Patrol unmanned aerial vehicle image acquisition and recognition device

Abstract

The invention relates to the technical field of unmanned aerial vehicle inspection, in particular to an inspection unmanned aerial vehicle image acquisition and recognition device which comprises an unmanned aerial vehicle body, a pay-off mechanism used for providing a camera shooting path, a moving mechanism used for driving a camera to move along the camera shooting path and a positioning mechanism used for positioning the camera shooting path. The pay-off mechanism is fixedly connected with the unmanned aerial vehicle body and comprises a top plate, and the top surface of the top plate is fixedly connected with a guide rod. According to the unmanned aerial vehicle, the connecting base is connected with the unmanned aerial vehicle body, the pay-off mechanism is started to pay off the hose, the positioning mechanism is started to be matched with the unmanned aerial vehicle to move, the positioning mechanism penetrates through a canopy layer of a forest to fall to the ground, and then the positioning mechanism is started to move on the ground to drive the hose to form a certain path to be fixed to the ground; and then the moving mechanism is started to drive the camera to move along the path formed by the hose to shoot the internal condition of the forest, so that a user can conveniently observe the internal condition of the forest through the shot picture.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle inspection, and in particular to an inspection unmanned aerial vehicle image acquisition and recognition device. Background Art

[0002] Environmental protection agencies use drone inspections to monitor nature reserves, wildlife habitats and water quality. When inspecting large areas of outdoor environments, drones and other flying equipment are generally used to collect images. After collecting images of the terrain, flora and fauna, and water conditions in the inspection area, the images are transmitted to staff, who manually observe the collected images. However, since drones are generally rotor structures, when encountering areas such as woods, the canopy layers on top of the trees are stacked on top of each other, which can easily block the drone's camera, making it difficult for the drone to capture the interior of the woods. In addition, drones generally find it difficult to pass through the canopy layers and are easily stuck on branches, which is inconvenient. Generally, people enter the woods manually to observe the interior of the woods. However, the distribution of forests in some mountainous areas is discontinuous and scattered, and they are located in mountainous areas. When staff manually enter different forest areas in the mountains for inspections, they are easily affected by conditions such as roads and the environment, making it inconvenient to enter the forest area, which is inconvenient. Summary of the invention

[0003] The purpose of the present invention is to provide an inspection drone image acquisition and recognition device to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An inspection drone image acquisition and recognition device, comprising:

[0006] A drone body, a line-releasing mechanism for providing a camera path, a moving mechanism for driving the camera to move along the camera path, and a positioning mechanism for positioning the camera path. The line-releasing mechanism is fixedly connected to the drone body. The line-releasing mechanism includes a top plate, and a guide rod is fixedly connected to the top surface of the top plate. The top end of the guide rod is rotatably connected to a connecting seat that is detachably connected to the drone body. The bottom surface of the top plate is fixedly connected to a cylinder, and the cylinder is a structure with open ends. A hose is arranged inside the cylinder, and the top end of the hose passes through the top surface of the top plate, and the outer side wall of the hose is fixedly connected to the top surface of the top plate. The moving mechanism is slidably sleeved with the hose, and the positioning mechanism is fixedly connected to the bottom end of the hose.

[0007] Furthermore, a rotating drum is arranged inside the cylinder body, and the rotating drum is an open structure at the bottom, a clamping drum is fixedly connected to the top surface of the rotating drum, a clamping ring is fixedly sleeved on the inner wall of the cylinder body, and the top end of the clamping drum is rotatably clamped with the inner wall of the clamping ring, and the hose is located between the rotating drum and the cylinder body.

[0008] Furthermore, a screw is fixedly connected to the bottom surface of the top plate, and the screw passes through the top surface of the rotating drum and is located inside the rotating drum. Two sliding grooves are provided on the outer wall of the rotating drum. An internal threaded cylinder is screwed on the outer wall of the screw, and two supporting plates are fixedly connected to the outer wall of the internal threaded cylinder. The two supporting plates are respectively slidably engaged in the two sliding grooves, and the ends of the two supporting plates facing away from each other are in contact with the inner wall of the cylinder.

[0009] Furthermore, a motor box is fixedly connected to the top surface of the top plate, and a servo motor 1 is arranged inside the motor box, a motor shaft of the servo motor 1 passes through the top plate and is fixedly connected to a gear, and a gear ring is fixedly connected to the top surface of the rotating drum, and the gear ring is meshed with the gear.

[0010] Further, the positioning mechanism comprises:

[0011] The top end of the rotating shaft is rotatably connected to the bottom surface of the box body, and the motor shafts of the two servo motors pass through adjacent rotating plates and are fixedly connected to the adjacent driving wheel axles. The top end of the rotating shaft is rotatably connected to the bottom surface of the box body, and the motor shaft of the power motor passes through the bottom surface of the box body and is fixedly connected to the top end of the rotating shaft. A bayonet is provided at the bottom end of the rotating shaft, and a block is slidably sleeved inside the bayonet. A spiral nail is fixedly connected to the bottom surface of the block, and a rebound spring is fixedly connected between the block and the top surface inside the bayonet.

[0012] The two wheels are connected with each other, and the two sliding blocks are connected at one end to the two sliding blocks, and the two sliding blocks are connected at one end to the two supporting rods. The outer wall of the rotating rod is connected with a sleeve, and the sleeve is located below the sleeve. The two sliding blocks correspond to the two rotating plates one by one. One end of a supporting rod on any sliding block is connected to the outer wall of the sleeve, and one end of the other supporting rod is connected to the corresponding side wall of the rotating plate. The movable ends of the two electric push rods pass through the bottom surface of the box body, and the movable ends of the two electric push rods are fixedly connected to the top surfaces of the two sliding rails respectively.

[0013] Furthermore, one side of the two driving wheels is fixedly connected with a plurality of ribs, and one end of the plurality of ribs on any driving wheel is located at the center of the adjacent driving wheel.

[0014] Furthermore, a plurality of auxiliary wheels are rotatably connected to the bottom end of the other side of any rotating plate.

[0015] Further, the moving mechanism comprises:

[0016] An annular plate, multiple pan-tilts, a connecting frame, two movable rings, multiple resisting rods and a fixed ring. The interior of the annular plate is movably connected to the hose. Multiple pan-tilts are fixedly connected to the bottom surface of the annular plate. A camera is arranged on any pan-tilt. Both ends of the bottom surface of the connecting frame are fixedly connected to the top surface of the annular plate. The hose is located inside the connecting frame, and multiple resisting wheels are arranged inside the connecting frame at opposite sides of the hose. Any resisting wheel is rotatably connected between two opposite inner side walls of the connecting frame. A driving box is fixedly connected to one side of the connecting frame, and a driving motor is arranged inside the driving box. The motor shaft of the driving motor passes through one side of the connecting frame and is fixedly connected to the wheel axle of an adjacent resisting wheel. Two movable rings are respectively located above and below the annular plate. The cam is provided with a plurality of support arms at both ends of the support arms, and one end of the two support arms on any support arm is rotatably connected to the outer side walls of the two movable rings respectively. The middle parts of the plurality of support arms are fixedly connected to a sliding rod. The top surface of the annular plate is fixedly connected to a plurality of sleeve frames, and the plurality of sleeve frames correspond to the plurality of sliding rods one by one. The plurality of sliding rods are slidably sleeved inside the corresponding sleeve frames. The fixed ring is located above the annular plate, and a connecting pipe is fixedly sleeved inside the fixed ring. The bottom end of the connecting pipe is fixedly connected to the top surface of the connecting frame, and the hose is located inside the connecting pipe. Two electric push rods are fixedly connected to the bottom surface of the fixed ring, and the movable ends of the two electric push rods are fixedly connected to a movable ring.

[0017] Furthermore, the outer wall of the fixed ring is fixedly sleeved with a main sleeve, the top surface of a movable ring is fixedly connected with a secondary sleeve, and the secondary sleeve is slidably sleeved inside the main sleeve.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Connect the connection base and the drone body with the connector, then start the line-releasing mechanism to release the hose, and start the positioning mechanism to move with the drone, so that the positioning mechanism passes through the canopy of the forest and falls to the ground, and then start the positioning mechanism to move on the ground, drive the hose to form a certain path, and then fix the positioning mechanism to the ground, and then start the moving mechanism to drive the camera to move along the path formed by the hose to shoot the internal situation of the forest, so that the user can observe the internal situation of the forest through the captured images.

[0020] 2. Start the servo motor to drive the gear and the gear ring to rotate, so that the gear ring drives the drum to rotate, and the drum is rotated along the screw rod by contacting the two supporting plates and the internal thread ring through the slide groove, so that the two supporting plates and the internal thread ring rotate in a spiral shape, and the hose wound in a spiral shape between the drum and the cylinder body is held by the two supporting plates and fixed inside the cylinder body. When the two supporting plates rotate, the wound hose can be released or rolled into the cylinder body in sequence, so as to control the release and retraction of the hose, and the hose can be wound in a spiral shape in sequence through the gap between the cylinder body and the drum to avoid the hose from being entangled. In the process of lowering the hose, the positioning mechanism falls to the bottom of the released hose due to its own weight, and the drone body can pull the positioning mechanism through the hose;

[0021] 3. When the hose is lowered, the two side plates and two rotating plates on the positioning mechanism form a pyramid shape, which is convenient for passing through the canopy of the forest. When encountering thinner branches, it can directly press through. When encountering thicker branches, it can slide over the thicker branches due to the pyramid structure, and the two servo motors can be started to drive the two driving wheels to rotate, so that the driving wheels roll on the objects they touch, and the position of the positioning mechanism can be adjusted. The drone body can be started to pull the positioning mechanism through the hose, and the position of the positioning mechanism can be adjusted to bypass the thicker branches and fall to the ground in coordination with the rotation of the driving wheels. After the positioning mechanism falls to the ground, the two electric push rods are started to drive the two slide rails to press down, so that the two sliders push the two rotating plates to rotate through the support rods, so that the two driving wheels are parallel, so that the box body can move on the ground relying on the driving wheels and auxiliary wheels, and then the two servo motors are started to drive the driving wheels to rotate, so that the box body pulls the bottom end of the hose to move on the ground, and the tip of the spiral nail is always in contact with the ground due to the rebound spring, and then the power motor is started to drive the rotating rod and the spiral nail to rotate, so that the spiral nail is screwed into the underground due to its own spiral groove to fix the position of the box body;

[0022] 4. Start the drive motor to drive the adjacent wheels to rotate, so that the wheels roll on the hose, thereby driving the moving mechanism to move along the hose. During the movement of the moving mechanism, use the camera on the pan / tilt to collect images. When the hose contacts an object, start the two electric push rods to reciprocate and drive the adjacent moving rings to move, so that the moving ring drives multiple push rods to reciprocate through adjacent support arms, so that the multiple push rods move synchronously away from the annular plate and then reset synchronously, so that the multiple push rods expand outward to push the hose and the contacted object apart, making it easier for the moving mechanism to move along the hose. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the connecting seat in the present invention; Figure 3 It is a schematic diagram of the structure of the pay-off mechanism in the present invention; Figure 4 It is an exploded diagram of the structure of the pay-off mechanism in the present invention; Figure 5 It is a schematic diagram of the positioning mechanism structure in the present invention; Figure 6 It is a schematic diagram of the position relationship among the slide rail, the support rod and the side plate in the present invention; Figure 7 It is an exploded diagram of the positioning mechanism structure in the present invention; Figure 8 It is an exploded diagram of the mobile mechanism structure in the present invention; Fig. 9 It is a schematic diagram of the support rod structure in the present invention.

[0024] In the figure: 100, drone body; 200, line release mechanism; 210, top plate; 211, guide rod; 212, connection seat; 213, motor box; 214, gear; 220, cylinder; 221, snap ring; 222, hose; 230, rotating cylinder; 231, clamping cylinder; 232, gear ring; 240, screw rod; 241, internal thread cylinder; 242, support plate; 300, moving mechanism; 310, annular plate; 311, sleeve frame; 320, gimbal; 330, connection frame; 331, wheel; 332, drive box; 340, moving ring; 341, auxiliary sleeve; 350, rod ; 351, support arm; 352, slide rod; 360, fixed ring; 361, electric push rod 1; 362, connecting pipe; 363, main sleeve; 400, positioning mechanism; 410, box body; 411, power box; 412, electric push rod 2; 420, side plate; 430, rotating plate; 431, driving wheel; 432, rib; 433, fixed box; 434, auxiliary wheel; 440, rotating rod; 441, bayonet; 442, block; 443, screw nail; 444, rebound spring; 450, sliding ring; 451, slide rail; 452, slider; 453, support rod; 460, collar. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-Figure 9 In an embodiment of the present invention, a patrol drone image acquisition and recognition device includes:

[0027] A drone body 100, a line-releasing mechanism 200 for providing a camera path, a moving mechanism 300 for driving the camera to move along the camera path, and a positioning mechanism 400 for positioning the camera path. The line-releasing mechanism 200 is fixedly connected to the drone body 100. The line-releasing mechanism 200 includes a top plate 210, and a guide rod 211 is fixedly connected to the top surface of the top plate 210. The top of the guide rod 211 is rotatably connected to a connecting seat 212 that is detachably connected to the drone body 100. A cylinder 220 is fixedly connected to the bottom surface of the top plate 210, and the cylinder 220 is a structure with openings at both ends. A hose 222 is arranged inside the cylinder 220, and the top end of the hose 222 passes through the top surface of the top plate 210, and the outer wall of the hose 222 is fixedly connected to the top surface of the top plate 210. The moving mechanism 300 is slidably sleeved with the hose 222, and the positioning mechanism 400 is fixedly connected to the bottom end of the hose 222.

[0028] Specifically, the connection seat 212 is fixed to the bottom of the drone body 100 by using bolts and other connecting parts, and then the drone body 100 can synchronously drive the line-releasing mechanism 200, the moving mechanism 300 and the positioning mechanism 400 to rise into the air. When encountering a forest or the like, when it is necessary to shoot the internal situation of the forest, the hose 222 on the line-releasing mechanism 200 can be lowered to allow the positioning mechanism 400 to pass through the canopy of the forest and then be fixed to the ground, so that the bottom end of the hose 222 is fixed to the ground through the positioning mechanism 400 and the top is fixed to the drone body 100. By controlling the movement of the drone body 100 The shape of the hose 222 is thereby adjusted, and the hose 222 can bypass branches and other objects on the tree canopy to form a path of a certain shape, and then the moving mechanism 300 is started to drive the camera to move along the path formed by the hose 222, so as to shoot the situation at the tree canopy and the ground below the tree canopy, so as to collect images of the internal situation of the forest, and return the image to the user through the drone body 100, or transmit the image to the receiving device through wireless technology, and the user carries the receiving device to observe and identify the image, so as to facilitate the user to use the drone to observe and patrol the internal situation of the forest, wireless transmission technology. Drone control technology, etc. are all existing technologies and will not be repeated here. Embodiment 1

[0029] like Figure 3-Figure 4As shown, in this embodiment, a rotating cylinder 230 is arranged inside the cylinder 220, and the rotating cylinder 230 is a bottom-opening structure, a clamping cylinder 231 is fixedly connected to the top surface of the rotating cylinder 230, a clamping ring 221 is fixedly sleeved on the inner side wall of the cylinder 220, and the top of the clamping cylinder 231 is rotatably clamped with the inner side wall of the clamping ring 221, and the hose 222 is located between the rotating cylinder 230 and the cylinder 220, a screw 240 is fixedly connected to the bottom surface of the top plate 210, and the screw 240 passes through the top surface of the rotating cylinder 230 and is located inside the rotating cylinder 230, and two sliding grooves are provided on the outer side wall of the rotating cylinder 230, and the screw 2 An internal threaded cylinder 241 is screwed on the outer wall of 40, and two support plates 242 are fixedly connected to the outer wall of the internal threaded cylinder 241. The two support plates 242 are respectively slidably engaged in the two slide grooves, and the opposite ends of the two support plates 242 are in contact with the inner wall of the cylinder body 220. A motor box 213 is fixedly connected to the top surface of the top plate 210, and a servo motor 1 is arranged inside the motor box 213. The motor shaft of the servo motor 1 passes through the top plate 210 and is fixedly connected to the gear 214. A gear ring 232 is fixedly connected to the top surface of the rotating cylinder 230, and the gear ring 232 is meshed with the gear 214.

[0030] In this embodiment, the gap thickness between the rotating drum 230 and the cylinder body 220 is close to the thickness of the hose 222, so that the hose 222 can be spirally wound between the rotating drum 230 and the cylinder body 220 in sequence to avoid the hose 222 from being entangled. The hose 222 is made of metal and has a similar structure to a shower pipe. The winding angle is limited, and the friction between the surface and the surface of the rotating drum 230 is small. When the hose 222 is wound on the outer wall of the rotating drum 230, the rotating drum 230 can rotate. By starting the servo motor 1 to drive the gear 214 and the gear ring 232 to rotate synchronously, the gear ring 232 drives the rotating drum 230 to rotate. The screw 240 and the barrel 220 do not rotate, so that when the rotating barrel 230 rotates, it relies on its own sliding groove to contact the two supporting plates 242 to drive the internal threaded barrel 241 to rotate, so that the internal threaded barrel 241 moves up and down along the screw 240 that is screwed on. The two supporting plates 242 on the internal threaded barrel 241 are at different heights, and when the internal threaded barrel 241 rotates and moves along the screw 240, the two supporting plates 242 rotate along the spiral line. In the initial state, the two supporting plates 242 are always located at the bottom of the coiled hose 222 in the barrel 220, so that when the two supporting plates 242 rotate along the spiral line, the coiled hose 222 can be released or reeled up.

[0031] like Figure 5-Figure 7 As shown, in this embodiment, the positioning mechanism 400 includes:

[0032] The box body 410, two side plates 420, two rotating plates 430 and a rotating rod 440, the box body 410 is fixedly connected with a power box 411 and two electric push rods 412, the power box 411 is provided with a power motor, the top surface of the box body 410 is fixedly connected with the bottom end of the hose 222, the top ends of the two side plates 420 are respectively fixedly connected with the two long sides of the bottom surface of the box body 410, the top ends of the two rotating plates 430 are respectively rotatably connected with the two ends of the bottom surface of the box body 410, one side of the two rotating plates 430 is rotatably connected with a driving wheel 431, and the other sides of the two rotating plates 430 are fixed A fixing box 433 is connected, and a servo motor 2 is arranged inside the two fixing boxes 433, and the motor shafts of the two servo motors 2 pass through the adjacent rotating plate 430 and are fixedly connected to the axle of the adjacent driving wheel 431, the top of the rotating rod 440 is rotatably connected to the bottom surface of the box body 410, and the motor shaft of the power motor passes through the bottom surface of the box body 410 and is fixedly connected to the top of the rotating rod 440, the bottom of the rotating rod 440 is provided with a bayonet 441, and a card block 442 is slidably sleeved inside the bayonet 441, and a screw nail 443 is fixedly connected to the bottom surface of the card block 442, and the card block 442 is fixedly connected to the bayonet 4 A rebound spring 444 is fixedly connected between the inner top surfaces 41, a sliding ring 450 is slidably sleeved on the outer wall of the rotating rod 440, and two slide rails 451 are fixedly connected to the outer wall of the sliding ring 450, two sliders 452 are slidably clamped inside the two slide rails 451, and one end of the two sliders 452 are rotatably connected to two support rods 453, a ring 460 is rotatably sleeved on the outer wall of the rotating rod 440, and the ring 460 is located below the sliding ring 450, the two sliders 452 correspond to the two rotating plates 430 one by one, and one end of a support rod 453 on any slider 452 is The two electric push rods 412 are rotatably connected to the outer wall of the ring 460, and one end of the other support rod 453 is rotatably connected to the corresponding side wall of the rotating plate 430. The movable ends of the two electric push rods 412 pass through the bottom surface of the box body 410, and the movable ends of the two electric push rods 412 are respectively fixedly connected to the top surfaces of the two slide rails 451. One side of the two driving wheels 431 is fixedly connected with a plurality of ribs 432, and one end of the plurality of ribs 432 on any driving wheel 431 is located at the center of the adjacent driving wheel 431. The bottom end of the other side of any rotating plate 430 is rotatably connected with a plurality of auxiliary wheels 434.

[0033] In a specific implementation, when the hose 222 is released from the cylinder 220, the positioning mechanism 400 naturally falls due to its own weight, and the two side panels 420 and the two rotating plates 430 form a pyramidal structure, which is convenient for the positioning mechanism 400 to pass through the tree canopy, and the side panels 420 and the rotating plates 430 have a high self-weight, so that the side panels 420 and the rotating plates 430 remain below the box body 410, and the positioning mechanism 400 can be pulled by controlling the drone body 100 to keep the side panels 420 and the rotating plates 430 below the box body 410. When the positioning mechanism 400 enters the tree canopy, the box body 410, the side panels 420 and the rotating plates The plate 430 can naturally bend thinner branches due to its own weight to pass through the tree canopy, and the pyramid-shaped structure formed by the side plate 420 and the rotating plate 430 can naturally slide away thicker branches. The two driving wheels 431 are relatively large, so that when encountering complex branch distribution, the two servo motors can be started to drive the adjacent driving wheels 431 to rotate, so that the driving wheels 431 roll on the contacted objects, adjust the overall position of the positioning mechanism 400, and cooperate with the drone body 100 to pull the positioning mechanism 400 through the hose 222, so as to assist the positioning mechanism 400 to pass through the complex branches and fall to the ground, and the ribs 432 on the rotating driving wheels 431 can contact with the objects. The contact object is moved, thereby changing the position of the box body 410. During the falling process of the positioning mechanism 400, the spiral nail 443 is always exposed under the drive of the rebound spring 444 to prevent objects from entering the space between the two side plates 420 and the two rotating plates 430. After the positioning mechanism 400 falls to the ground, the two electric push rods 412 are started to drive the two slide rails 451 to press down, so that the two slide rails 451 drive the two sliders 452 to press down, so that the sliders 452 push the two rotating plates 430 to rotate away from each other through the adjacent support rods 453, so that the two driving wheels 431 are arranged in parallel, and the multiple auxiliary wheels 434 contact the ground, and Then, the two servo motors 431 can be started to drive the two driving wheels 431 to rotate, so that the box body 410 can be moved on the ground through the driving wheels 431 and the auxiliary wheels 434 to adjust the position of the box body 410, and drive the box body 410 to pull the hose 222 to form different camera paths, and then the power motor is started to drive the rotating rod 440 to rotate, so that the rotating rod 440 drives the block 442 and the spiral nail 443 to rotate synchronously through the bayonet 441, and the spiral nail 443 is driven by the rebound spring 444 to keep the tip of the spiral nail close to the ground during its self-rotation, and then the self-rotating spiral nail 443 can rely on its own spiral groove to screw into the ground soil layer to fix the position of the box body 410.

[0034] like Figure 8-Figure 9 As shown, in this embodiment, the moving mechanism 300 includes:

[0035] An annular plate 310, multiple pan-tilt platforms 320, a connecting frame 330, two movable rings 340, multiple push rods 350 and a fixed ring 360. The interior of the annular plate 310 is movably connected to the hose 222. Multiple pan-tilt platforms 320 are fixedly connected to the bottom surface of the annular plate 310. A camera is provided on any pan-tilt platform 320. Both ends of the bottom surface of the connecting frame 330 are fixedly connected to the top surface of the annular plate 310. The hose 222 is located inside the connecting frame 330, and multiple push wheels 331 are provided inside the connecting frame 330 at opposite sides of the hose 222. Any push wheel 331 is rotatably connected between two opposite inner side walls of the connecting frame 330. A driving box 332 is fixedly connected to one side of the connecting frame 330, and a driving motor is provided inside the driving box 332. The motor shaft of the driving motor passes through one side of the connecting frame 330 and is fixedly connected to the wheel axle of the adjacent push wheel 331. The two movable rings 340 are respectively located above and below the annular plate 310. At the same time, multiple supporting rods 350 are distributed around the circumference of the annular plate 310, and both ends of the multiple supporting rods 350 are rotatably connected with support arms 351. One end of the two support arms 351 on any supporting rod 350 is rotatably connected to the outer side walls of the two movable rings 340 respectively, and the middle parts of the multiple supporting rods 350 are fixedly connected with sliding rods 352. The top surface of the annular plate 310 is fixedly connected with multiple sleeve frames 311, and the multiple sleeve frames 311 correspond to the multiple sliding rods 352 one by one. The multiple sliding rods 352 are slidably sleeved inside the corresponding sleeve frames 311. The fixed ring 360 is located above the annular plate 310, and a connecting pipe 362 is fixedly sleeved inside the fixed ring 360. The bottom end of the connecting pipe 362 is fixedly connected to the top surface of the connecting frame 330, and the hose 222 is located inside the connecting pipe 362. Two electric push rods 361 are fixedly connected to the bottom surface of the fixed ring 360, and the movable ends of the two electric push rods 361 are fixedly connected to a movable ring 340.

[0036] In a specific implementation, the wheel 331 in the connection frame 330 is close to the hose 222, and the hose 222 is clamped by two adjacent wheels 331, so that when the drive motor is started, the adjacent wheels 331 can be driven to roll on the hose 222, thereby driving the connection frame 330 and the entire mobile mechanism 300 to move along the hose 222. During the movement of the mobile mechanism 300 along the hose 222, the camera on the pan-tilt 320 can be used to collect images of the surrounding conditions. The pan-tilt 320 is an electric device that can adjust the angle and direction of the camera. It is a prior art and will not be described in detail here. Then, when the mobile mechanism 300 passes through the hose 222 When the hose 222 bypasses the object, although the bending angle of the hose 222 is limited, part of it is easy to contact the object. At this time, the drive motor can be started to push the moving mechanism 300 to pass through the object contacted by the hose 222. At the same time, two electric push rods 361 are started to drive the adjacent moving rings 340 to move back and forth, so that the moving rings 340 drive the multiple push rods 350 to move synchronously, and the multiple push rods 350 are synchronously moved away from the annular plate 310 and then reset, so that the multiple push rods 350 expand outward to separate the hose 222 from the object it contacts, making it easier for the moving mechanism 300 to pass. Embodiment 2

[0037] On the basis of the first embodiment, the two electric push rods 361 are protected by providing a main sleeve 363 and a secondary sleeve 341 .

[0038] like Figure 8 As shown, in this embodiment, a main sleeve 363 is fixedly sleeved on the outer wall of the fixed ring 360 , a secondary sleeve 341 is fixedly connected to the top surface of a movable ring 340 , and the secondary sleeve 341 is slidably sleeved inside the main sleeve 363 .

[0039] In a specific implementation, the auxiliary sleeve 341 can slide inside the main sleeve 363, and the two electric push rods 361 are protected by using the main sleeve 363 and the auxiliary sleeve 341.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A patrol drone image acquisition and recognition device, characterized in that: include: Drone body (100); A line-releasing mechanism (200) is fixedly connected to the drone body (100), the line-releasing mechanism (200) comprising a top plate (210), the top surface of the top plate (210) being fixedly connected to a guide rod (211), the top end of the guide rod (211) being rotatably connected to a connecting seat (212) detachably connected to the drone body (100), the bottom surface of the top plate (210) being fixedly connected to a cylinder (220), the cylinder (220) being a structure with both ends open, a hose (222) being arranged inside the cylinder (220), the top end of the hose (222) penetrating the top surface of the top plate (210), and the outer wall of the hose (222) being fixedly connected to the top surface of the top plate (210); A moving mechanism (300) is slidably connected to the hose (222); The positioning mechanism (400) is fixedly connected to the bottom end of the hose (222).

2. The inspection drone image acquisition and recognition device according to claim 1 is characterized in that: The positioning mechanism (400) comprises: A box body (410) is fixedly connected with a power box (411) and two electric push rods (412) inside, wherein a power motor is arranged inside the power box (411), and the top surface of the box body (410) is fixedly connected with the bottom end of the hose (222); Two side panels (420), the top ends of which are respectively fixedly connected to the two long sides of the bottom surface of the box body (410); Two rotating plates (430), the top ends of which are rotatably connected to the two ends of the bottom surface of the box body (410), one side of the two rotating plates (430) is rotatably connected to a driving wheel (431), and the other sides of the two rotating plates (430) are fixedly connected to a fixing box (433), and the two fixing boxes (433) are each provided with a servo motor 2 inside, and the motor shafts of the two servo motors 2 pass through adjacent rotating plates (430) and are fixedly connected to the wheel shafts of adjacent driving wheels (431); The top end of the rotating rod (440) is rotatably connected to the bottom surface of the box body (410), and the motor shaft of the power motor passes through the bottom surface of the box body (410) and is fixedly connected to the top end of the rotating rod (440). The bottom end of the rotating rod (440) is provided with a bayonet (441), and a clamping block (442) is slidably sleeved inside the bayonet (441). The bottom surface of the clamping block (442) is fixedly connected with a spiral nail (443), and a rebound spring (444) is fixedly connected between the clamping block (442) and the inner top surface of the bayonet (441).

3. The inspection drone image acquisition and recognition device according to claim 2 is characterized in that: The moving mechanism (300) comprises: An annular plate (310) whose interior is movably connected to the hose (222); A plurality of pan-tilt platforms (320) are all fixedly connected to the bottom surface of the annular plate (310), and a camera is provided on each pan-tilt platform (320); A connecting frame (330), the two ends of the bottom surface of which are fixedly connected to the top surface of the annular plate (310), the hose (222) being located inside the connecting frame (330), and a plurality of wheels (331) being provided inside the connecting frame (330) at opposite sides of the hose (222), and any of the wheels (331) being rotatably connected between two opposite inner side walls of the connecting frame (330), a driving box (332) being fixedly connected to one side of the connecting frame (330), and a driving motor being provided inside the driving box (332), and a motor shaft of the driving motor passing through one side of the connecting frame (330) and being fixedly connected to the wheel axle of an adjacent wheel (331); Two movable rings (340), respectively located above and below the annular plate (310); A plurality of supporting rods (350) are distributed around the circumference of the annular plate (310), both ends of the plurality of supporting rods (350) are rotatably connected to supporting arms (351), one end of the two supporting arms (351) on any supporting rod (350) is rotatably connected to the outer side walls of the two movable rings (340) respectively, a sliding rod (352) is fixedly connected to the middle of the plurality of supporting rods (350), a plurality of sleeve frames (311) are fixedly connected to the top surface of the annular plate (310), and the plurality of sleeve frames (311) correspond to the plurality of sliding rods (352) one by one, and the plurality of sliding rods (352) are slidably sleeved inside the corresponding sleeve frames (311); A fixed ring (360) is located above the annular plate (310), and a connecting pipe (362) is fixedly sleeved inside the fixed ring (360), the bottom end of the connecting pipe (362) is fixedly connected to the top surface of the connecting frame (330), and the hose (222) is located inside the connecting pipe (362), and two electric push rods (361) are fixedly connected to the bottom surface of the fixed ring (360), and the movable ends of the two electric push rods (361) are fixedly connected to a movable ring (340).

4. The inspection drone image acquisition and recognition device according to claim 1 is characterized in that: A rotating cylinder (230) is arranged inside the cylinder body (220), and the rotating cylinder (230) is a bottom-open structure. A clamping cylinder (231) is fixedly connected to the top surface of the rotating cylinder (230). A clamping ring (221) is fixedly sleeved on the inner side wall of the cylinder body (220), and the top end of the clamping cylinder (231) is rotatably clamped to the inner side wall of the clamping ring (221). The hose (222) is located between the rotating cylinder (230) and the cylinder body (220).

5. The inspection drone image acquisition and recognition device according to claim 4 is characterized in that: The bottom surface of the top plate (210) is fixedly connected to a screw rod (240), and the screw rod (240) passes through the top surface of the rotating drum (230) and is located inside the rotating drum (230). The outer wall of the rotating drum (230) is provided with two slide grooves. The outer wall of the screw rod (240) is screwed with an internal threaded cylinder (241), and the outer wall of the internal threaded cylinder (241) is fixedly connected to two supporting plates (242). The two supporting plates (242) are respectively slidably engaged in the inside of the two slide grooves, and the ends of the two supporting plates (242) that are away from each other are in contact with the inner wall of the cylinder body (220).

6. The inspection drone image acquisition and recognition device according to claim 5 is characterized in that: A motor box (213) is fixedly connected to the top surface of the top plate (210), and a servo motor 1 is arranged inside the motor box (213). The motor shaft of the servo motor 1 passes through the top plate (210) and is fixedly connected to a gear (214). A gear ring (232) is fixedly connected to the top surface of the rotating drum (230), and the gear ring (232) is meshed with the gear (214).

7. The inspection drone image acquisition and recognition device according to claim 2 is characterized in that: The outer wall of the rotating rod (440) is slidably sleeved with a sliding ring (450), and the outer wall of the sliding ring (450) is fixedly connected to two sliding rails (451), and two sliders (452) are slidably clamped inside the two sliding rails (451), and one end of the two sliders (452) is rotatably connected to two supporting rods (453), and the outer wall of the rotating rod (440) is rotatably sleeved with a collar (460), and the collar (460) is located below the sliding ring (450), and the two The sliders (452) correspond to the two rotating plates (430) one by one. One end of a support rod (453) on any slider (452) is rotatably connected to the outer wall of the collar (460), and one end of the other support rod (453) is rotatably connected to the side wall of the corresponding rotating plate (430). The movable ends of the two electric push rods (412) penetrate the bottom surface of the box body (410), and the movable ends of the two electric push rods (412) are fixedly connected to the top surfaces of the two slide rails (451) respectively.

8. The inspection drone image acquisition and recognition device according to claim 7 is characterized in that: One side of each of the two driving wheels (431) is fixedly connected with a plurality of ribs (432), and one end of the plurality of ribs (432) on any driving wheel (431) is located at the center of the circle of the adjacent driving wheel (431).

9. The inspection drone image acquisition and recognition device according to claim 8, characterized in that: The bottom end of the other side of any rotating plate (430) is rotatably connected to a plurality of auxiliary wheels (434).

10. The inspection drone image acquisition and recognition device according to claim 3, characterized in that: The outer wall of the fixed ring (360) is fixedly sleeved with a main sleeve (363), the top surface of a movable ring (340) is fixedly connected with a secondary sleeve (341), and the secondary sleeve (341) is slidably sleeved inside the main sleeve (363).

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