CN-122009545-A - Unmanned aerial vehicle equipment for bridge detection

CN122009545ACN 122009545 ACN122009545 ACN 122009545ACN-122009545-A

Abstract

The invention discloses unmanned aerial vehicle equipment for bridge detection, which comprises a machine body, a horn, rotors, blade protection mechanisms, a laser radar mechanism, an airborne computing mechanism, a camera mechanism and a light supplementing lamp mechanism, wherein the machine body is connected with the rotors through the horn, a plurality of rotors are circumferentially arranged around the machine body, the airborne computing mechanism is arranged at the bottom of the machine body, the laser radar mechanism is arranged at the top of the machine body, the camera mechanism is arranged at the front end of the machine body, the light supplementing lamp mechanisms fixed on the machine body are further arranged at two sides of the camera mechanism, the blade protection mechanisms for protecting the rotors are further arranged on the outer ring of the machine body, and the special protection mechanisms for the sensors and the rotors are additionally arranged through integrating a top observation mechanism to eliminate detection blind areas, so that the reliability of the equipment in narrow space operation is improved, and the integrated cooperative control of all the mechanisms is realized, so that the problems of incomplete detection, easy equipment damage and low operation efficiency of the existing multi-rotor unmanned aerial vehicle in closed structure detection are comprehensively solved.

Inventors

LI XIAOYA
Ying Huangcheng
YAN YUXUAN
BU LINA
ZHANG YONG
XU SU
Tong chu
WANG XUYI
LIANG NINGYI
CAO XUDONG

Assignees

浙江省交通运输科学研究院

Dates

Publication Date: 20260512
Application Date: 20260408
Priority Date: 20251219

Claims (10)

1. Unmanned aerial vehicle equipment for bridge detection, a serial communication port, including fuselage (1), horn (2), rotor (3), paddle protection machanism (4), laser radar mechanism (5), airborne computing mechanism (6), camera mechanism (7) and light filling lamp mechanism (8), rotor (3) are connected through horn (2) to fuselage (1), a plurality of rotor (3) circumference is around fuselage (1) sets up, fuselage (1) bottom sets up airborne computing mechanism (6), fuselage (1) top sets up laser radar mechanism (5), fuselage (1) front end sets up camera mechanism (7), is located camera mechanism (7) both sides still are provided with light filling lamp mechanism (8) of fixing on fuselage (1), fuselage (1) outer lane still is provided with paddle protection machanism (4) of protection rotor (3).
2. The unmanned aerial vehicle equipment for bridge detection according to claim 1, wherein the fuselage (1) comprises an upper mounting plate (11), a lower mounting plate (12) and a mounting block group (13), wherein the upper mounting plate (11) and the lower mounting plate (12) are oppositely arranged and are connected through the mounting block group (13) arranged between the upper mounting plate (11) and the lower mounting plate (12), and the mounting block group (13) is a plurality of blocks and is positioned at corners of the upper mounting plate (11) and the lower mounting plate (12).
3. The unmanned aerial vehicle equipment for bridge detection according to claim 2, wherein the mounting block group (13) comprises an upper mounting block (131) and a lower mounting block (132), first round holes (1311) penetrating through the upper mounting block (131) from top to bottom are formed on two sides of the upper mounting block (131), upper semicircles (1312) penetrating through the upper mounting block (131) from front to back are further formed on the upper mounting block (131), second round holes (1321) matched with the first round holes (1311) are formed on two sides of the lower mounting block (132), and lower semicircles (1322) matched with the upper semicircles (1312) are formed on the lower mounting block (132).
4. An unmanned aerial vehicle equipment for bridge detection according to claim 3, wherein the horn (2) comprises a mounting rod (21) and a motor (22), one end of the mounting rod (21) is clamped between the upper semicircle (1312) and the lower semicircle (1322), bolts penetrate through the upper mounting plate (11), the lower mounting plate (12) and the mounting block group (13) to fix the mounting rod (21) on the fuselage (1), the other end of the mounting rod (21) is connected with the motor (22), and the motor (22) drives the rotor (3) to rotate.
5. The unmanned aerial vehicle equipment for bridge detection according to claim 4, wherein the blade protection mechanism (4) comprises an upper protection ring (41), a lower protection ring (42) and a protection frame (43), the upper protection ring (41) is sleeved at the upper end of the installation rod (21) and the upper end of the motor (22), the lower protection ring (42) is sleeved at the lower end of the installation rod (21) and the lower end of the motor (22), and the upper protection ring (41) and the lower protection ring (42) are connected through bolts.
6. The unmanned aerial vehicle equipment for bridge detection according to claim 5, wherein the lower protection ring (42) extends to a plurality of connecting rods (421) towards one side of the protection frame (43), tail parts of the connecting rods (421) are connected with connecting bases (422), threaded holes (4221) penetrating through the connecting bases (422) from top to bottom are formed in two sides of the connecting bases (422), a placement space (4222) is formed in the middle of each connecting base (422), the protection frame (43) comprises a receiving rod (431), one end of each receiving rod (431) is connected with a matching base (432) matched with the corresponding connecting base (422), counter bores (4321) matched with the corresponding threaded holes (4221) are formed in two sides of each matching base (432), and a mullion (433) is connected to the other end of each receiving rod (431).
7. The unmanned aerial vehicle equipment for bridge detection according to claim 1, wherein the laser radar mechanism (5) comprises a mounting seat (51), a positioning column (52), a laser radar (53) and a protection mechanism (54), the mounting seat (51) is lifted and arranged on the upper mounting plate (11) through the positioning column (52), the laser radar (53) is fixedly arranged on the mounting seat (51), the protection mechanism (54) comprises a lifting column (541) and a protection sleeve (542), the lifting column (541) is located between the mounting seat (51) and the protection sleeve (542), a bolt penetrates through the protection sleeve (542), the lifting column (541) and the mounting seat (51) to achieve connection of the three, and the protection sleeve (542) is sleeved on the outer ring of the laser radar (53).
8. The unmanned aerial vehicle equipment for bridge detection according to claim 1, wherein the camera mechanism (7) comprises a camera main support (71), a camera sub-support (72), a camera support column (73), a spherical hinge (74) and a cradle head camera (75), one side of the camera sub-support (72) penetrates through a through hole in the middle of the camera main support (71) and is fixedly arranged on the camera main support (71) through the spherical hinge (74), the cradle head camera (75) is arranged on the other side of the camera sub-support (72), and the camera main support (71) is arranged on the machine body (1) through the camera support column (73).
9. An unmanned aerial vehicle equipment for bridge inspection according to claim 1, wherein the left and right sides of the fuselage (1) are each provided with a foot (14), the foot (14) bottom being lower than the on-board computing mechanism (6) bottom.
10. The unmanned aerial vehicle equipment for bridge inspection according to claim 1, wherein the on-board computing mechanism (6) is electrically connected with the motor (22), the lidar (53) and the pan-tilt camera (75) through wires.

Description

Unmanned aerial vehicle equipment for bridge detection Technical Field The invention relates to the technical field of intelligent equipment, in particular to unmanned aerial vehicle equipment for bridge detection. Background At present, a multi-rotor unmanned aerial vehicle is adopted for short-distance inspection of structures such as bridges. The multi-rotor unmanned aerial vehicle is an unmanned aerial vehicle which uses three or more rotors to generate lifting force and realizes gesture and position control by adjusting the rotation speed of each rotor, and is one of the most common unmanned mechanism in civil and industrial scenes at present. Regarding the prior art related to the multi-rotor unmanned aerial vehicle, the application number is CN201621169997.4, the name is a multi-rotor unmanned aerial vehicle engine cooling device and a chinese utility model patent of the multi-rotor unmanned aerial vehicle, or the application number is CN202210492352.8, the name is a four-rotor unmanned aerial vehicle combined with a single-foot bouncing robot and a chinese utility model patent of a control method. The multi-rotor unmanned aerial vehicle in the prior art has the following problems that cameras in the multi-rotor unmanned aerial vehicle are difficult to vertically upwards, correspondingly, when collecting beam bottom diseases, the cameras cannot be completely perpendicular to the surface of a detected object to shoot, so that shooting imaging is distorted, imaging precision and detection and recognition results are affected, when the multi-rotor unmanned aerial vehicle shoots a bridge, the multi-rotor unmanned aerial vehicle and the bridge have an adherence behavior, the multi-rotor unmanned aerial vehicle is extremely easy to damage due to collision when flying, equipment maintenance cost is high, and the mechanisms of the multi-rotor unmanned aerial vehicle are mutually independent and cannot form integrated cooperative control, so that operation complexity is increased, and data acquisition efficiency and quality are affected. Based on this, there is a need to develop an unmanned aerial vehicle equipment for bridge detection. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides the unmanned aerial vehicle equipment for bridge detection, wherein a top observation mechanism is integrated to eliminate detection blind areas, a special protection mechanism for a sensor and a rotor wing is additionally arranged to improve the reliability of the equipment in narrow space operation, and the integrated cooperative control of the mechanisms is realized, so that the problems of incomplete detection, easy equipment damage and low operation efficiency of the existing multi-rotor unmanned aerial vehicle in the detection of a closed structure are comprehensively solved. In order to achieve the purpose, the unmanned aerial vehicle equipment for bridge detection comprises a machine body, a horn, rotors, a blade protection mechanism, a laser radar mechanism, an onboard calculation mechanism, a camera mechanism and a light supplementing lamp mechanism, wherein the machine body is connected with the rotors through the horn, a plurality of rotors are circumferentially arranged around the machine body, the onboard calculation mechanism is arranged at the bottom of the machine body, the laser radar mechanism is arranged at the top of the machine body, the camera mechanism is arranged at the front end of the machine body, the light supplementing lamp mechanisms fixed on the machine body are further arranged at two sides of the camera mechanism, and the blade protection mechanism for protecting the rotors is further arranged on the outer ring of the machine body. As a preferable scheme of the invention, the machine body comprises an upper mounting plate, a lower mounting plate and a mounting block group, wherein the upper mounting plate and the lower mounting plate are oppositely arranged and connected through the mounting block group positioned between the upper mounting plate and the lower mounting plate, and the mounting block group is a plurality of blocks and is positioned at corners of the upper mounting plate and the lower mounting plate. As a preferable scheme of the invention, the mounting block group comprises an upper mounting block and a lower mounting block, wherein first round holes penetrating through the upper mounting block from top to bottom are formed on two sides of the upper mounting block, an upper semicircle penetrating through the upper mounting block from front to back is further formed on the upper mounting block, second round holes matched with the first round holes are formed on two sides of the lower mounting block, and a lower semicircle matched with the upper semicircle is formed on the lower mounting block. As a preferable scheme of the invention, the horn comprises a mounting rod and a motor, one end of the mounting rod is clamped between the upp