the barometric altimeter, the inertial navigation unit and the laser sensor.
The mounting panel is fixed to the top surface of the unmanned aerial vehicle, the camera is fixed to the mounting panel through the camera support, the light source is fixed to the mounting panel through the light source support, the camera is arranged in the center of the top surface of the mounting panel, and the light source is evenly arranged around the camera.
The anti-collision rod is arranged in parallel with the unmanned aerial vehicle horn and is fixed on the bottom surface of the unmanned aerial vehicle horn through a connecting ring.
The barometric altimeter and the inertial navigation unit are fixed on the top surface of the holder, and the laser sensor is fixed on the bottom surface of the holder.
The camera is a panoramic double-lens camera; the light source is a searchlight board; the anti-collision rod is a carbon fiber rod.
The utility model has the advantages that:
1. the utility model has the advantages that each instrument (camera, light source, barometric altimeter, inertial navigation unit, laser sensor) is firmly connected with the unmanned aerial vehicle through the screw, has the characteristics of simple operation and convenient disassembly and assembly, and is suitable for popularization and application;
2. the mechanical anti-collision measure mainly based on the crash bar is arranged on the unmanned aerial vehicle arm, so that the unmanned aerial vehicle paddle can be effectively prevented from colliding with the tunnel wall under the condition that the unmanned aerial vehicle deviates from the center of the tunnel due to an accident in the flying process, power is continuously provided for the adjustment of the position posture of the unmanned aerial vehicle, and the damage to the inner wall of the tunnel is avoided;
3. the utility model discloses in be equipped with the light source of constituteing by 4 searchlight lamp plates, can carry out angular adjustment according to actual need, guarantee that the illumination face completely covers unmanned vehicles top tunnel scope all around for provide the light source that coverage is comprehensive and luminance is sufficient in the flight process, guarantee that image acquisition device (camera) carries out effectual image acquisition;
4. the utility model discloses in be equipped with the data acquisition device who comprises barometric altimeter, inertial navigation unit (IMU) and laser sensor, wherein barometric altimeter is used for acquireing unmanned vehicles altitude, inertial navigation unit is used for acquireing unmanned vehicles's flight gesture, laser sensor is used for acquireing tunnel three-dimensional point cloud information, the data of gathering, height and be used to lead information feedback controller, through a series of calculations of procedure, control unmanned vehicles's flight state, make it fly along the tunnel axis.
Drawings
Fig. 1 is one of the schematic perspective views (front view) of the present invention.
Fig. 2 is a second (reverse) schematic perspective view of the present invention.
Fig. 3 is a schematic view of the structure of the present invention.
Fig. 4 is a schematic top view of the present invention.
Fig. 5 is a schematic bottom view of the present invention.
Fig. 6 is a schematic perspective view of the upper layer structure of the present invention.
Fig. 7 is a schematic view of the installation position of the bumper bar of the present invention.
Fig. 8 is a schematic perspective view of the lower layer structure of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following embodiments.
As shown in FIG. 1, carry on hydraulic tunnel of data acquisition device and detect autonomous flight unmanned aerial vehicle, including unmanned vehicles and set up superstructure, middle level structure and the substructure on unmanned vehicles.
Unmanned vehicles is electronic four rotor unmanned aerial vehicle, can take off and land perpendicularly in the leveling zone of minizone, can hover at the tunnel optional position simultaneously.
The superstructure is arranged on the top surface of the unmanned aerial vehicle and comprises a camera 2 and a plurality of light sources 4. The top of unmanned vehicles is fixed with mounting panel 1, and the camera passes through camera support 11 to be fixed in the center of mounting panel top surface, and the light source passes through light source support 3 to also fix on the mounting panel top surface to the light source is evenly arranged around the camera. The camera is a panoramic double-lens camera. The mounting plate is made of acrylic materials. The light source is a searchlight plate.
The middle layer structure is arranged in the middle of the unmanned aerial vehicle and comprises a controller 6 and a plurality of anti-collision rods 5. The controller is arranged in the unmanned aerial vehicle, and the anti-collision rods are respectively fixed with the arms of the unmanned aerial vehicle. The anti-collision rod is arranged in parallel with the horn of the unmanned aerial vehicle and fixed on the bottom surface of the horn of the unmanned aerial vehicle, the anti-collision rod and the horn are fixed through a connecting ring 12, and the connecting ring is 8-shaped and is provided with a fixing screw. The anti-collision rod is a carbon fiber rod, the anti-collision rods are arranged in a cross shape by taking the unmanned aerial vehicle as a center, the length of the anti-collision rod horizontally extending out of the horn is 40-60cm, and the extending part of the anti-collision rod is wrapped with an elastic silica gel sleeve.
The lower layer structure is arranged at the bottom of the unmanned aerial vehicle and comprises a holder 7, an air pressure altimeter 8, an inertial navigation unit 9(IMU) and a laser sensor 10. The cloud platform is fixed in unmanned vehicles bottom surface, and baro-altimeter and inertial navigation unit are fixed in the top surface of cloud platform, and laser sensor fixes the bottom surface at the cloud platform.
The controller is respectively connected with the camera, the light source, the barometric altimeter, the inertial navigation unit and the laser sensor. The phenomena of water dripping, water seepage and the like in the hydraulic tunnel are considered, proper waterproof measures are taken for the barometric altimeter, the inertial navigation unit and the laser sensor, and the normal operation of the system is guaranteed.
The mounting panel passes through the screw to be fixed with unmanned vehicles, and camera support passes through the screw with the light source support is fixed with the mounting panel, and the camera passes through the screw to be fixed with the camera support, and the light source passes through the screw to be fixed with the light source support. The tripod head is made of carbon fiber materials and is fixed with the unmanned aerial vehicle through screws, and the barometric altimeter, the inertial navigation unit and the laser sensor are fixed with the tripod head through screws.
The utility model discloses a theory of operation is:
1. in the flight process of the unmanned aerial vehicle, each device collects relevant information in a tunnel in real time, wherein a panoramic double-lens camera records photos and video information in the tunnel, an air pressure altimeter records the altitude information of the unmanned aerial vehicle, an inertial navigation unit records the attitude information of the unmanned aerial vehicle, and a laser sensor records laser point cloud information in the tunnel;
2. the controller calculates the position of the airplane in the tunnel in real time by using the height information recorded by the barometric altimeter, the attitude information recorded by the inertial navigation unit and the laser point cloud information of the tunnel wall recorded by the laser sensor, and controls and adjusts the lifting and translation amount of the unmanned aerial vehicle according to the current position and state of the airplane so as to enable the unmanned aerial vehicle to fly along the axis of the tunnel, thereby realizing positioning and inertial navigation without a GPS;
3. the panoramic double-lens camera is used for acquiring photos and video data of the tunnel, performing qualitative statistical analysis on defect conditions, and determining defect types, positions, distribution conditions and the like.
The utility model discloses an installation as follows:
1. assembling an upper layer structure; firstly fixing a camera support at the center of an installation plate by screws, then respectively fixing 4 light source supports around the center of the installation plate by screws, then fixing the panoramic double-lens camera with the camera support by screws, respectively fixing 4 searchlight plates with the 4 light source supports by screws (using 16 screws), adjusting the angle of the searchlight plates, and finally fixing the installation plate on the top surface of the unmanned aerial vehicle by the 4 screws;
2. middle layer assembly: fixing 4 carbon fiber anti-collision rods on 4 arms of the unmanned aerial vehicle through 8 connecting rings and 16 screws;
3. and (3) assembling the lower layer: firstly fixing the barometric altimeter on the top surface of the tripod head through 4 screws, then fixing the inertial navigation unit on the top surface of the tripod head through 4 screws, then fixing the laser sensor on the bottom surface of the tripod head through 4 screws, and finally fixing the tripod head with the bottom surface of the unmanned aerial vehicle through 4 screws, so that the whole assembly work of the unmanned aerial vehicle is completed;
4. the steps of unmanned aerial vehicle disassembly are opposite to the steps of installation.
Finally, it should be noted that the above-mentioned embodiments illustrate only specific embodiments of the invention. Obviously, the present invention is not limited to the above embodiments, and many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the invention should be considered as within the scope of the invention.
Claims (5)
1. The hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying the data acquisition device comprises an unmanned aerial vehicle; the method is characterized in that: the top of the unmanned aerial vehicle is provided with an upper layer structure, the middle of the unmanned aerial vehicle is provided with a middle layer structure, and the bottom of the unmanned aerial vehicle is provided with a lower layer structure; the superstructure comprises a camera (2) and several light sources (4) arranged around the camera; the middle-layer structure comprises a controller (6) arranged in the unmanned aerial vehicle and anti-collision rods (5) arranged on each horn of the unmanned aerial vehicle; the lower layer structure comprises a holder (7), an air pressure altimeter (8) arranged on the holder, an inertial navigation unit (9) and a laser sensor (10); the controller is respectively connected with the camera, the light source, the barometric altimeter, the inertial navigation unit and the laser sensor.
2. The hydraulic tunnel detection autonomous flying unmanned aerial vehicle with the data acquisition device as claimed in claim 1, wherein: unmanned vehicles's top surface fixed mounting panel (1), camera pass through camera support (11) and fix on the mounting panel, and the light source passes through light source support (3) and fixes at the mounting panel, and the camera setting is at the center of mounting panel top surface, and the light source evenly sets up around the camera.
3. The hydraulic tunnel detection autonomous flying unmanned aerial vehicle carrying the data acquisition device of claim 2, characterized in that: the anti-collision rod is arranged in parallel with the unmanned aerial vehicle horn and is fixed on the bottom surface of the unmanned aerial vehicle horn through a connecting ring (12).
4. The hydraulic tunnel detection autonomous flying unmanned aerial vehicle carrying the data acquisition device of claim 3, characterized in that: the barometric altimeter and the inertial navigation unit are fixed on the top surface of the holder, and the laser sensor is fixed on the bottom surface of the holder.
5. The hydraulic tunnel detection autonomous flying unmanned aerial vehicle carrying the data acquisition device of claim 4, wherein: the camera is a panoramic double-lens camera; the light source is a searchlight board; the anti-collision rod is a carbon fiber rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021223910.3U CN213620237U (en) | 2020-06-29 | 2020-06-29 | Hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying data acquisition device |
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| CN202021223910.3U CN213620237U (en) | 2020-06-29 | 2020-06-29 | Hydraulic tunnel detection autonomous flight unmanned aerial vehicle carrying data acquisition device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113777111A (en) * | 2021-08-23 | 2021-12-10 | 南方电网调峰调频发电有限公司 | Multi-dimensional detection device for structural defects of large-diameter diversion tunnel |
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2020
- 2020-06-29 CN CN202021223910.3U patent/CN213620237U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113777111A (en) * | 2021-08-23 | 2021-12-10 | 南方电网调峰调频发电有限公司 | Multi-dimensional detection device for structural defects of large-diameter diversion tunnel |
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