CN216805824U - Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam - Google Patents
Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam Download PDFInfo
- Publication number
- CN216805824U CN216805824U CN202122796859.6U CN202122796859U CN216805824U CN 216805824 U CN216805824 U CN 216805824U CN 202122796859 U CN202122796859 U CN 202122796859U CN 216805824 U CN216805824 U CN 216805824U
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- collision
- shell
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Abstract
The utility model discloses an automatic inspection unmanned aerial vehicle for a steel box girder, which comprises an unmanned aerial vehicle main body, wherein the unmanned aerial vehicle main body comprises a support frame, a motor arranged on the support frame, a propeller connected with the motor and a flight control unit electrically connected with the motor; the battery pack is arranged on the support frame and is electrically connected with the flight control; the anti-collision component is arranged on the support frame and used for protecting the unmanned aerial vehicle main body; the camera module is arranged on the unmanned aerial vehicle main body and used for recording image information inside the steel beam box; laser rangefinder sensor. In the using process, the camera is driven to rotate by the steering engine, the image information of each part of the unmanned aerial vehicle in the travelling process in the steel beam box is recorded, the working strength in the patrol process is reduced, and meanwhile, the anti-collision shell arranged on the outer side of the unmanned aerial vehicle can provide elastic deformation to resist impact when the unmanned aerial vehicle slightly collides with the steel beam box, so that the interior of the unmanned aerial vehicle is protected.
Description
Technical Field
The utility model belongs to the technical field of mechanical engineering, and particularly relates to an automatic inspection unmanned aerial vehicle for a steel box girder.
Background
The steel plate box girder is a box in a cuboid shape, is also called as a steel box girder, is a common structural form of a large-span bridge, and has the characteristics of less steel consumption, high torsional rigidity, good wind resistance and the like. At present, inspection of a steel box girder is one of important works for bridge management, and the inspection is mainly performed on various disease problems such as cracks of the steel box girder, corrosion of steel box girder coating, water seepage, mildew of a top plate, deformation of U ribs and transverse clapboards and the like. When the steel box girder is inspected, the steel box girder crack is mainly inspected, the original crack of the steel box girder needs to be rechecked regularly, the development condition of the original crack is observed, and the like.
When patrolling and examining the steel box girder, rely on inside the inspection personnel enters into the steel box girder, the manual work is shot inside the steel box girder, the record. The work intensity of the inspection personnel is high in the process, and the inspection efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic inspection unmanned aerial vehicle for a steel box girder, aiming at overcoming the defects of the prior art.
In order to achieve the purpose, the utility model adopts the following technical scheme: an unmanned aerial vehicle for automatic inspection of a steel box girder comprises an unmanned aerial vehicle main body, wherein the unmanned aerial vehicle main body comprises a support frame, a motor arranged on the support frame, a propeller connected with the motor and a flight control unit electrically connected with the motor;
the battery pack is arranged on the support frame and is electrically connected with the flight control;
the anti-collision component is arranged on the support frame and used for protecting the unmanned aerial vehicle main body;
the camera module is arranged on the unmanned aerial vehicle main body and used for recording image information inside the steel beam box;
the laser ranging sensor is arranged on the anti-collision component and used for measuring the distance between the anti-collision component and the barrier;
wherein the anti-collision part comprises an anti-collision shell which surrounds the outer side of the unmanned aerial vehicle and is connected with the supporting frame.
When the unmanned aerial vehicle is used, the steering engine can drive the photographing camera to rotate in the using process, image information of each part of the unmanned aerial vehicle in the travelling process of the steel beam box is recorded, the working strength in the patrol process is reduced, and meanwhile, the anti-collision shell arranged on the outer side of the unmanned aerial vehicle can provide elastic deformation to resist impact when the unmanned aerial vehicle slightly collides with the steel beam box, so that the interior of the unmanned aerial vehicle is protected.
Optionally, the anticollision part still includes along the center pin that unmanned aerial vehicle main part fore-and-aft direction's axis was arranged, the anticollision shell with the center pin links to each other.
Optionally, the crashproof shell includes that at least two are arranged first crashproof shell of unmanned aerial vehicle main part first half and at least two are arranged the second crashproof shell of unmanned aerial vehicle main part the latter half, and two first crashproof shell is symmetrical with the vertical plane of the axis that passes through the center pin, two the second crashproof shell is symmetrical with the vertical plane of the axis that passes through the center pin.
Optionally, the first anti-collision shell and the second anti-collision shell are both arc-shaped, and the length from the front end of the first anti-collision shell to the rear end of the first anti-collision shell is greater than the length from the front end of the central shaft to the rear end of the central shaft, and the length from the front end of the second anti-collision shell to the rear end of the second anti-collision shell is greater than the length from the front end of the central shaft to the rear end of the central shaft.
Optionally, the front ends of the first anti-collision shell and the second anti-collision shell are connected through a first joint, and the rear ends of the first anti-collision shell and the second anti-collision shell are connected through a second joint.
Optionally, the first joint is arranged in front of the front end of the central shaft, the second joint is arranged behind the rear end of the central shaft, the first anti-collision shell is connected with the front end of the central shaft through a first connecting beam, the first anti-collision shell is connected with the rear end of the central shaft through a second connecting beam, the second anti-collision shell is connected with the front end of the central shaft through a third connecting beam, and the second anti-collision shell is connected with the rear end of the central shaft through a fourth connecting beam.
Optionally, the first, second, third, and fourth connecting beams are all arc-shaped.
Optionally, a first anti-collision shell and a second anti-collision shell located on one side of the unmanned aerial vehicle body are connected through a first connecting rod, the first anti-collision shell and the second anti-collision shell located on the other side of the unmanned aerial vehicle body are connected through a second connecting rod, the two first anti-collision shells are connected through a third connecting rod, and the two second anti-collision shells are connected through a fourth connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are all provided with the laser ranging sensors; still be equipped with multiunit body of rod subassembly on the anticollision shell, body of rod subassembly includes the first body of rod and the second body of rod, wherein one end of the first body of rod with the center pin links to each other, and the other end with first anticollision shell links to each other, wherein one end of the second body of rod with the center pin links to each other, the other end with second anticollision shell links to each other.
Optionally, the anti-collision shell is further provided with a plurality of groups of rod body assemblies, each rod body assembly comprises a first rod body and a second rod body, one end of each first rod body is connected with the central shaft, the other end of each first rod body is connected with the first anti-collision shell, one end of each second rod body is connected with the central shaft, and the other end of each second rod body is connected with the second anti-collision shell; taking the distance between the central axis of the central shaft and the intersection point of the two end surfaces of the central shaft as L1And taking the distance from the intersection point of the end surface of the first connector far away from the central shaft and the central axis of the central shaft to the intersection point of the end surface of the second connector far away from the central shaft and the central axis of the central shaft as L2Then L is1：L20.526-0.546: 1.0; the first anti-collision beam is arc-shaped and is first anti-collisionThe arc length from one end to the other end of the impact beam is taken as L3Then L is2：L30.358-0.378: 1.0; the linear distance from one end of the first connecting beam to the other end is taken as L4Then L is4：L10.421-0.441: 1.0; the first connecting beam is arc-shaped, and the arc length from one end to the other end of the first connecting beam is taken as L5Then L is4：L50.95-1.15: 1.0; taking the distance between the central axis of the first connecting rod and the intersection point of the two end surfaces of the first connecting rod as L6Taking the distance between the central axis of the third connecting rod and the intersection point of the two end surfaces of the third connecting rod as L7Then L is6：L7＝0.570～0.590：1.0。
Optionally, the rod assembly further comprises a first longitudinal connecting rod and a second longitudinal connecting rod, the first longitudinal connecting rod is connected with the first anti-collision shell, and the distance between the central axis of the first longitudinal connecting rod and the intersection point of the two end faces of the first longitudinal connecting rod is taken as L8Then L is8：L7＝0.967～0.987：1.0。
In conclusion, in the using process, the steering engine can drive the photographing camera to rotate, image information of each part of the unmanned aerial vehicle in the travelling process of the steel beam box is recorded, the working strength in the patrol process is reduced, and meanwhile, the anti-collision shell arranged on the outer side of the unmanned aerial vehicle can provide elastic deformation to resist impact when the unmanned aerial vehicle slightly collides with the steel beam box, so that the interior of the unmanned aerial vehicle is protected.
Drawings
Fig. 1 is a perspective view of the unmanned aerial vehicle of the present invention viewed from the front left from top to bottom.
Fig. 2 is a perspective view of the unmanned aerial vehicle of the present invention viewed from the right front from top to bottom.
Fig. 3 is a top view of the drone of fig. 1.
Fig. 4 is a bottom view of the drone of fig. 1.
Fig. 5 is a front view of the drone of fig. 1.
Fig. 6 is a rear view of the drone of fig. 1.
Fig. 7 is a top view of the drone of fig. 1.
Fig. 8 is a left side view of the drone in fig. 1.
Fig. 9 is a top view of the drone of fig. 1.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be described below clearly and completely with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
Fig. 1 is a perspective view of the unmanned aerial vehicle 10 of the present invention from the top to the bottom in the left front direction in an inoperative state. Fig. 2 is a perspective view showing the unmanned aerial vehicle from the front right side up to down in a non-operating state. Fig. 3 is a schematic view from the top of the drone 10 to the bottom of the drone 10. Fig. 4 is a schematic view as viewed from the bottom of the drone 10 to the top of the drone 10. Fig. 5 is a schematic view as seen from the front end of the drone towards the rear end of the drone. Fig. 6 is a schematic view from the rear end of the drone to the front end of the drone. Fig. 7 is a schematic view of the drone 10 as viewed from the top toward the bottom of the drone 10, and is marked with L1、L2、L3、L4、L5The size of (c). FIG. 8 is a schematic view from the left end of the drone to the right end of the drone, and labeled L6The size of (c). FIG. 9 is a schematic view from the bottom end of the drone to the top end of the drone, and labeled L7And L8The size of (c).
Referring to the drone 10 shown in fig. 1-6, the drone 10 has a drone body 20, a collision avoidance component 30, a vision camera 40, a photo camera 50, and a steering engine 60. Wherein unmanned aerial vehicle main part 20 takes off under artificial control or the program control that predetermines in advance in the middle of the steel box girder, and wherein vision camera 40 is located unmanned aerial vehicle 10 the forefront and transmits the video of shooing to the backstage in real time to be convenient for operating personnel adjusts unmanned aerial vehicle main part 20's flight path in real time, reduce the probability that unmanned aerial vehicle 10 collided the girder steel in the steel box girder, whether there is the gap through the video visual inspection bridge simultaneously. The camera 50 of shooing is located the front end of unmanned aerial vehicle 10, and is located the rear of vision camera 40. The steering wheel is located the rear of camera 50 of shooing to steering wheel 60 drives camera 50 of shooing and rotates three hundred sixty degrees at the during operation, and camera 50 of shooing can shoot the picture of four directions on upper and lower, left and right from this, thereby detects the bridge and whether has the gap, ensures the safety of bridge box from this.
Referring to fig. 1-5 in a lump, unmanned aerial vehicle main part 20 realizes that unmanned aerial vehicle 10 can fly along the steel box girder is inside as whole unmanned aerial vehicle 10's power supply to the inside condition of steel box girder can be shot to vision camera 40. Simultaneously the unmanned aerial vehicle main part 20 also can hover a certain region inside the steel box girder, and then take a picture camera 50 and shoot the inside photo of steel box girder, the crack of the steel box girder of being convenient for the backstage inspection and the analysis shooting. Unmanned aerial vehicle main part 20 has support frame 21, motor 22, screw 23, group battery 24 and flies to control 25, and wherein the main support body of support frame 21 conduct unmanned aerial vehicle main part 20 for the support constitutes the other parts of unmanned aerial vehicle main part 20. The support frame 21 has a substantially rhombic support center portion 21a and branch portions 21b formed to extend from four corners of the support center portion 21a in a substantially horizontal direction. In which the edge of the support central portion 21a is approximately a one-third-large-small circular arc-shaped edge 21a 1. The four brackets 21b are arranged substantially at equal intervals in the circumferential direction on a horizontal plane. Wherein the end of the bracket 21b remote from the support central portion 21a is substantially circular and the motor 22 is mounted on the bracket 21 b.
In addition, motor 22 is used for driving screw 23 high-speed rotatory, and the whole unmanned aerial vehicle 10 is risen to the air current that screw 23 formed, and motor 22 passes through the bolt fastening on the tip of support 21b, and motor 22's output shaft is towards the top, and screw 23 cover is on motor 22's output shaft to go into the nut in the screw on motor 22's output shaft, the middle part of screw 23 is pushed down to the nut, thereby restriction screw 23 is along with motor 22's output shaft synchronous rotation down screw 23 normal work, stability when guarantee unmanned aerial vehicle main part 20 operation.
Referring to fig. 3, flight control 25 generally includes three major parts of sensor, on-board computer and servo actuation equipment, and the function of realization mainly has three main categories of attitude of stabilizing unmanned aerial vehicle 10 and task equipment management and emergency control of controlling unmanned aerial vehicle 10, unmanned aerial vehicle 10. The support middle part 21a of support frame 21 is drilled with the screw, will fly accuse 25 with the screw and fix to support middle part 21a, and fly accuse 25 is lieing in above the up end of support frame 21 moreover, and when this unmanned aerial vehicle 10 rose, keep unmanned aerial vehicle 10 balanced. And at the same time, the electric wire for information transmission on the flight control 25 is arranged along the upper end face of the bracket 21b and then connected to the motor 22, whereby the flight control 25 controls the rotation speed and the like of the motor 22.
Referring to fig. 1 and 4, the battery pack 24 provides flight power to the flight controller 25 and the motor 22, and also provides power to the vision camera 40 and the photo camera 50, so as to maintain the stable operation of the unmanned aerial vehicle 10 inside the steel box girder. A battery holder 21c is fixed below the lower end surface of the support frame 21 by bolts, the battery holder 21c has four hanging bars 21c1 connected to the support middle portion 21a by screws and a support plate 21c2 connected to the lower end of the hanging bar 21c1, and the support plate 21c2 and the hanging bar 21c1 are connected to form a space for accommodating the battery pack 24. The battery fixing frame 21c supports and protects the battery pack 24, so that the service life of the battery pack 24 is prolonged, and the safety of the unmanned aerial vehicle 10 is improved. The battery pack 24 is a lithium battery, the battery pack 24 is detachably fixed on the battery fixing frame 21c, and the support plate 21c2 supports the battery pack 24. The battery pack 24 and the flight control 25 are correspondingly arranged and located in the middle of the lift force formed by the four propellers 23, so that the unmanned aerial vehicle 10 is kept in working, and the unmanned aerial vehicle 10 is maintained not to deviate.
Referring to fig. 1 together, anticollision part 30 protects unmanned aerial vehicle main part 20 in order to avoid unmanned aerial vehicle main part 20 to collide the steel box girder inner wall and receive the damage when flying in the steel box girder. Wherein anticollision part 30 includes cylindricality center pin 31 and around the crashproof shell outside the center pin, and the length of center pin 31 slightly is greater than the length of support frame, and center pin 31 arranges along the axis of unmanned aerial vehicle main part 20 front and back direction to fixed to the back of unmanned aerial vehicle main part 20. The central shaft 31 is used to support the crash shell, thereby fixing the central shaft 31.
In addition, crashproof clamshell is outside unmanned aerial vehicle main part 20, and unmanned aerial vehicle main part 20 is protected to the protective layer that forms unmanned aerial vehicle main part 20, maintains unmanned aerial vehicle main part 20 and normally works. The impact shell has two first impact shells 321 approximately in the upper half of the drone 10 and two second impact shells 322 approximately in the lower half of the drone 10, where the two first impact shells 321 are symmetrical with a vertical plane passing through the axis of the central shaft 31. Meanwhile, the two second crash shells 322 are symmetrical with respect to a vertical plane passing through the axis of the center shaft 31.
Referring to fig. 1, 4 and 5, one of the two first anti-collision shells 321 in the upper half of the drone is located above and to the left of the drone 10, and the other is located above and to the right of the drone 10. The first impact shell 321 includes a first impact beam 321a, a first connecting beam 321b, and a second connecting beam 321 c. The first impact beam 321a is a substantially arc-shaped elastic plastic member, and the length from the front end to the rear end of the first impact beam 321a is greater than the length of the center shaft 31, and the front end of the first impact beam 321a is located forward of the front end of the center shaft 31. The rear end of the first impact beam 321a is located rearward of the rear end of the center shaft 31. The first impact beam 321a thus provides a large protection range for the main drone body 20. Unmanned aerial vehicle 10 takes place elastic deformation after being close to steel box girder inner wall and the contact of steel box girder inner wall to flick unmanned aerial vehicle 10 to keeping away from steel box girder inner wall. Of course, in other embodiments, the first impact beam 321a may also be made of a rigid material.
Referring to fig. 1, a first connection beam 321b is formed to be bent to extend partially toward the front end of the center shaft 31 near the front end of the first impact beam 321a, and the end of the first connection beam 321b near the center shaft 31 is fixed to the first joint 31a of the front end of the center shaft 31 by a screw, thereby diagonally supporting the first impact beam 321 a. In addition, a second connecting beam 321c is formed by extending and bending the portion of the second connecting beam 321c near the rear end of the first impact beam 321a toward the rear end of the central shaft 31, the end of the second connecting beam 321c near the central shaft 31 is fixed to the second joint 31b at the rear end of the central shaft 31 by a screw, and the rear end of the first impact beam 321a is supported by the second connecting beam bevel 321c, so that the strength and elasticity of the first impact beam 321a are enhanced. First crashproof roof beam 321a collides first tie-beam 321b and second tie-beam 321c elastic deformation behind the steel box girder is inside, promotes unmanned aerial vehicle 10 and keeps away from the steel box girder inner wall.
Referring to fig. 1 and 4-5, the second anti-collision shell 322 respectively located at the lower left of the unmanned aerial vehicle 10 and the lower right of the unmanned aerial vehicle 10 includes a second anti-collision beam 322a, a third connecting beam 322b and a fourth connecting beam 322 c. The second impact beam 322a is a substantially arc-shaped piece of elastic plastic, and the length from the front end to the rear end of the second impact beam 322a is greater than the length of the center shaft 31, and the front end of the second impact beam 322a is located forward of the front end of the center shaft 31. The rear end of the second impact beam 322a is located rearward of the rear end of the center shaft 31. The scope of protection that second anticollision roof beam 322a formed to unmanned aerial vehicle main part 20 is great from this. Unmanned aerial vehicle 10 takes place elastic deformation after being close to steel box girder inner wall and the contact of steel box girder inner wall to flick unmanned aerial vehicle 10 to keeping away from steel box girder inner wall. Of course, in other embodiments, the second impact beam 322a may also be made of a rigid material.
Referring to fig. 1, a curved third connection beam 322b is formed to extend partially toward the front end of the center shaft 31 near the front end of the second impact beam 322a, and the end of the third connection beam 322b near the center shaft 31 is fixed to the first joint 31a of the front end of the center shaft 31 by a screw, thereby diagonally supporting the second impact beam 322 a. In addition, a bent fourth connection beam 322c is formed at a portion near the rear end of the second impact beam 322a and extends toward the rear end of the central shaft 31, the end portion of the fourth connection beam 322c near the central shaft 31 is fixed to the second joint 31b at the rear end of the central shaft 31 by a screw, and the rear end of the second impact beam 322a is supported by the second connection beam bevel 321c, thereby reinforcing the strength and elasticity of the second impact beam 322 a. Second anticollision roof beam 322a collides the inside back third tie-beam 322b of steel box girder and fourth tie-beam 322c elastic deformation, promotes unmanned aerial vehicle 10 and keeps away from the steel box girder inner wall.
Referring to fig. 1 and 2 together, a foot pad 322a1 having a central axis parallel to a vertical line is provided on the second anti-collision beam 322a near the third connecting beam 322b, and the area of the cross section of the foot pad 322a1 near the upper portion of the second anti-collision beam 322a is smaller than the area of the cross section of the lower end portion far from the second anti-collision beam 322a, so that the contact area between the foot pad and the ground is increased, and a buffering effect is achieved when the unmanned aerial vehicle lands.
Referring to fig. 1 and 4-5, the first joint 31a has a sleeve portion fitted around the central shaft 31 and four first coupling prongs 311a extending partially outward from the side wall of the sleeve portion to form a substantially Y-shape, the first coupling prongs 311a being arranged along the circumferential direction of the central shaft 31. The first connection beam 321b and the third connection beam 322b near the front end of the central shaft 31 are respectively inserted into the first connection fork 311a and fixed by screws. The first connection fork 311a clamps the ends of the first connection beam 321b and the third connection beam 322b to increase a contact area and improve connection firmness.
The second joint 31b has a sleeve-shaped portion fitted around the central shaft 31 and four second coupling prongs 311b extending partially outward from the side wall of the sleeve-shaped portion to form a substantially Y-shape, and the second coupling prongs 311b are arranged along the circumferential direction of the central shaft 31. The second connection beam 321c and the fourth connection beam 322c near the front end of the central shaft 31 are respectively inserted into the second yoke 33a and fixed by screws.
Referring to fig. 1, the ends of the first impact beam 321a and the second impact beam 322a near the front end of the center shaft 31 are connected by a first connection joint 35. The first link head 35 is cylindrical in the middle, and extends partially outward from the side wall of the first link head 35 to form four substantially Y-shaped first fixing forks 35 a. The first impact beam 321a and the second impact beam 322a at the front end of the drone 10 are inserted into the first fixing fork 35a and then fixed by screws.
Referring also to fig. 1, the ends of the first impact beam 321a and the second impact beam 322a near the rear end of the center shaft 31 are connected by a second connector 36. The shape of the second connector 36 is consistent with that of the first connector 35, so that the side walls of the second connector 36 extend to form four substantially Y-shaped second fixing forks 36a, and the first impact beam 321a and the second impact beam 322a at the rear end of the drone 10 are inserted into the second fixing forks 36a and then fixed by screws.
Referring to fig. 4 and 5, the middle part of the first anti-collision beam 321a and the middle part of the second anti-collision beam 322a on the left of the unmanned aerial vehicle 10 are connected through a first connecting rod 37a, the first and second anti-collision beams are reinforced by the first connecting rod 37a, the left first and second anti-collision beams do not shake when the unmanned aerial vehicle 10 is maintained to fly, and the unmanned aerial vehicle is kept to fly stably. The middle part of the first anticollision roof beam 321a of unmanned aerial vehicle 10 right side and the middle part of second anticollision roof beam 322a are connected through second connecting rod 37b, and first, second anticollision roof beam has been consolidated to second connecting rod 37b, and first, second anticollision roof beam on right side does not rock when keeping unmanned aerial vehicle 10 to fly, maintains that unmanned aerial vehicle flight is stable. Further, the upper end of the first link 37a and the upper end of the second link 37b are connected by a third link 37 c. The lower end of the first link 37a and the lower end of the second link 37b are connected by a fourth link 37d, thereby supporting and fixing the positions of the first impact beam 321a and the second impact beam 322a without movement.
Referring to fig. 1, the overall strength of the anti-collision component is enhanced, and a set of reinforcing rod assemblies are respectively arranged near the front end of the unmanned aerial vehicle 10 and near the rear end of the unmanned aerial vehicle, and each reinforcing rod assembly comprises a first reinforcing rod 39a, a second reinforcing rod 39b, a third reinforcing rod 39c and a fourth reinforcing rod 39d, wherein the first reinforcing rod 39a is connected with a first anti-collision beam 321a and a second anti-collision beam 322a which are positioned on the left side of the unmanned aerial vehicle 10, and the second reinforcing rod 39b is connected with the first anti-collision beam 321a and the second anti-collision beam 322a which are positioned on the right side of the unmanned aerial vehicle. The third reinforcing bar 39c is connected at both ends to the two first impact beams 321a, and the fourth reinforcing bar 39d is connected to the two second impact beams 322 a. The reinforcing rod assembly maintains the front and rear ends of the impact member 30 from shaking, and reinforces the structure of the impact member 30.
In addition, the middle part department that is close to unmanned aerial vehicle 10 is provided with two sets of body of rod subassemblies of constituteing by eight body of rods, its body of rod subassembly 40, the body of rod subassembly includes two first bodies of rod 40a and two second bodies of rod 40b, one of them first body of rod 40 a's one end and central axis 31 link to each other, the other end links to each other with one of two first anticollision roof beam 321a, another one of first body of rod 40 a's one end and central axis 31 link to each other, the other end links to each other with another anticollision roof beam 321a, and form certain contained angle between two first bodies of rod 40a formation, in order to form "V" font.
One end of one of the second rod bodies 40b is connected to the central shaft 31, and the other end thereof is connected to one of the second impact beams 322 a; one end of the other second rod 40b is connected to the central shaft 31, the other end is connected to the other second impact beam 322a, and a certain included angle is formed between the two second connecting rods 40b to form a V shape.
The rod assembly 40 further includes a first longitudinal connecting rod 40c and a second longitudinal connecting rod 40d, the two first rods 40a are respectively connected to the first anti-collision beams 321a to form two first connecting points, wherein the head and tail ends of the first longitudinal connecting rod 40c are respectively connected to the two first anti-collision beams 321a at the first connecting points.
The two second rod bodies 40b are connected to the second anti-collision beam 321b, respectively, to form two joints, wherein the head and tail ends of the second longitudinal connecting rod 40d are connected to the two second anti-collision beams 322a at the second joints, respectively.
Referring to fig. 1 to 3, laser distance measuring sensors 70 are respectively provided at the upper ends of the first and second connection bars 37a and 37b, and similarly, a laser distance measuring sensor 70 is provided at the middle of the third connection bar 37c and a laser distance measuring sensor 70 is provided at the middle of the fourth connection bar 37 d. The laser ranging sensor 70 is fixed on the unmanned aerial vehicle, and provides the functions of avoiding obstacles and keeping the safe distance.
Anticollision shell can play fine guard action to the unmanned aerial vehicle main part, but in the work of patrolling, if it is too little to discover anticollision shell, only arrange to paste the unmanned aerial vehicle main part, then when bumping, be difficult to provide good buffering effect, if too big of anticollision shell design, then can lead to unmanned aerial vehicle to remove in the girder steel case and be restricted. Therefore, the utility model also provides a more detailed size, and under the size, the unmanned aerial vehicle main body can be ensured to have a corresponding protection effect when the unmanned aerial vehicle is in collision under the condition of high flight speed.
Referring to fig. 7 to 9, specifically, the distance between the intersection of the central axis of the central shaft 31 and the two end surfaces of the central shaft 31 is taken as L1(the length of the central shaft),
the intersection point of the end face of the first connector 35 far from the central shaft 31 and the central axis of the central shaft 31 is connected to the end face of the second connector 36 far from the central shaft 31 andthe distance between the intersections of the central axes of the central shafts 31 is L2(longitudinal length of the utility model), then L1：L20.526 to 0.546, and 0.536 in the present embodiment.
The arc length from one end to the other end of the first impact beam 321a is taken as L3(arc length of impact shell), then L2：L30.358 to 0.378, L in the present embodiment2：L3＝0.368。
A linear distance from one end to the other end of the first connection beam 321b is taken as L4(distance from the connecting point of one end of the connecting beam and the impact shell to the connecting point of the other end of the connecting beam and the central shaft), then L4：L10.421-0.441: 1.0, L in this example4：L1＝0.431：1.0。
The arc length from one end to the other end of the first connection beam 321b is taken as L5(arc length of connecting beam), then L4：L50.95-1.15: 1.0, L in the present example4：L5＝1.05：1.0。
And then under above-mentioned structure, the radian design of crashproof shell just can reduce the holistic length and the width of whole equipment under the circumstances that has good elasticity and crashproof effect.
And the hookup location and the arc length of anticollision roof beam on the crashproof shell are also fixed, and under this position, the anticollision roof beam can provide under the condition of good supporting effect, can not lead to the fact the influence to the elasticity of crashproof shell.
The distance between the intersection points of the central axis of the first link 37a and the two end surfaces of the first link 37a is taken as L6L is the distance between the intersection points of the central axis of the third link 37c and the two end surfaces of the third link 37a7Then L is6：L70.570-0.590: 1.0, in this example, L6：L70.580: 1.0. under this proportion, whole height and the width of whole device will be confirmed, under this proportion, can guarantee the protection of unmanned aerial vehicle body top under the condition of the whole device height of minimize, simultaneously under this proportion, also can guarantee receiving to come from above under the circumstances that comes fromWhen the collision, through the crashproof shell that the slope set up, protect unmanned aerial vehicle main part 10.
The distance between the center axis of the first longitudinal connecting rod 40c and the intersection point of the two end faces of the first longitudinal connecting rod 40c is taken as L8Then L is8：L70.967 to 0.987: 1.0, L in the present example8：L7＝0.977：1.0。
Corresponding support means are also required to be provided at the middle portion of the entire impact-protection member 30, wherein the bar body assembly 40 has the effect of supporting the middle portion of the impact-protection member 30. And L is8：L70.977, the rod assembly 40 can be disposed at the two sides of the third link 37c to support the impact-protection member 30 at the middle position.
Refer to fig. 1 in the lump, steering wheel 60 installs the tip at center pin 31 front end, steering wheel 60's power output shaft links to each other with camera 50 of shooing, specific camera 50 of shooing arranges on camera body 501, the side of above-mentioned camera body 501 links to each other with steering wheel 60's power output shaft, camera 50 of shooing has two, the symmetry is installed on camera body 501, be located camera body 501's last bottom surface and lower bottom surface respectively, and then unmanned aerial vehicle is at the in-process of flight, can shoot the particular case of two opposite directions simultaneously.
The vision camera 40 is arranged at the front end of the photographing camera 50, and the photographing camera 50 is arranged between the vision camera 40 and the steering engine 60. Specifically, the vision camera 40 is arranged on the first connecting head 35 connecting the front ends of the first anti-collision beam 321a and the second anti-collision beam 322a, the vision camera is mounted at the front end of the first connecting head 35 through a screw, and the vision camera shoots a real-time video and provides the background. The photographing cameras 50 are symmetrically arranged, can rotate 360 degrees by means of driving of the steering engine, and are respectively used for photographing images and videos in four directions, namely up, down, left and right
This unmanned aerial vehicle theory of operation does: patrol and examine in the steel box girder of bridge and shoot back and forth, rely on laser range finding sensor to guarantee the all-direction safe distance after the bridge head end takes off, at the uniform velocity fly to the end of steel box girder and take the inside upper and lower photo of steel box girder down simultaneously, when unmanned aerial vehicle flies to the steel box girder end the camera of shooing is rotatory 90 and is shot the photo about the steel box girder, and unmanned aerial vehicle flies toward the head end at the uniform velocity simultaneously. After one cycle is finished, the unmanned aerial vehicle descends at the head end of the steel box girder and transmits data back to the backstage for workers to analyze.
It is to be understood that the described embodiments are merely a few embodiments of the utility model, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Claims (10)
1. An automatic unmanned aerial vehicle that patrols and examines of steel case roof beam which characterized in that includes:
the unmanned aerial vehicle main body comprises a support frame, a motor arranged on the support frame, a propeller connected with the motor and a flight control device electrically connected with the motor;
the battery pack is arranged on the support frame and is electrically connected with the flight control;
the anti-collision component is arranged on the support frame and used for protecting the unmanned aerial vehicle main body;
the camera module is arranged on the unmanned aerial vehicle main body and used for recording image information inside the steel beam box;
the laser ranging sensor is arranged on the anti-collision component and used for measuring the distance between the anti-collision component and the barrier;
wherein, the anticollision part includes around the unmanned aerial vehicle outside and the crashproof shell that links to each other with the support frame.
2. The automatic steel box girder inspection unmanned aerial vehicle of claim 1, wherein the anti-collision component further comprises a central shaft arranged along a central axis of the main body of the unmanned aerial vehicle in the front-rear direction, and the anti-collision shell is connected with the central shaft.
3. The automatic steel box girder inspection unmanned aerial vehicle of claim 2, wherein the anti-collision shells comprise at least two first anti-collision shells arranged on the upper half portion of the unmanned aerial vehicle main body and at least two second anti-collision shells arranged on the lower half portion of the unmanned aerial vehicle main body, the two first anti-collision shells are symmetrical with a vertical plane passing through the axis of the central shaft, and the two second anti-collision shells are symmetrical with a vertical plane passing through the axis of the central shaft.
4. The automatic unmanned aerial vehicle that patrols and examines of steel box girder according to claim 3, characterized in that, first anticollision shell with the second anticollision shell is the arc, and the length of first anticollision shell front end to first anticollision shell rear end is greater than the center pin front end to the length of center pin rear end, the length of second anticollision shell front end to second anticollision shell rear end is greater than the center pin front end to the length of center pin rear end.
5. The automatic unmanned aerial vehicle that patrols and examines of steel case roof beam according to claim 4, characterized in that, the front end of first anticollision shell with the second anticollision shell links to each other through first connector, the rear end of first anticollision shell with the second anticollision shell links to each other through the second connector.
6. The automatic unmanned aerial vehicle that patrols and examines of steel box girder according to claim 5, characterized in that, first connector is arranged in the place ahead of center pin front end, the second connector is arranged the back of center pin rear end, and first crashproof shell with the front end of center pin links to each other through first tie-beam, first crashproof shell with the rear end of center pin passes through the second tie-beam and links to each other, the second crashproof shell with the front end of center pin passes through the third tie-beam and links to each other, the second crashproof shell with the rear end of center pin passes through the fourth tie-beam and links to each other.
7. The automatic steel box girder inspection unmanned aerial vehicle of claim 6, wherein the first, second, third and fourth connecting beams are all arc-shaped.
8. The automatic steel box girder inspection unmanned aerial vehicle according to claim 6, wherein a first anti-collision shell and a second anti-collision shell on one side of the unmanned aerial vehicle body are connected through a first connecting rod, the first anti-collision shell and the second anti-collision shell on the other side of the unmanned aerial vehicle body are connected through a second connecting rod, the two first anti-collision shells are connected through a third connecting rod, and the two second anti-collision shells are connected through a fourth connecting rod; the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are all provided with the laser ranging sensors; still be equipped with multiunit body of rod subassembly on the anticollision shell, body of rod subassembly includes the first body of rod and the second body of rod, wherein one end of the first body of rod with the center pin links to each other, and the other end with first anticollision shell links to each other, wherein one end of the second body of rod with the center pin links to each other, the other end with second anticollision shell links to each other.
9. The unmanned aerial vehicle for automatic inspection according to claim 8, wherein the distance between the central axis of the central shaft and the intersection point of the two end surfaces of the central shaft is taken as L1And taking the distance from the intersection point of the end surface of the first connector far away from the central shaft and the central axis of the central shaft to the intersection point of the end surface of the second connector far away from the central shaft and the central axis of the central shaft as L2Then L is1：L2=0.526~ 0.546: 1.0; the first anti-collision beam is arc-shaped, and the arc length from one end to the other end of the first anti-collision beam is taken as L3Then L is2：L3= 0.358-0.378: 1.0; the linear distance from one end of the first connecting beam to the other end is taken as L4Then L is4：L1=0.421 to 0.441: 1.0; the first connecting beam is arc-shaped, and the arc length from one end to the other end of the first connecting beam is taken as L5Then L is4：L5= 0.95-1.15: 1.0; taking the distance between the central axis of the first connecting rod and the intersection point of the two end surfaces of the first connecting rod as L6Taking the distance between the central axis of the third connecting rod and the intersection point of the two end surfaces of the third connecting rod as L7Then L is6：L7=0.570~0.590：1.0。
10. The automatic unmanned aerial vehicle that patrols and examines of steel box girder according to claim 8, characterized in that, body of rod subassembly still includes first longitudinal tie rod and second longitudinal tie rod, first longitudinal tie rod is connected with first crashproof shell to the distance between the axis of first longitudinal tie rod with the nodical point of two terminal surfaces of first longitudinal tie rod is as L8Then L is8：L7=0.967~0.987：1.0。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122796859.6U CN216805824U (en) | 2021-11-12 | 2021-11-12 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122796859.6U CN216805824U (en) | 2021-11-12 | 2021-11-12 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216805824U true CN216805824U (en) | 2022-06-24 |
Family
ID=82049893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122796859.6U Active CN216805824U (en) | 2021-11-12 | 2021-11-12 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216805824U (en) |
-
2021
- 2021-11-12 CN CN202122796859.6U patent/CN216805824U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11220170B2 (en) | Reconfigurable battery-operated vehicle system | |
| EP3265382B1 (en) | Unmanned aerial vehicle with a tri-wing configuration | |
| US10778960B2 (en) | Aerial vehicle sensor positioning | |
| EP3452987B1 (en) | Selectively paired imaging elements for stereo images | |
| CN214325365U (en) | Flying body | |
| CN103387052A (en) | Eight-rotor craft | |
| CN111687821A (en) | Rotary parallel flying mechanical arm system and expected rotation angle calculating method | |
| CN113107787B (en) | Wind power blade internal inspection robot system and internal state model construction method thereof | |
| CN216805824U (en) | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam | |
| JP2019171997A (en) | Flight vehicle | |
| CN113928561B (en) | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam with anticollision ability | |
| CN218317359U (en) | Self-stabilizing cradle head of agricultural condition information acquisition unmanned aerial vehicle | |
| CN214397249U (en) | Carry on parallelly connected arm aircraft | |
| CN209649972U (en) | A kind of land and air double-used operation type flying robot | |
| CN217515268U (en) | A work robot for bridge bottom crack detects | |
| CN216734766U (en) | Torch butt joint unmanned aerial vehicle | |
| CN114206723A (en) | Flying object and flying method for flying object | |
| CN212074459U (en) | Aerial working unmanned aerial vehicle cloud platform with night locate function | |
| WO2023037437A1 (en) | Unmanned aerial vehicle, flying body, and flying robot | |
| CN209321266U (en) | A kind of multi-functional unmanned plane during flying platform | |
| KR102258389B1 (en) | Drone for photographing image | |
| CN208453241U (en) | A kind of unmanned plane with defencive function for taking photo by plane | |
| CN211711057U (en) | Novel aircraft of forest fire monitoring | |
| JP7123459B1 (en) | flight device | |
| CN213546985U (en) | Line patrol inspection bionic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |