Although this wheeled robot has many observation and detection functions as mentioned above, it also has the following disadvantages: ①This type of robot and its supporting equipment have a large weight and volume, making it difficult to carry and transport; ②This type of robot and supporting equipment Assembling, wiring and debugging are required before formal operation and use, which requires a high degree of mastery of the professional skills and theoretical knowledge of the operators; ③The structure of this type of robot and supporting equipment is complex, and it is an integration of machine, electricity and instrument Its price ranges from 5,000 yuan to tens of thousands of yuan according to the specific configuration. It is expensive, and it is currently only suitable for the detection and detection of pipeline facilities. The application area is narrow and there are not many application points, so its use The frequency is not high, and it only supports observation and testing on pipelines with equipment erection surfaces, and the maintenance, repair, calibration and calibration of this type of equipment need to be carried out by entrusting the instrument manufacturer or a third-party professional unit, and the above work cannot be carried out by itself. Additional maintenance and calibration costs are generated, which further reduces its economy; ④ The observation and detection functions of this type of robot mainly depend on the control system and its observation, detection and evaluation software. In case of abnormality or failure, observation and detection activities cannot be carried out, so it is difficult to control the operation stability of the control system of the equipment and the observation, detection and evaluation software; ⑤ This type of robot only supports observation and detection on the basis of equipment erection surfaces , not suitable for vacated or suspended working environment
In the process of municipal engineering construction, the main function of the UAV aerial camera is to take aerial photography (including close-up, wide-angle and panoramic views, etc.) of the overall appearance of the project and the overall construction progress. And it is limited to taking photos and videos of specific objects at a specific angle at a specific time point. Generally, aerial photography is carried out in a sunny day with good visibility, and in severe weather such as heavy fog, rain and snow, and at night or in an environment with poor visibility. It is usually not suitable for outdoor aerial photography, which may easily lead to failure of UAV signal transmission and reception, equipment damage due to moisture, misoperation of equipment due to insufficient visibility, collisions, and improper landing and other problems. Most drone aerial photography devices are civilian aerial photography devices, and their aerial photography area and height (generally no more than 100m) are subject to the laws and regulations of the "Regulations on the Administration of Real-Name Registration of Civil Unmanned Aircraft" and the "Regulations on General Aviation Flight Control"
Although the UAV aerial camera has the above functions and advantages, it also has the following disadvantages: ①According to the requirements of the above laws and regulations, the UAV needs to meet three prerequisites before aerial photography (including the operator has a license, the UAV must Airworthiness, flight plan needs to be declared), but these three conditions generally cannot be fully met, so usually the drone aerial photography activities carried out on the project site in the past are illegal photography, and serious cases will be investigated for legal responsibility, so it is generally not recommended to carry out unmanned aerial vehicles Human-machine aerial photography; ② Civilian UAV aerial photography devices and their supporting equipment on the market vary according to specific configuration and performance. Generally, the price ranges from 2,000 yuan to 30,000 yuan, and the price of the main components exceeds 1,000 yuan. But in contrast, the application area of UAV aerial camera is narrow, and there are few application points. In addition, its use frequency is not high. ) and time period (only in daytime, high weather conditions and high visibility) are limited, resulting in high cost of use, and the cost of equipment maintenance and parts consumption in the later period is also relatively large, making its overall economical Poor; ③The shooting quality of the UAV aerial camera and whether it can operate stably and normally depends on the main components such as its flight control system, propulsion system, aerial remote control and receiver, aerial pan/tilt, and aerial camera. Any failure or abnormal operation of any of them will cause the UAV aerial camera to be unable to carry out shooting activities, or even damage and crash of the aerial camera. Therefore, in order to achieve the smooth shooting of the aerial camera, it is necessary to ensure the normal operation of each of the above-mentioned main components. Operation, which requires the user to be in place for daily maintenance and repair of the equipment, and to be clear about the operating status of the equipment and its main components, to understand the causes of various problems and failures, and to have the ability to troubleshoot and solve problems , which is difficult for ordinary people to master. Professionals with professional skills and theoretical knowledge are required. Assembly, wiring and debugging are required before formal operation and use. The requirements for human skills and knowledge are extremely high and it is difficult to get started. Large and difficult to operate; ④ UAV aerial camera is heavy and bulky, so it is not easy to carry and transport; It is carried out on the basis of the equipment erection surface, and it is not suitable for operations in confined and limited spaces. It is easy to cause shielding or abnormality in the transmission and reception of the operation signal of the drone aerial camera, resulting in loss of control of the equipment
[0018] 3. In the actual application process of the above-mentioned existing illuminators and observers, the application surface is limited to varying degrees. For example, most observers are only suitable for daytime or bright environment conditions, and the observation effect is not good at night or in dark environments. And it needs to be put into use and play a role when there is an equipment erection surface or erection conditions, and the application conditions are limited; among the same illuminators, the heat radiation light source illuminators are only suitable for non-flammable and explosive places and the level of the installation position It is not common for all working conditions, and the gas discharge light source illuminator is only suitable for normal temperature environment, usually 18 ℃ ~ 25 ℃, sensitive to starting current and voltage stability (± 5%) , It is not suitable for rotating objects and application shortcomings, such as thermal radiation light source and gas discharge light source illuminator have short service life, high energy consumption, high procurement cost and poor economy, and there are potential safety hazards in use. Restricted, etc. Most of the same observers have observation records that are only applicable to their own specific data and objects and are not universal. The observation and measurement function is single, and the purchase cost of the observer is high, but the frequency of use is not high, and the economy is poor. And it is only used for the observation of specific fields and objects, and lacks practicability. In addition, it has many conditions of use and is subject to relatively large constraints, such as conditions such as people, mechanical equipment, and environmental conditions;
[0019] 4. The above-mentioned existing illuminator and viewer have large external outlines, complex structures, ma