CN217417966U - Be equipped with bank bridge at unmanned aerial vehicle airport - Google Patents
Be equipped with bank bridge at unmanned aerial vehicle airport Download PDFInfo
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- CN217417966U CN217417966U CN202220804247.9U CN202220804247U CN217417966U CN 217417966 U CN217417966 U CN 217417966U CN 202220804247 U CN202220804247 U CN 202220804247U CN 217417966 U CN217417966 U CN 217417966U
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Abstract
The utility model discloses a shore bridge equipped with an unmanned aerial vehicle airport, which comprises an installation platform arranged on the roof, positioners and positioning marks arranged on various beams on the shore bridge, and an airport arranged on the installation platform; the airport is used for parking one or more unmanned aerial vehicles; the unmanned aerial vehicle is connected with the background server through a wireless network; the unmanned aerial vehicle is connected with the airport through a wireless network; the shore bridge, the airport and the background server are connected through a wired network. The utility model provides a detect and stop with unmanned vehicles, this unmanned vehicles can come the appointed task of selective completion according to appointed airline data and task menu.
Description
Technical Field
The utility model relates to a crane equipment, more specifically say, relate to a bank bridge that is equipped with unmanned aerial vehicle airport.
Background
The shore bridge (shore container crane) is a large-scale steel construction mechanical equipment, and is high, and conventional inspection of ascending a height detects difficultly, and many places need just can reach and watch with the help of the scaffold. Visual inspection of mechanical equipment is a necessary link for daily safety work. The unmanned aerial vehicle has the advantages of unique visual angle and space flexibility, and the technical development trend for solving the problem is to assist the climbing operation or finish the high-altitude operation by means of the unmanned aerial vehicle, but the conventional utilization of the aircraft operation needs people to operate and position on the ground, and can be influenced by adverse factors such as signal intensity, operation errors, production activities and the like, and the influences can generally cause untimely high-altitude operation of the unmanned aerial vehicle or limited work, even can not reach the accurate position of the operation. With the continuous development of port automation, the port area, especially the front edge of a wharf, in the future will present an unmanned characteristic, and how to improve the self-checking capability and the intelligent degree of port equipment such as a shore bridge becomes more urgent.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned defect that exists among the prior art, the utility model aims at providing a bank bridge of being equipped with unmanned aerial vehicle airport for operation unmanned vehicles stops, and this unmanned vehicles can come selective completion appointed task according to appointed airline data and task menu.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a shore bridge equipped with unmanned aerial vehicle airport:
the unmanned aerial vehicle airport comprises an installation platform arranged on the roof, locators arranged on various beams on the shore bridge, positioning marks and an airport arranged on the installation platform;
the airport is used for parking one or more unmanned aerial vehicles;
the unmanned aerial vehicle is connected with the background server through a wireless network;
the unmanned aerial vehicle is connected with the airport through a wireless network;
the shore bridge, the airport and the background server are connected through a wired network.
Preferably, the unmanned aerial vehicle airport is arranged on the roof of a machine room of the shore bridge or a doorframe contact beam of the shore bridge;
and the machine room or the door frame is connected with the beam for power utilization and network transmission of the unmanned aerial vehicle airport.
Preferably, the mounting platform is arranged at the center of the roof through a connecting piece;
the connecting piece is arranged vertically, and the lower end of the connecting piece is connected with the bearing cross beam or the upright post;
the mounting platform is horizontally arranged at the upper end of the connecting piece;
and the mounting platform is provided with a mounting positioning hole.
Preferably, the bottom of the airport is provided with mounting bolt holes corresponding to the mounting positioning holes, and the mounting positioning holes are connected with the mounting bolt holes through bolts.
Preferably, the positioner is provided with a plurality of positioners which are arranged on the central axis positions of various beams on the shore bridge.
Preferably, the positioning mark is provided with a plurality of positioning marks, and a two-dimensional code or local structural features of the shore bridge are adopted.
Preferably, the unmanned aerial vehicle is a quad-rotor unmanned aerial vehicle or a multi-rotor unmanned aerial vehicle.
The utility model provides a be equipped with bank bridge at unmanned aerial vehicle airport, the airport can supply one or many unmanned vehicles for the detection to stop, and this unmanned vehicles for operation can come the appointed task of selective completion according to appointed airline data and task menu. Under proper conditions, a proper task is selected, and the automatic completion can be realized by one-key starting. The utility model discloses a bank bridge is one kind and fuses the leading edge science and technology unmanned aerial vehicle application technique to bank bridge equipment on, has strengthened the automation and the intelligent function of equipment, has great practical value and economic value.
Drawings
FIG. 1 is a schematic structural view of a quay crane of the present invention;
fig. 2 is a schematic structural view of the unmanned aerial vehicle airport on the shore bridge of the present invention;
fig. 3 is the structure schematic diagram of the mounting platform on the shore bridge of the utility model.
Detailed Description
In order to better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the accompanying drawings and embodiments.
With reference to fig. 1, the utility model provides a be equipped with bank bridge at unmanned aerial vehicle airport, unmanned aerial vehicle airport 200 locates on the roof 201 of the machine room of bank bridge 100.
The shore bridge 100 has initial three-dimensional coordinate information according to product design parameters. (usually the origin of coordinates is the center point of the track on the land side, facing the sea side and the positive direction of the X axis, and the vertical direction is the Y axis, and the coordinate system meets the right-hand rule.) track planning information (see patent publication No. CN 113031462A).
The shore bridge 100 has power supply lines and communication line equipment in a machine room, and can be connected to the unmanned aerial vehicle airport 200 on the roof 201 through wired lines for the airport 202 to use electricity and network transmission. Airport 202 is supplied power by the machine room of bank bridge 100 in unison, and this unmanned aerial vehicle airport 200 can supply unmanned aerial vehicle 203 that accords with the requirement to park, take off, charge (trade the electricity), and this airport 202 can carry out processes such as certain maintenance, detection to unmanned aerial vehicle function simultaneously. The airport 202 also has the rainproof and waterproof functions, and meets the requirements of field operation
The shore bridge 100 has more than two locators 204 on the central axis (which can be arranged on the central line of the front and rear girder head and tail beams), two transverse locators 204 can be set at other fixed positions (such as the sea side upper beam), the position of each locator 204 has a relatively accurate three-dimensional coordinate value under the shore bridge coordinate system, each locator 204 can acquire the actual global coordinate positioning (GPS positioning), and the locator 204 can transmit the GPS information back to a background server in real time to accurately position the shore bridge 100 and the key positions.
The positioning mark 205 is a selected specific position, which is a point on a component of the shore bridge (for example, a position 5 m from the center of the airport to the sea side on the central axis of the top of the machine room), and the point has accurate three-dimensional coordinate information and can be represented by a two-dimensional code or a characteristic shape of the structure (in the embodiment, the two-dimensional code is adopted); the marking position 205 can be arranged in plurality as required; when the drone 203 is above or beside the calibration location 205, coordinate comparison calibration can be performed by ranging and reading the coordinate information there. In particular, when the positioner 204 fails, the automated operation can be continued by physically calibrating the calibration positions 205.
A mounting platform 300 (shown in fig. 3) is disposed at the central axis (central position) of the roof 201, and can be connected to the roof bearing beams of the roof 201 or the pillars of the enclosure through connecting members 301, so as to form a stable bottom supporting structure for bearing the weight of the airport. The bearing member 302 is provided with a mounting positioning hole, the positioning of the mounting positioning hole is determined according to a mounting bolt hole at the bottom of the airport 202, and the mounting positioning hole is designed into an adjustable mounting mode so as to be convenient for mounting.
The installation platform 300 has a more accurate coordinate value positioning with respect to the shore bridge coordinate system, and the airport 202 also has a more accurate shore bridge coordinate system positioning coordinate value after installation.
The drone 203 may obtain GPS information and index point a at the airport 202 and obtain GPS information and index point B at the positioning point 205, and compare and approve the GPS coordinate information of the shore bridge 100 received from the backend server according to the coordinate value information of a and B. The positioning information here can compare and calibrate the information of the positioner 204, and can also continue to operate normally when the positioner 204 fails. In order to calibrate the coordinate information, multiple points can be selected to be designed as calibration points 205, each point has accurate coordinate information, and a camera on the unmanned aerial vehicle 203 can calibrate the coordinate information through scanning and ranging, so that the accuracy of course data is guaranteed.
The connection mode of unmanned aerial vehicle 203 and backend server is accessible wireless communication's mode (4G, 5G) lug connection, also can connect through airport 202, and two kinds of modes can intelligent switching, select more stable communication mode according to job site condition and demand. The airport 202 equipped on the shore bridge 100 has specific coordinate positioning information data to be transmitted to the unmanned aerial vehicle 203, and automatic operation can be realized according to a planned path through coordinate positioning and coordinate system calibration. Meanwhile, when the airport 202 is installed, a proper position is selected for arrangement, so that the influence of signal intensity can be avoided, and the influence of adverse factors such as manual operation errors, production activities and the like can be avoided by automatically and intelligently completing operation according to a planned path. Wired signal connection of network to airport 202 guarantees unmanned aerial vehicle 202 internet access's stability, keeps the promptness with backend server communication, can ensure the accuracy of operation task.
The drone airport 200 may establish a network connection with a backend server, which may be a server of an operator or a server of a service provider, so as to obtain remote data and instructions. The bottom of the airport 202 has mounting bolt holes for fastening the mounting platform 300 with bolts. After the airport 202 is installed, more accurate coordinate information is calculated and measured according to the information of the platform. The airport 202 may perform charging, maintenance, etc. work on the drone 203. The unmanned plane 203 can be equipped with a microcomputer and connected with a background server. The unmanned aerial vehicle 203 can acquire detected flight line data (or flight line data information of other specific work tasks) and actual coordinate information of the shore bridge 100 from a background server, can receive and position GPS coordinate information of the unmanned aerial vehicle, can compare and calibrate planned flight line data and coordinate information through a portable microcomputer or send the coordinate information at the calibration position 205 to the background server in real time, and can work normally and smoothly within an allowable error range.
The unmanned aerial vehicle 203 is a quad-rotor unmanned aerial vehicle or a multi-rotor unmanned aerial vehicle, and one or more unmanned aerial vehicles 203 can be provided according to the needs and the capacity of the airport 202; the unmanned aerial vehicle 203 required to stop has stable performance, long endurance time, positioning function and obstacle avoidance function; the network communication function is stable, and information can be stably transmitted; the unmanned aerial vehicle 203 can carry a high-definition camera shooting tripod head or a multispectral tripod head or a tripod head device with a special function according to requirements; the unmanned aerial vehicle 203 can be provided with a microcomputer, can be provided with an image recognition function, and can customize and intelligently complete an operation task according to actual conditions; the drone 203 loads or receives predetermined airline data and task menu selections, or can receive airline data and instructions from a background server to do non-delayed work.
Through the special function of unmanned aerial vehicle 203, can realize some automatic and intelligent work. Such as: through the planned path and the function of target identification, the unmanned aerial vehicle 203 carrying a high-definition camera or a special spectrum can perform fine routing inspection on the shore bridge 100. Another example is: with the shore bridge 100 as a starting point, the drone 203 of the drone airport 200 can perform patrol and security management within a certain range. Another example is: by means of an image recognition algorithm, the unmanned aerial vehicle 203 is added to assist the vision-related work of port operations or acquire information in advance to carry out operation prearrangement. Another example is: the special flying operation robot (such as a flying robot capable of NDT detection) is equipped, and the special work can be carried out with the assistance of the functions of trajectory planning and image recognition.
Utilize the utility model discloses unmanned aerial vehicle automatic operation method of bank bridge, including following step:
s1, planning coordinate information, operation route data and task information of the shore bridge 100, and storing the coordinate information, the operation route data and the task information into a background server;
s2, enabling the unmanned aerial vehicle 203 to enter and stop at the airport 202, enabling the airport 202 to enter a working state, detecting the unmanned aerial vehicle 203, and simultaneously transmitting a detection result to the background server;
s3, the unmanned aerial vehicle 203 receives positioning information of a shore bridge and relative position information of an airport, and the unmanned aerial vehicle 203 arrives at the positioning mark 205 to carry out coordinate calibration; receiving track planning information to complete actual track planning;
s4, receiving the operation information by the unmanned aerial vehicle 203, and realizing automatic operation on the basis of trajectory planning;
and S5, the unmanned aerial vehicle 203 automatically returns after finishing the operation and stops at the airport 202.
In the above step S2, the unmanned aerial vehicle 203 includes components such as a propeller, a battery, a motor, and a camera of the unmanned aerial vehicle 203.
In the embodiment, 1 airport 202 is loaded on 1 shore bridge device, and a plurality of airports 202 can be configured according to the technical and practical operation requirements; or 1 or more airports 202 are arranged in a plurality of shore bridges, and a plurality of unmanned aerial vehicles 203 configured in the plurality of airports 202 are planned through a background server and arranged for operation in order. In the embodiment, an airport 202 is installed on the roof 201 of the shore bridge 100, and the installation position of the airport 202 can also be selected from other suitable places according to the actual requirements and the requirements of the unmanned aerial vehicle 203.
This embodiment still provides a many unmanned aerial vehicle airports or many unmanned aerial vehicle cooperative operation, and concrete step is as follows:
s1, planning coordinate information, operation route data and task information of the shore bridge 100, and storing the coordinate information, the operation route data and the task information into a background server;
s2, the first unmanned aerial vehicle 203 enters and stops at the airport 202, the airport 202 enters a working state, the first unmanned aerial vehicle 203 is detected, and the detection result is transmitted to the background server at the same time;
s3, the first drone 203 receives the positioning information of the shore bridge 100 and the relative position information of the airport 202, and the first drone 203 arrives at the positioning mark 205 to perform coordinate calibration; receiving track planning information to complete actual track planning;
s4, the first unmanned aerial vehicle 203 receives the operation information and realizes automatic operation on the basis of trajectory planning;
s5, the first unmanned aerial vehicle 203 needs to return to the Hangzhou state after 5 minutes due to the problem of electric quantity endurance, the second unmanned aerial vehicle 203 enters a preparation working state, the steps S2 and S3 are completed, meanwhile, the operation information of the first unmanned aerial vehicle 203 is received, and the second unmanned aerial vehicle 203 directly continues to operate tasks when the first unmanned aerial vehicle 203 returns to the Hangzhou state;
s6, the third drone 203 continues to the task of the second drone 203, the first drone 203 continues to the third drone 203 to operate, and the above cycle is repeated;
and S7, after the second unmanned aerial vehicle 203 continues to receive the task, the first unmanned aerial vehicle 203 automatically returns to the air, stops at the airport 202 to perform preparation work such as charging and battery replacing, and the operation is repeated in a circulating mode to realize all-weather operation.
The operation mode selects 3 unmanned aerial vehicles for operation, or 2 or more unmanned aerial vehicles for cooperative work, and the number of the operation equipment is selected according to the field requirements. In steps S5 and S6, the unmanned aerial vehicles are operated, alternately charged and replaced, and maintained, and the number of suitable unmanned aerial vehicles for operation and airports is selected according to the field environment and requirements, so that all-weather operation can be realized.
To sum up, the utility model discloses bank bridge's operation is automatic more, intelligent, lets some work ability relevant with equipment carry out perception in advance and arranges in advance, and the flying robot that the airport that is equipped with carried is similar to bank bridge's eyes, feeler and special instrument hand, lets each item work more accurate, convenient completion through the networking instruction. The utility model discloses bank bridge is one kind and fuses leading edge science and technology unmanned aerial vehicle application to bank bridge equipment in, has strengthened the automation and the intelligent function of equipment operation, has great practical value and economic value.
It should be understood by those skilled in the art that the above embodiments are only used for illustrating the present invention, and not used as a limitation of the present invention, and that the changes and modifications to the above embodiments are all within the scope of the claims of the present invention as long as they are within the spirit of the present invention.
Claims (7)
1. The utility model provides a be equipped with bank bridge at unmanned aerial vehicle airport which characterized in that:
the unmanned aerial vehicle airport comprises an installation platform arranged on the roof, locators arranged on various beams on the shore bridge, locating marks and an airport arranged on the installation platform;
the airport is used for parking one or more unmanned aerial vehicles;
the unmanned aerial vehicle is connected with the background server through a wireless network;
the unmanned aerial vehicle is connected with the airport through a wireless network;
the shore bridge, the airport and the background server are connected through a wired network.
2. The unmanned aerial vehicle airport equipped shore bridge of claim 1, wherein: the unmanned aerial vehicle airport is arranged on the roof of a machine room of the shore bridge or a door frame connection beam of the shore bridge;
and the machine room or the door frame is connected with the beam for power utilization and network transmission of the unmanned aerial vehicle airport.
3. The unmanned aerial vehicle airport equipped shore bridge of claim 2, wherein: the mounting platform is arranged at the center of the roof through a connecting piece;
the connecting piece is arranged vertically, and the lower end of the connecting piece is connected with the bearing cross beam or the upright post;
the mounting platform is horizontally arranged at the upper end of the connecting piece;
and the mounting platform is provided with a mounting positioning hole.
4. The unmanned aerial vehicle airport equipped shore bridge of claim 3, wherein: and the bottom of the airport is provided with an installation bolt hole corresponding to the installation positioning hole, and the installation positioning hole is connected with the installation bolt hole through a bolt.
5. The unmanned aerial vehicle airport equipped shore bridge of claim 1, wherein: the positioner is provided with a plurality of positioners which are arranged on the central axis positions of various beams on the shore bridge.
6. The unmanned aerial vehicle airport equipped shore bridge of claim 1, wherein: the positioning marks are multiple and adopt two-dimensional codes or local structural features of the shore bridge.
7. The unmanned aerial vehicle airport equipped shore bridge of claim 1, wherein: unmanned aerial vehicle is four rotor unmanned aerial vehicle or many rotor unmanned aerial vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220804247.9U CN217417966U (en) | 2022-04-08 | 2022-04-08 | Be equipped with bank bridge at unmanned aerial vehicle airport |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220804247.9U CN217417966U (en) | 2022-04-08 | 2022-04-08 | Be equipped with bank bridge at unmanned aerial vehicle airport |
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