CN207141381U - Detect multiple wing unmanned plane in a kind of bridge bottom - Google Patents
Detect multiple wing unmanned plane in a kind of bridge bottom Download PDFInfo
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- CN207141381U CN207141381U CN201720836437.8U CN201720836437U CN207141381U CN 207141381 U CN207141381 U CN 207141381U CN 201720836437 U CN201720836437 U CN 201720836437U CN 207141381 U CN207141381 U CN 207141381U
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Abstract
The utility model discloses a kind of bridge bottom to detect multiple wing unmanned plane, include unmanned plane main body rack, three-axis stability augmentation head, work pick-up lens, two king bolt oars, four minor spiral oars and obstacle avoidance module, three-axis stability augmentation head is arranged on unmanned plane main body rack, work pick-up lens is arranged on three-axis stability augmentation head, two king bolt oars are horizontally set on unmanned plane main body rack both sides, four minor spiral oars are separately positioned on unmanned plane main body rack surrounding and minor spiral oar favours horizontal plane setting, four minor spiral oars are less than close to the side of unmanned plane main body rack away from unmanned plane main body rack side, five obstacle avoidance modules are separately positioned on unmanned plane main body rack all around and upside.The utility model carries out bridge bottom detection by unmanned plane, easy to operate and use manpower and material resources sparingly.
Description
Technical field
A kind of multiple wing unmanned plane is the utility model is related to, particularly a kind of bridge bottom detection multiple wing unmanned plane, belongs to pontic inspection
Measurement equipment.
Background technology
With economic development, higher and higher requirement is proposed to urban transportation, the increase of vehicle has expedited the emergence of more and more
Bridge construction.Bridge is after being open to the traffic, and over time, a variety of factors can decline the security of bridge,
So that influence the safety traffic of vehicle.To prevent accident, it is necessary to periodically carry out security evaluation to bridge, be fully understood by bridge
The actual conditions of beam.Distinguished from detection method, ostensibly detection can be divided into and instrument detects two kinds.Ostensibly detection passes through people
Work is observed, and finds the crack on bridge surface, and observation surface includes bridge floor, bridge bottom, pier stud etc., different apparent destructions and structure shape
There is state corresponding technical regulation can follow.Instrument detection mainly uses special technique instrument, such as X ray, ultrasonic wave equipment pair
Detected inside bridge, because equipment is expensive, and technical threshold is high, and therefore, instrument is detected usually as supplementary means, works as table
When seeing the detection larger defect of discovery, detailed data collection is carried out using instrument for local, to obtain accurate information.
At present, when minority is being built in addition to the bridge of reserved foot passage, most mountain area, the bridge bottom of bridge spanning the sea
Ostensibly detection is carried out using basket-hanging or truss bridge detecting vehicle, i.e., work brachiocylloosis is deep into bridge bottom pair by hydraulic system
Bridge is detected.To overhead road of city, bridge bottom ostensibly detection is equipped with the camera progress of telephoto lens frequently with being set up on ground.
The method detected using bridge inspection vehicle, remove beyond the problem of vehicle itself is with high costs, hydraulic work system speed
Relatively slow, testing staff reaches specified location time length, when hydraulic arm runs into the barriers such as bridge floor both sides lamppost, direction board, it is necessary to
Deploy again after packing up, detection efficiency is low；Shot using telephoto lens, cost is relatively low, but the shooting angle of visual field is small, aims at
Difficulty is big, and must have erection camera position.These modes detect inconvenience and labor intensive material resources.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of bridge bottom detection multiple wing unmanned plane, convenient to carry out bridge bottom
Inspection.
In order to solve the above technical problems, technical scheme is used by the utility model：
Detect multiple wing unmanned plane in a kind of bridge bottom, it is characterised in that：Include unmanned plane main body rack, three-axis stability augmentation head, work
Make pick-up lens, two king bolt oars, four minor spiral oars and obstacle avoidance module, three-axis stability augmentation head is arranged on unmanned plane main body branch
On frame, work pick-up lens is arranged on three-axis stability augmentation head, and two king bolt oars are horizontally set on unmanned plane main body rack two
Side, four minor spiral oars are separately positioned on unmanned plane main body rack surrounding and minor spiral oar favours horizontal plane and set, four
Minor spiral oar is less than away from unmanned plane main body rack side to be set respectively close to the side of unmanned plane main body rack, five obstacle avoidance modules
Put in unmanned plane main body rack all around and upside.
Further, described two king bolt oars use 21 cun of blades, and king bolt oar is arranged on carbon fiber pipe a one end, carbon
The fibre pipe a other ends are fixed on unmanned plane main body rack, and carbon fiber pipe a is obliquely installed and carbon fiber pipe a and king bolt oar
Connection one end is higher than the other end.
Further, the angle that the carbon fiber pipe a favours horizontal plane is 20 °.
Further, four minor spiral oars use 9 cun of blades, and minor spiral oar is arranged on carbon fiber pipe b one end, and carbon is fine
The dimension pipe b other ends are fixed on unmanned plane main body rack.
Further, the obstacle avoidance module include module body, two visible image capturing heads, two groups of infrared distance measurement modules and
One light filling LED, two visible image capturing heads are arranged on module body both ends, and two groups of infrared distance measurement modules are symmetricly set on mould
On block body, light filling LED is arranged among module body.
Further, it is provided with rubber blanket between the three-axis stability augmentation head and unmanned plane main body rack.
Further, the work pick-up lens uses 20,000,000 pixel camera lenses.
Further, the bridge bottom detection multiple wing unmanned plane also includes dual control remote control, and master remote controller controls nobody motor-driven
Make, from remote control control three-axis stability augmentation platform.
The utility model compared with prior art, has advantages below and effect：The utility model is carried out by unmanned plane
Bridge bottom is detected, easy to operate and use manpower and material resources sparingly, while is carried out light streams collection by two visible image capturing heads and calculated simultaneously
Coordinate infrared distance measurement module to carry out bridge bottom avoidance, ensure that equipment safety is reliable.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of multiple wing unmanned plane of the present utility model.
Fig. 2 is a kind of side view of multiple wing unmanned plane of the present utility model.
Fig. 3 is the schematic diagram of obstacle avoidance module of the present utility model.
Fig. 4 is a kind of module control schematic diagram of multiple wing unmanned plane of the present utility model.
Embodiment
Below in conjunction with the accompanying drawings and the utility model is described in further detail by embodiment, and following examples are pair
It is of the present utility model explanation and the utility model is not limited to following examples.
As illustrated, a kind of bridge bottom detection multiple wing unmanned plane of the present utility model, includes unmanned plane main body rack 1, three axles
Increase steady head 2, the work minor spiral oar 5 of king bolt oar 4, four of pick-up lens 3, two and obstacle avoidance module 6, three-axis stability augmentation head 2
It is arranged on unmanned plane main body rack 1, work pick-up lens 3 is arranged on three-axis stability augmentation head 2, and two king bolt oars 4 are horizontal
The both sides of unmanned plane main body rack 1 are arranged on, four minor spiral oars 5 are separately positioned on the surrounding of unmanned plane main body rack 1 and small spiral shell
Rotation oar 4 favours horizontal plane setting, and four minor spiral oars 4 are less than close to unmanned plane main body away from the side of unmanned plane main body rack 1
The side of support 1, five obstacle avoidance modules 6 are separately positioned on unmanned plane main body rack 1 all around and upside.Unmanned plane main body branch
Frame 1 is made of aluminium alloy.
Two king bolt oars 4 use 21 cun of blades, there is provided the prevailing lift of aircraft.King bolt oar 4 is arranged on carbon fiber
Pipe a7 one end, the carbon fiber pipe a7 other ends are fixed on unmanned plane main body rack 1, and carbon fiber pipe a7 is obliquely installed and carbon fiber
Pipe a7 is connected one end with king bolt oar 4 and is higher than the other end.The angle that carbon fiber pipe a7 favours horizontal plane is 20 °, reduces flight
Think highly of the heart, lift flight stability.Four minor spiral oars 5 use 9 cun of blades, are mainly used in stabilized flight, reply bridge bottom sinuous flow.
Minor spiral oar 5 is arranged on carbon fiber pipe b8 one end, and the carbon fiber pipe b8 other ends are fixed on unmanned plane main body rack 1.
Obstacle avoidance module 6 includes first 10, the two groups of infrared distance measurement modules 11 of 9, two visible image capturings of module body and a benefit
Light LED 12, two visible image capturings first 10 are arranged on the both ends of module body 9, and two groups of infrared distance measurement modules 11 are symmetricly set on
In module body 9, light filling LED 12 is arranged among module body 9.Two visible image capturings first 10 pass through vision algorithm, solution
Certainly bridge bottom is without the attitude of flight vehicle stable problem under GPS environment, while calculates the distance between aircraft and bridge structure, in advance
Perceive to prevent from colliding；Infrared distance measurement module 11 provides infrared distance measuring result, and first with two visible image capturings 10 cooperate,
Play a part of dual fail-safe, sensed in advance bridge structure, collision free；Light filling LED 12 aids in two visible image capturings first 10
Work, when bridge base ring border is dark, two visible image capturings first 10 will be unable to work, it is necessary to which light filling LED 12 carries out light filling.
Rubber blanket is provided between three-axis stability augmentation head 2 and unmanned plane main body rack 1, eliminates the high frequency vibrating of paddle belt
It is dynamic.The pick-up lens 3 that works uses 20,000,000 pixel camera lenses, for shooting bridge bottom situation, there is provided the clear picture at bridge bottom.Examine at bridge bottom
To survey multiple wing unmanned plane and also include dual control remote control, master remote controller control unmanned plane acts, from remote control control three-axis stability augmentation platform,
Unmanned plane receives remote control device signal by receiver and unmanned plane is controlled.During actual use, master remote controller control nothing
Man-machine flight, from the video recording and stopping of remote control control camera lens direction and image.This way can ensure flight course
In security, prevent due to focus on observation picture on caused by aircraft accident.Obstacle avoidance module be binocular light flow with
Infrared synergy, light stream is mainly used in positioning aircraft, infrared to be mainly used in ranging, when light stream module sensing light condition is poor
In the case of, light filling LED is actuated for light filling by flying control automatically, is closed in the case that light condition is good, to save electricity consumption.
The utility model avoidance principle：Light stream is a kind of expression way of simple and practical image motion, is normally defined
The apparent motion of brightness of image pattern in one image sequence, i.e., the movement velocity of the point on space object surface pass in vision
Expression on the imaging plane of sensor.According to the velocity feature of each pixel, dynamic analysis can be carried out to image.Such as
There is no moving object in fruit image, then light stream vector is consecutive variations in whole image region.When there is moving object in image
When, there is relative motion in target and image background, the velocity certainty and neighborhood background velocity that moving object is formed
Difference, so as to detect moving object and position.The advantages of optical flow method, is that light stream not only carries the motion letter of moving object
Breath, but also the abundant information about scenery three-dimensional structure is carried, it can be in the situation for any information for not knowing scene
Under, detect Moving Objects or reversely confirm self-position.By light stream come carry out scenery three dimensional signal acquisition had into
Ripe technology, the application directly applies these mature technologies, therefore optic flow technique concrete application process is not as the application
Protection content.
Above content described in this specification is only to the utility model example explanation.The utility model
Person of ordinary skill in the field can make various modifications or supplement to described specific embodiment or using class
As mode substitute, content without departing from the utility model specification or surmount model defined in the claims
Enclose, the scope of protection of the utility model all should be belonged to.
Claims (8)
1. multiple wing unmanned plane is detected at a kind of bridge bottom, it is characterised in that：Include unmanned plane main body rack, three-axis stability augmentation head, work
Pick-up lens, two king bolt oars, four minor spiral oars and obstacle avoidance module, three-axis stability augmentation head are arranged on unmanned plane main body rack
On, work pick-up lens is arranged on three-axis stability augmentation head, and two king bolt oars are horizontally set on unmanned plane main body rack both sides,
Four minor spiral oars are separately positioned on unmanned plane main body rack surrounding and minor spiral oar favours horizontal plane setting, four small spiral shells
The side that oar is less than close unmanned plane main body rack away from unmanned plane main body rack side is revolved, five obstacle avoidance modules are separately positioned on
Unmanned plane main body rack is all around and upside.
2. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：Described two king bolt oars are adopted
With 21 cun of blades, king bolt oar is arranged on carbon fiber pipe a one end, and the carbon fiber pipe a other ends are fixed on unmanned plane main body rack,
Carbon fiber pipe a is obliquely installed and carbon fiber pipe a is connected one end with king bolt oar and is higher than the other end.
3. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 2, it is characterised in that：The carbon fiber pipe a is tilted
In horizontal plane angle be 20 °.
4. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：Four minor spiral oars are adopted
With 9 cun of blades, minor spiral oar is arranged on carbon fiber pipe b one end, and the carbon fiber pipe b other ends are fixed on unmanned plane main body rack.
5. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：The obstacle avoidance module includes mould
Block body, two visible image capturing heads, two groups of infrared distance measurement modules and a light filling LED, two visible image capturing heads are set
At module body both ends, two groups of infrared distance measurement modules are symmetricly set in module body, and light filling LED is arranged in module body
Between.
6. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：The three-axis stability augmentation head with
Rubber blanket is provided between unmanned plane main body rack.
7. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：The work pick-up lens is adopted
With 20,000,000 pixel camera lenses.
8. detect multiple wing unmanned plane according to a kind of bridge bottom described in claim 1, it is characterised in that：Bridge bottom detection multiple wing without
It is man-machine also to include dual control remote control, master remote controller control unmanned plane action, from remote control control three-axis stability augmentation platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720836437.8U CN207141381U (en) | 2017-07-11 | 2017-07-11 | Detect multiple wing unmanned plane in a kind of bridge bottom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720836437.8U CN207141381U (en) | 2017-07-11 | 2017-07-11 | Detect multiple wing unmanned plane in a kind of bridge bottom |
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| CN207141381U true CN207141381U (en) | 2018-03-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065642A (en) * | 2019-05-31 | 2019-07-30 | 南京信息工程大学 | A kind of urban viaduct detection unmanned plane |
| CN110341948A (en) * | 2019-07-22 | 2019-10-18 | 金陵科技学院 | A kind of primary and secondary cooperating type inspection flying robot |
| CN111047848A (en) * | 2019-12-28 | 2020-04-21 | 西安因诺航空科技有限公司 | SBUS many-to-one remote control system |
| CN113109355A (en) * | 2021-04-09 | 2021-07-13 | 上海赤塞智能科技有限公司 | High stability structure surface inspection device |
-
2017
- 2017-07-11 CN CN201720836437.8U patent/CN207141381U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065642A (en) * | 2019-05-31 | 2019-07-30 | 南京信息工程大学 | A kind of urban viaduct detection unmanned plane |
| CN110341948A (en) * | 2019-07-22 | 2019-10-18 | 金陵科技学院 | A kind of primary and secondary cooperating type inspection flying robot |
| CN111047848A (en) * | 2019-12-28 | 2020-04-21 | 西安因诺航空科技有限公司 | SBUS many-to-one remote control system |
| CN113109355A (en) * | 2021-04-09 | 2021-07-13 | 上海赤塞智能科技有限公司 | High stability structure surface inspection device |
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