CN214824119U - Airtight narrow and small complicated space inspection unmanned aerial vehicle - Google Patents
Airtight narrow and small complicated space inspection unmanned aerial vehicle Download PDFInfo
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- CN214824119U CN214824119U CN202120278408.0U CN202120278408U CN214824119U CN 214824119 U CN214824119 U CN 214824119U CN 202120278408 U CN202120278408 U CN 202120278408U CN 214824119 U CN214824119 U CN 214824119U
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Abstract
The utility model discloses an airtight narrow and small complex space inspection unmanned aerial vehicle, which comprises a protective cover, an unmanned aerial vehicle main body, an image acquisition device, a plurality of obstacle distance measuring devices, a downward-looking distance measuring device and a remote control device; the protective cover is provided with a hollow cage structure; the unmanned aerial vehicle main body, the image acquisition device, each barrier ranging device and the downward-looking ranging device are all arranged in the protective cover and are in signal connection with the remote control device; the image acquisition device is used for acquiring image information in a closed narrow and small complex space and transmitting the image information to the remote control device; the obstacle distance measuring device and the downward-looking distance measuring device are respectively used for measuring the distance between the unmanned aerial vehicle main body and the surrounding obstacles and the height of the unmanned aerial vehicle main body from the ground, and transmitting the distance to the remote control device; the remote control device receives data transmitted by each obstacle ranging device and the downward-looking ranging device and controls the unmanned aerial vehicle main body to adjust the flight attitude and the flight route according to the data. This unmanned aerial vehicle can realize carrying out the tour task in airtight narrow and small complicated space.
Description
Technical Field
The utility model relates to an unmanned air vehicle technique field especially relates to an airtight narrow and small complicated space inspection unmanned aerial vehicle.
Background
The conventional common modes for patrolling and checking the closed narrow and small complex space include personnel patrolling, robot patrolling and the like.
For the former inspection mode, when personnel enter the operation in a closed narrow space, the principle of 'ventilation firstly, detection firstly and operation secondly' needs to be strictly executed, and when the personnel enter the operation, the personnel need to fasten safety belts and wear various equipment such as oxygen breathing masks. By adopting the inspection mode, firstly, hidden dangers can be caused to the personal safety of operating personnel when the operating personnel enter a closed narrow and small complex space; secondly, precious overhaul and inspection time is wasted when ventilation and early detection are carried out, and immeasurable influence is caused; moreover, various equipment equipped by operators has large volume, is not beneficial to the development of the operators and has high cost.
To the latter inspection mode, when car type robot patrols the inspection to airtight narrow and small space, has certain limitation: if the change of the space to be detected in height is too large, the detection coverage range of the vehicle-shaped robot cannot meet the requirement; in addition, the robot mainly uses wheels or tracks to travel, and if the ground environment in the space is very complicated, the robot cannot meet the operation requirement.
Therefore, it is necessary to design a closed narrow and small space patrol unmanned aerial vehicle to solve the above problems.
Disclosure of Invention
An object of the utility model is to provide an unmanned aerial vehicle that can realize carrying out the inspection task in airtight narrow and small complicated space.
To achieve the purpose, the utility model adopts the following technical proposal:
an unmanned aerial vehicle for patrolling in a closed narrow and small complex space is characterized by comprising a protective cover, an unmanned aerial vehicle main body, an image acquisition device, a plurality of obstacle ranging devices, a downward-looking ranging device and a remote control device; the shield has a hollow cage structure; the unmanned aerial vehicle main body, the image acquisition device, each obstacle ranging device and the downward-looking ranging device are all arranged in the protective cover and are in signal connection with the remote control device;
the image acquisition device is used for acquiring image information in a closed narrow and small complex space and transmitting the image information to the remote control device;
the obstacle distance measuring device and the downward-looking distance measuring device are respectively used for measuring the distance between the unmanned aerial vehicle main body and surrounding obstacles and the height of the unmanned aerial vehicle main body from the ground, and transmitting the distance and the height to the remote control device;
the remote control device receives data transmitted by each obstacle ranging device and the downward-looking ranging device and controls the unmanned aerial vehicle main body to adjust the flight attitude and the flight route according to the data.
The remote control device further comprises a forward light supplement module, wherein the forward light supplement module is used for supplementing light to the image acquisition device and is in signal connection with the remote control device.
Furthermore, the forward light supplementing module, the image acquisition device and one of the barrier distance measuring devices are connected with the protective cover through a two-axis cradle head.
Further, the protective cover is provided with a window used for exposing the forward light supplementing module, the image acquisition device and the obstacle distance measuring device.
Further, still include side direction light filling module, side direction light filling module set up in the lateral part of unmanned aerial vehicle main part, and with remote control unit signal connection.
Further, the unmanned aerial vehicle main part includes image transmission system, image acquisition device passes through image transmission system to remote control unit transmits image information.
Furthermore, the remote control device is connected with a display module.
Preferably, each obstacle ranging device is a laser radar.
Preferably, the downward-looking distance measuring device is a laser radar.
Preferably, the image acquisition device is a high-definition camera.
The utility model has the advantages that:
1. the utility model discloses an unmanned aerial vehicle is tourd in airtight narrow and small complicated space through setting up barrier range unit, can realize that unmanned aerial vehicle avoids the barrier in the direction of travel; by arranging the downward-looking distance measuring device, the stability of the unmanned aerial vehicle at the operation height position during operation can be realized; through the protection casing that sets up cage structure for the collision that normal flying speed produced can not exert an influence to unmanned aerial vehicle state and inner structure and subassembly, and after the collision, can continue to carry out the inspection task after having adjusted the unmanned aerial vehicle gesture.
2. The utility model can reduce the early preparation time and workload of ventilation and detection before the personnel enter into the operation; the unmanned aerial vehicle does not need to be provided with various large-size and high-cost protective equipment, so that the operation cost is reduced; in addition, the unmanned aerial vehicle is limited on the flying height very little, can cover most high spaces, does not have special requirement to the ground environment simultaneously.
Drawings
Fig. 1 is a schematic structural view of the unmanned aerial vehicle for inspecting the closed narrow and small complex space provided by the utility model;
fig. 2 is a schematic structural view of the unmanned aerial vehicle for inspecting the closed narrow and small complex space at another angle;
fig. 3 is the utility model provides a structural block diagram of unmanned aerial vehicle is tourd in airtight narrow and small complicated space.
In the figure: 1-a protective cover; 11-a carbon fiber tube; 12-nylon adapter; 13-a window; 2-a main body of the unmanned aerial vehicle; 21-body; 22-an image transmission system; 23-a power system; 24-a flight control system; 25-a power supply system; 3-a lateral light supplement module; 4-a downward-looking distance measuring device; 5-an image acquisition device; 6-obstacle ranging device; 7-a remote control device; 8-a forward light supplement module; 9-two-axis pan-tilt.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 3, an unmanned aerial vehicle is tourd in airtight narrow and small complicated space, including protection casing 1, unmanned aerial vehicle main part 2, image acquisition device 5, a plurality of barrier range unit 6, look down range unit 4, preceding light filling module 8, side direction light filling module 3 and remote control unit 7.
Specifically, during this unmanned aerial vehicle is tourd in airtight narrow and small complicated space, protection casing 11 has hollow cage structure, and the nylon adapter 12 equipment that adopts carbon fiber tube 11 and high strength is as an organic whole, can realize carrying out whole protection to unmanned aerial vehicle main part 2 to guarantee that unmanned aerial vehicle's flight gesture can not take place too big change when producing the collision under normal flying speed, and inner structure and subassembly can not take place to damage, can continue to carry out the task of touring.
In this unmanned aerial vehicle is tourd in airtight narrow and small complicated space, unmanned aerial vehicle main part 2, image acquisition device 5, each barrier range unit 6 and look down range unit 4 all install in protection casing 1 to all with 7 signal connection of remote control unit.
The main body 2 of the unmanned aerial vehicle includes a body 21, an image transmission system 22, a power system 23, a flight control system 24, a power supply system 25, and the like. The remote control device 7 is in signal connection with the flight control system 24 and is used for sending instructions to the flight control system 24; after receiving the command, the flight control system 24 controls the power system 23 to adjust the flight attitude and the flight path of the body 21. The power supply system 25 is used to supply power to onboard electric devices such as the image transmission system 22, the power system 23, and the flight control system 24.
Each barrier range unit 6 distributes in the front of unmanned aerial vehicle main part 2, back, left and right for measure the distance between unmanned aerial vehicle main part 2 and the barrier all around, and with measured data transmission to remote control unit 7, thereby realize that unmanned aerial vehicle avoids the barrier in the direction of travel. The obstacle ranging device 6 is preferably a lidar.
Look down range unit 4 is used for the height of real-time measurement unmanned aerial vehicle main part 2 apart from ground to with measuring data transmission to remote control unit 7, thereby stability on the operation altitude position when guaranteeing the unmanned aerial vehicle operation. The look-down distance measuring device 4 is preferably a lidar.
The image acquisition device 5 is used for acquiring image information in a closed narrow and small complex space and transmitting the image information to the remote control device 7 through the image transmission system 22; wherein, the image transmission system 22 can transmit the remote control signal while transmitting the real-time image information collected by the image collection device 5. The image acquisition device 5 is preferably a high-sensitivity high-definition camera to ensure that defects such as pipeline damage and cracks can be observed in images shot in a low-light environment.
In this unmanned aerial vehicle is tourd in airtight narrow and small complicated space, side direction light filling module 3 mainly used provides unmanned aerial vehicle position state for flight operation personnel and does the reference usefulness in the stadia within range. The forward light supplement module 8 is mainly used for supplementing light to the image acquisition device 5 so as to further improve the shooting effect. The forward light supplement module 8 and the lateral light supplement module 3 are in signal connection with the remote control device 7, and the control of on-off and brightness can be realized through the remote control device 7. If at the in-process that unmanned aerial vehicle takes off and lands, owing to need not to carry out the light filling, consequently, can extinguish forward light filling module 8 and side direction light filling module 3 through remote control unit 7. Wherein, LED lamps are adopted by the forward light supplement module 8 and the lateral light supplement module 3.
In this unmanned aerial vehicle is tourd in airtight narrow and small complicated space, preceding light filling module 8, image acquisition device 5 and one of them barrier range unit 6 pass through diaxon cloud platform 9 and are connected with protection casing 1. Wherein, protection casing 1 has seted up window 13 for expose to light filling module 8, image acquisition device 5 and this barrier range unit 6 before, to avoid protection casing 1 to block the shooting sight of image acquisition device 5, the light of preceding light filling module 8 and the laser ray of this barrier range unit 6.
In this unmanned aerial vehicle is tourd in airtight narrow and small complicated space, remote control unit 7 is connected with display module, and display module includes the display screen for data and image information that show remote control unit 7 and receive. Preferably, the remote control device 7 is an integrated remote control with a display screen.
The utility model discloses an unmanned aerial vehicle is tourd in airtight narrow and small complicated space, when flying the operation, flight personnel enter the operation space through manually controlling unmanned aerial vehicle, utilize high definition camera to carry out video or photo collection to transmit video or photo to the integral type remote controller in real time through image transmission system 22; obstacle range unit 6 assists unmanned aerial vehicle to carry out the ascending obstacle of keeping away of advancing direction, and look down range unit 4 assists unmanned aerial vehicle to realize the stability on the operation altitude position, and flight personnel can observe above-mentioned all passback data through the integral type remote controller to judge and carry out the inspection task to unmanned aerial vehicle flight attitude and flight line according to this.
In addition, when the unmanned aerial vehicle of the utility model is used for carrying out the patrol task, a large amount of early preparation work is not needed, and the unmanned aerial vehicle can be carried with a gas detection module for real-time monitoring, so that the unmanned aerial vehicle does not need to be operated by personnel in the space, and the personnel danger can not be caused to the personnel; various large-size and high-cost protective equipment is not required to be equipped, so that the operation cost is reduced; in addition, unmanned aerial vehicle does not have special requirement to ground environment, can all realize covering the detection to most high regional spaces moreover, and on the whole, unmanned aerial vehicle is carrying out the fault-tolerant rate of patrolling in airtight narrow and small complicated space higher.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle for patrolling in a closed narrow and small complex space is characterized by comprising a protective cover (1), an unmanned aerial vehicle main body (2), an image acquisition device (5), a plurality of obstacle ranging devices (6), a downward-looking ranging device (4) and a remote control device (7); the protective cover (1) is provided with a hollow cage structure; the unmanned aerial vehicle main body (2), the image acquisition device (5), each obstacle ranging device (6) and the downward-looking ranging device (4) are all installed in the protective cover (1) and are in signal connection with the remote control device (7);
the image acquisition device (5) is used for acquiring image information in a closed narrow and small complex space and transmitting the image information to the remote control device (7);
the obstacle ranging device (6) and the downward-looking ranging device (4) are respectively used for measuring the distance between the unmanned aerial vehicle main body (2) and surrounding obstacles and the height of the unmanned aerial vehicle main body (2) from the ground, and transmitting the distances to the remote control device (7);
the remote control device (7) receives data transmitted by each obstacle ranging device (6) and the downward-looking ranging device (4) and controls the unmanned aerial vehicle main body (2) to adjust the flight attitude and the flight route according to the data.
2. The unmanned aerial vehicle is tourd in airtight narrow and small complicated space of claim 1, characterized by, still include forward light filling module (8), forward light filling module (8) are used for carrying out the light filling to image acquisition device (5), and with remote control unit (7) signal connection.
3. The unmanned aerial vehicle is tourd in airtight narrow and small complicated space of claim 2, characterized in that, forward light filling module (8), image acquisition device (5) and one of them barrier range unit (6) pass through diaxon cloud platform (9) and be connected with protection casing (1).
4. The unmanned aerial vehicle is patrolled in confined narrow and small complex space of claim 3, characterized in that, window (11) that are used for exposing forward light filling module (8), image acquisition device (5) and barrier range unit (6) are seted up in protection casing (1).
5. The unmanned aerial vehicle is patrolled in airtight narrow and small complicated space according to claim 1, further comprising a lateral light supplement module (3), wherein the lateral light supplement module (3) is arranged on the side of the unmanned aerial vehicle main body (2) and is in signal connection with the remote control device (7).
6. The unmanned aerial vehicle for patrolling confined narrow and complex space according to claim 1, wherein the unmanned aerial vehicle main body (2) comprises an image transmission system (22), and the image acquisition device (5) transmits image information to the remote control device (7) through the image transmission system (22).
7. The unmanned aerial vehicle for patrolling closed narrow and complex space as claimed in claim 1, wherein the remote control device (7) is connected with a display module.
8. The closed small and complex space patrol unmanned aerial vehicle according to any one of claims 1 to 7, wherein each obstacle ranging device (6) is a lidar.
9. The closed small and complex space patrol unmanned aerial vehicle according to any one of claims 1 to 7, wherein the downward-looking distance measuring device (4) is a laser radar.
10. The closed small and complex space patrol unmanned aerial vehicle according to any one of claims 1 to 7, wherein the image acquisition device (5) is a high-definition camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120278408.0U CN214824119U (en) | 2021-02-01 | 2021-02-01 | Airtight narrow and small complicated space inspection unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120278408.0U CN214824119U (en) | 2021-02-01 | 2021-02-01 | Airtight narrow and small complicated space inspection unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN214824119U true CN214824119U (en) | 2021-11-23 |
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| CN202120278408.0U Active CN214824119U (en) | 2021-02-01 | 2021-02-01 | Airtight narrow and small complicated space inspection unmanned aerial vehicle |
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- 2021-02-01 CN CN202120278408.0U patent/CN214824119U/en active Active
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Effective date of registration: 20240103 Address after: 3 / F, Xindeng incubator office building, Yungang Road, Chenglingji Xingang District, Yueyang City, Hunan Province Patentee after: Hunan Shengyao Intelligent Technology Co.,Ltd. Address before: 200241 room 503, floor 5, building 2, No. 588, Zixing Road, Minhang District, Shanghai Patentee before: SHANGHAI SHENGYAO INTELLIGENT SCIENCE & TECHNOLOGY CO.,LTD. |