CN108177787B

CN108177787B - Bridge detection unmanned aerial vehicle emergency safety landing device

Info

Publication number: CN108177787B
Application number: CN201810133720.3A
Authority: CN
Inventors: 刘芳平; 苗秀鹏; 周逸; 程龙飞; 刘路
Original assignee: Chongqing Three Gorges University
Current assignee: Chongqing Three Gorges University
Priority date: 2018-02-09
Filing date: 2018-02-09
Publication date: 2021-09-17
Anticipated expiration: 2038-02-09
Also published as: CN108177787A

Abstract

The invention discloses an emergency safe landing device of a bridge detection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles. The utility model provides a bridge detects urgent safe descending device of unmanned aerial vehicle, which comprises a bod, set up controller and pressure sensor on the organism, set up power supply in the organism, bottom of the body sets up the connecting rod, the inside supporting seat that sets up of first casing, set up the motor on the supporting seat, set up the gear on the output shaft of motor, gear one side sets up the rack, first casing bottom sets up first through-hole, set up the second through-hole on the second casing roof, the rack bottom sets up the clamp plate, set up the go-between on the clamp plate, second casing outer wall sets up the recess, set up the support bar in the recess, set up the round hole on the regulation pole, second casing bottom sets up the breach, it sets up the layer board to adjust the pole bottom, the layer board bottom sets up the bolster. The invention has the beneficial effects that: the unmanned aerial vehicle can safely land on the water surface when the unmanned aerial vehicle detects that the bridge has a fault, and the unmanned aerial vehicle is effectively protected.

Description

Bridge detection unmanned aerial vehicle emergency safety landing device

Technical Field

The invention mainly relates to the technical field of unmanned aerial vehicles, in particular to an emergency safe landing device of a bridge detection unmanned aerial vehicle.

Background

With the continuous maturity and development of unmanned aerial vehicle technique, its application also is more and more extensive. In bridge detection area, special unmanned aerial vehicle has also appeared for positions such as bottom surface, cylinder, crossbeam, suspension cable of shooting the bridge supply the expert to detect, labour saving and time saving detects more comprehensively. However, the bridge mostly sets up on the river, in case unmanned aerial vehicle bumps with the bridge, breaks down and needs emergency landing, can drop in aqueous. Among the prior art, to unmanned aerial vehicle's urgent safe descending, gasbag, help parachute isotructure have appeared, but these structures can only guarantee that unmanned aerial vehicle steadily descends subaerial, when unmanned aerial vehicle promptly descends at the in-process that the bridge detected, still can fall into the aquatic, take place to damage.

Disclosure of Invention

In order to solve the defects of the prior art, the invention provides an emergency safe landing device of a bridge detection unmanned aerial vehicle, which can safely land on the water surface when the unmanned aerial vehicle detects a fault of a bridge, and effectively protect the unmanned aerial vehicle.

In order to achieve the purpose, the invention is realized by the following technical scheme:

an unmanned aerial vehicle emergency safe landing device for bridge detection comprises a machine body, wherein a controller and a pressure sensor are arranged on the machine body, the pressure sensors are uniformly distributed on the machine body, a power supply is arranged in the machine body, the pressure sensor is electrically connected with the controller, a connecting rod is arranged at the bottom of the machine body, the top end of the connecting rod is hinged with the machine body, a first shell is arranged at the bottom end of the connecting rod, a supporting seat is arranged in the first shell, a motor is arranged on the supporting seat and electrically connected with the controller, the pressure sensor and the motor are all electrically connected with the power supply, a gear is arranged on an output shaft of the motor, a rack is arranged on one side of the gear, a first through hole is formed at the bottom end of the first shell, a second shell is arranged below the first shell, and an opening is formed at the bottom of the second shell, set up the second through-hole on the second casing roof, be located the second casing behind first through-hole and the second through-hole is passed to the rack bottom, the rack bottom sets up the clamp plate, set up the go-between on the clamp plate, the go-between is a plurality of, and is a plurality of set up the regulation pole on the go-between, second casing outer wall sets up the recess, set up the support bar in the recess, set up the round hole on the regulation pole, the support bar passes end to end behind the round hole, second casing bottom sets up the breach, the breach is a plurality of, and is a plurality of the position of breach suits with adjusting the pole, it sets up the layer board to adjust the pole bottom, the layer board bottom sets up the bolster, it is articulated between bolster and the layer board.

The supporting seat is located on the right side of the first shell, the supporting seat is fixedly connected with the bottom wall of the first shell, a coupler is arranged on an output shaft of the motor, one end, away from the output shaft of the motor, of the coupler is provided with a first transmission rod, the first transmission rod is sleeved with a first bevel gear, one side of the first bevel gear is provided with a second bevel gear, the first bevel gear is matched with the second bevel gear, a second transmission rod is arranged in a center hole of the second bevel gear, the second transmission rod is connected with the gear, the gear is located on the left side of the first shell, and the first through hole is located in the middle of the first shell.

And the pressing plate is provided with a compression spring, the bottom end of the rack is positioned in the compression spring, and the top end of the compression spring is fixedly connected with the top wall of the second shell.

A bearing is arranged in the first shell, and one end, far away from the coupler, of the first transmission rod is located in the bearing.

The second casing is provided with a plurality of connecting noses, and the supporting strips are positioned in the connecting noses.

The buffer piece is a damping spring.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, by arranging the supporting plate, when the bridge detection unmanned aerial vehicle breaks down and needs emergency landing, the supporting plate can be opened, so that the unmanned aerial vehicle can float on the water surface when falling to the water surface, and the safety of the unmanned aerial vehicle is ensured.

2. Adopt the bevel gear structure to adjust between motor and gear, can improve the motor and drive gear pivoted stationarity, the rational distribution motor position of being convenient for makes first casing keep balance in the unmanned aerial vehicle bottom.

3. The compression spring plays a buffering role on the pressing plate, and the stability that the pressing plate is pressed downwards to drive the supporting plate to open is improved.

4. And the arrangement of the bearing improves the stability of transmission between the first bevel gear and the second bevel gear.

5. The connecting nose fixes the support bar at the groove, can prevent that the support bar from deviating from in the recess, brings inconvenience for the regulation of layer board.

6. The bolster adopts damping spring, can improve the buffering effect that unmanned aerial vehicle promptly descends safely, can remain stable when guaranteeing unmanned aerial vehicle to descend to the ground, reduces the harm.

Drawings

FIG. 1 is a front view structural schematic of the present invention;

FIG. 2 is a use state reference diagram of the present invention;

FIG. 3 is a schematic view of the internal structure of the regulating device of the present invention;

FIG. 4 is a schematic top view of the adjusting device of the present invention.

Reference numerals shown in the drawings: 1. a body; 2. a controller; 3. a pressure sensor; 4. a connecting rod; 5. a first housing; 6. a supporting seat; 7. a motor; 8. a gear; 9. a rack; 10. a first through hole; 11. a second housing; 12. a second through hole; 13. pressing a plate; 14. a connecting ring; 15. adjusting a rod; 16. a groove; 17. a supporting strip; 18. a circular hole; 19. a notch; 20. a support plate; 21. a buffer member; 22. a coupling; 23. a first drive lever; 24. a first bevel gear; 25. a second bevel gear; 26. a second transmission rod; 27. a compression spring; 28. a bearing; 29. is connected with the nose.

Detailed Description

The invention is further described with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application. It should be noted that the left and right words used in the following description refer to directions in fig. 3. In addition, in the present document, the controller controls the motor according to the signal detected by the pressure sensor, which belongs to the conventional and adaptive application of the known control system program, and the controller only controls the motor by sending the signal, and only relates to the adjustment of the parameter, and does not relate to the improvement of the program, which belongs to the conventional technical means of the person skilled in the art.

The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the description of the attached drawings, the specific connection mode of each part adopts conventional means such as mature bolts, rivets, welding, sticking and the like in the prior art, and the adopted circuit connection is the conventional type in the prior art, and the detailed description is not repeated.

The utility model provides a bridge detects urgent safe descending device of unmanned aerial vehicle, includes organism 1, as shown in figure 1, unmanned aerial vehicle is the unmanned aerial vehicle that is used for the bridge to detect now, for four rotor structures, shoots the camera and is located the unmanned aerial vehicle top. The machine body 1 is provided with a controller 2 and a pressure sensor 3, the controller adopts the existing controller such as a single chip microcomputer and a PLC, and can receive signals to control the motor to rotate. Pressure sensor 3 is a plurality of, and is a plurality of pressure sensor 3 evenly distributed on organism 1, set up power supply in the organism 1, power supply pressure sensor, controller and motor adopt power supply to supply power alone, and the model is the same with battery, lithium cell etc. of unmanned aerial vehicle rotor. Pressure sensor 3 is connected with 2 electricity of controller, 1 bottom of organism sets up connecting

rod

4, 4 tops of connecting rod are articulated with

organism

1, 4 bottoms of connecting rod set up

first casing

5, 5 inside supporting seats 6 that set up of first casing, the supporting seat is used for the position of accommodate motor, ensures that the output shaft of motor is located gear centre bore position, set up motor 7 on the supporting seat 6, as shown in figure 3, the motor can carry out just reversal to the shrink that drives the connecting rod and open. An 'chuan' servo motor can be preferably selected, the size is small, and the control precision is high. The motor 7 is electrically connected with the controller 2, the pressure sensor 3 and the motor 7 are electrically connected with a power supply, a gear 8 is arranged on an output shaft of the motor 7, a rack 9 is arranged on one side of the gear 8, a first through hole 10 is arranged at the bottom end of the first shell 5, a second shell 11 is arranged below the first shell 5, an opening is arranged at the bottom end of the second shell 11, a second through hole 12 is arranged on the top wall of the second shell 11, the bottom end of the rack 9 is positioned in the second shell 11 after passing through the first through hole 10 and the second through hole 12, a pressing plate 13 is arranged at the bottom end of the rack 9, a connecting ring 14 is arranged on the pressing plate 13, the connecting rings 14 are multiple, an adjusting rod 15 is arranged on the connecting ring 14, a groove 16 is arranged on the outer wall of the second shell 11, a supporting strip 17 is arranged in the groove 16, a round hole 18 is arranged on the adjusting rod 15, the support bars 17 penetrate through the circular holes 18 and then are connected end to end, as shown in fig. 3, the second shell can be preferably cylindrical, the grooves are circular grooves in the second shell, the support bars are of circular ring structures and are sleeved in the circular grooves, and the attaching tightness of the support bars and the second shell is improved. Second casing 11 bottom sets up breach 19, breach 19 is a plurality of, and is a plurality of breach 19's position suits with adjusting pole 15, adjust pole 15 bottom and set up layer board 20, as preferred, can set up the regulation pole into 3, as shown in figure 1, be 180 evenly distributed, perhaps be 360 evenly distributed, perhaps set up to 4, be 360 and distribute, ensure that the layer board opens sufficient holding power occasionally, support unmanned aerial vehicle and float on the surface of water. Correspondingly, the supporting plate is made of materials which can float on the water surface, such as wood or plastic materials. The bottom of the supporting plate 20 is provided with a buffer member 21, and the buffer member 21 is hinged with the supporting plate 20. The bolster is standby structure, ensures that unmanned aerial vehicle breaks down and drops when pounding the ground, also can keep steady. And articulated between bolster and the layer board, when the layer board is in the shrink state, normally descend and play the cushioning effect to unmanned aerial vehicle, when the layer board is in the state of opening, as shown in figure 2, under the action of gravity, also can play the cushioning effect when unmanned aerial vehicle descends. According to the invention, by arranging the supporting plate, when the bridge detection unmanned aerial vehicle breaks down and needs emergency landing, the supporting plate can be opened, so that the unmanned aerial vehicle can float on the water surface when falling to the water surface, and the safety of the unmanned aerial vehicle is ensured.

In order to improve motor drive gear pivoted stationarity, the rational distribution motor position, supporting seat 6 is located 5 right sides of first casing, supporting

seat

6 and 5 diapire fixed connection of first casing, set up shaft coupling 22 on the output shaft of motor 7, the quincuncial shaft coupling can be preferred to the shaft coupling, 7 output shaft one end settings first transmission pole 23 of motor are kept away from to shaft coupling 22, first bevel gear 24 is established to the cover on first transmission pole 23, first bevel gear 24 one side sets up second bevel gear 25, as shown in figure 3, the supporting seat is located first casing left side with the motor, and first bevel gear, second transmission pole, gear isotructure are located first casing left side, and the structure sets up more box body, and first casing is also convenient for adjust in the balance of unmanned aerial vehicle bottom more. The first bevel gear 24 is adapted to a second bevel gear 25, a second transmission rod 26 is arranged in a central hole of the second bevel gear 25, the second transmission rod 26 is connected with the gear 8, the gear 8 is located on the left side of the first shell 5, and the first through hole 10 is located in the middle of the first shell 5. Adopt the bevel gear structure to adjust between motor and gear, can improve the motor and drive gear pivoted stationarity, the rational distribution motor position of being convenient for makes first casing keep balance in the unmanned aerial vehicle bottom.

In order to improve the stability of the pressing plate pressing down to drive the supporting plate to open, a compression spring 27 is arranged on the pressing plate 13, the bottom end of the rack 9 is located in the compression spring 27, and the top end of the compression spring 27 is fixedly connected with the top wall of the second shell 11. The compression spring plays a buffering role on the pressing plate, and the stability that the pressing plate is pressed downwards to drive the supporting plate to open is improved.

In order to improve the stability of the transmission between the first bevel gear and the second bevel gear, a bearing 28, which may preferably be a rolling bearing, is arranged in said first housing 5, as shown in fig. 3. The end of the first transmission rod 23 remote from the coupling 22 is located in a bearing 28. And the arrangement of the bearing improves the stability of transmission between the first bevel gear and the second bevel gear.

In order to fix the supporting bars at the positions of the grooves, a plurality of connecting noses 29 are provided on the second housing 11, and the supporting bars 17 are located in the connecting noses 29. The connecting nose fixes the support bar at the groove, can prevent that the support bar from deviating from in the recess, brings inconvenience for the regulation of layer board.

The buffer member may be provided with a rubber pad, and preferably, the buffer member 21 is a damper spring. The bolster adopts damping spring, can improve the buffering effect that unmanned aerial vehicle promptly descends safely, can remain stable when guaranteeing unmanned aerial vehicle to descend to the ground, reduces the harm.

The using method comprises the following steps:

when the unmanned aerial vehicle is used, the unmanned aerial vehicle is in a state shown in figure 1, the end parts of the first shell and the second shell are positioned in the end parts of the unmanned aerial vehicle, interference on an unmanned aerial vehicle detection bridge is avoided, once the unmanned aerial vehicle collides with the bridge, a signal is transmitted to the controller by the pressure sensor after the collision force is detected, the controller controls the motor to rotate, the motor controls the gear and the rack to run, the pressing plate is pressed downwards, the supporting plate is opened, the unmanned aerial vehicle lands on the water surface in an emergency and safe mode, and the unmanned aerial vehicle can float on the water surface under the action of the supporting plate, so that the unmanned aerial vehicle is effectively protected.

As optimization, if the bridge length is shorter, the unmanned aerial vehicle can be seen by operating personnel, and the rotation of the motor can be controlled through a wireless remote control method, so that the opening and the contraction of the supporting plate are controlled.

Claims

1. The utility model provides a bridge detects urgent safe landing device of unmanned aerial vehicle, includes organism (1), its characterized in that: the machine body (1) is provided with a controller (2) and a plurality of pressure sensors (3), the pressure sensors (3) are uniformly distributed on the machine body (1), a power supply source is arranged in the machine body (1), the pressure sensors (3) are electrically connected with the controller (2), the bottom of the machine body (1) is provided with a connecting rod (4), the top end of the connecting rod (4) is hinged with the machine body (1), the bottom end of the connecting rod (4) is provided with a first shell (5), a supporting seat (6) is arranged in the first shell (5), a motor (7) is arranged on the supporting seat (6), the motor (7) is electrically connected with the controller (2), the pressure sensors (3) and the motor (7) are electrically connected with the power supply source, a gear (8) is arranged on an output shaft of the motor (7), the utility model discloses a gear rack, including gear (8), first casing (5) bottom set up first through-hole (10), first casing (5) below sets up second casing (11), second casing (11) bottom sets up the opening, set up second through-hole (12) on second casing (11) the roof, be located second casing (11) behind first through-hole (10) and second through-hole (12) rack (9) bottom sets up clamp plate (13), set up go-between (14) on clamp plate (13), go-between (14) are a plurality of, and a plurality of set up on go-between (14) and adjust pole (15), second casing (11) outer wall sets up recess (16), set up support bar (17) in recess (16), set up round hole (18) on adjusting pole (15), support bar (17) pass round hole (18) back end to end, second casing (11) bottom sets up breach (19), breach (19) are a plurality of, and are a plurality of the position of breach (19) suits with regulation pole (15), it sets up layer board (20) to adjust pole (15) bottom, layer board (20) bottom sets up bolster (21), articulate between bolster (21) and layer board (20).

2. The bridge detection unmanned aerial vehicle emergency safety landing device of claim 1, wherein: the utility model discloses a motor, including supporting seat (6), motor (7), first bevel gear (24) and second bevel gear (25), first bevel gear (24) one side sets up second bevel gear (25), first bevel gear (24) suit with second bevel gear (25), set up second transfer line (26) in the centre bore of second bevel gear (25), second transfer line (26) are connected with gear (8), gear (8) are located first casing (5) left side, first through-hole (10) are located first casing (5) middle part, supporting seat (6) and first casing (5) diapire fixed connection, set up shaft coupling (22) on the output shaft of motor (7), motor (7) output shaft one end is kept away from in shaft coupling (22), first bevel gear (23) is gone up the cover and is established first bevel gear (24), first bevel gear (24) one side sets up second bevel gear (25).

3. The bridge detection unmanned aerial vehicle emergency safety landing device of claim 1, wherein: set up compression spring (27) on clamp plate (13), rack (9) bottom is located compression spring (27), compression spring (27) top and second casing (11) roof fixed connection.

4. The bridge detection unmanned aerial vehicle emergency safety landing device of claim 2, wherein: a bearing (28) is arranged in the first shell (5), and one end, far away from the coupler (22), of the first transmission rod (23) is located in the bearing (28).

5. The bridge detection unmanned aerial vehicle emergency safety landing device of claim 1, wherein: set up on second casing (11) and connect nose (29), it is a plurality of to connect nose (29), support bar (17) are located and connect nose (29).

6. The bridge detection unmanned aerial vehicle emergency safety landing device of claim 1, wherein: the buffer piece (21) is a damping spring.