A bridge inspection drone

Abstract

A bridge inspection drone, which relates to a drone. Legs (10) are provided at the lower part of the fuselage (2). A self-damping hammer is provided in the middle of the upper surface of the fuselage. An upward-looking camera (1) and an audio collection head (13) are arranged on the fuselage on both sides of the self-damping hammer. A forward-looking camera (11) is provided on the fuselage. A plurality of arms (9) are arranged around the circumference of the fuselage. Motors (8) are respectively provided at the outer ends of each arm. The upper ends of the shafts (7) of the motors are respectively provided with rotor fixing rods (5). Rotors (6) are arranged on the outer edges of the rotor fixing rods. Spring-type universal ball bearings are provided on the upper parts of the rotor fixing rods. In the present invention, by providing spring-type universal ball bearings at the upper ends of each rotor fixing rod, the drone can closely adhere to the lower surface of the bridge to inspect the bridge bearings. By using the self-damping hammer provided on the fuselage, non-destructive testing of the lower surface of the bridge can be obtained through the upward impact force of the fuselage.

Description

Technical Field

[0001] The present invention relates to a drone, and more particularly to a drone for bridge inspection. Specifically, the present invention relates to a multi-functional drone for inspecting bridge girders and bearings. Background Art

[0002] As is well known, with the acceleration of domestic infrastructure construction, there are more and more high-speed railway bridges, urban viaducts, and multi-layer large road hubs. The overall quality inspection, maintenance, repair, or maintenance of bridges is also very frequent. After long-term use, bridges are prone to problems such as damage to the girders caused by the environment, climate, overloaded vehicle driving, or vehicle vibration, reduction of structural safety performance, and displacement of bridge bearings. The current inspection method is to set up a hanging basket, and personnel stand in the hanging basket to use the hammering method to inspect the girder. This method can hardly achieve the inspection purpose for the middle part of the lower surface of a too-wide bridge. For bridges with a relatively low height, a lift truck can be used to inspect the lower part with a road surface, but bridges erected over rivers and valleys cannot be inspected. Especially when inspecting the state of bridge bearings, most use binoculars for remote viewing, and the viewing angle is very limited due to angle restrictions. Summary of the Invention

[0003] In order to overcome the deficiencies in the background art, the present invention discloses a drone for bridge inspection. By setting a spring-type universal ball at the upper end of each rotor fixing rod, the drone can be closely attached to the lower surface of the bridge to inspect the bridge bearings. Using the self-damping hammer provided on the body, non-destructive inspection of the lower surface of the bridge can be obtained through the upward impact force of the body.

[0004] The technical solution of the present invention is realized as follows:

[0005] A drone for bridge inspection includes a body, legs, a self-damping hammer, an upward-looking camera, an audio collection head, arms, motors, shafts, rotor fixing rods, rotors, and spring-type universal balls. Legs are provided at the lower part of the body. A self-damping hammer is provided in the middle of the upper surface of the body. The upward-looking camera and the audio collection head are arranged on the body on both sides of the self-damping hammer. A front-looking camera is provided on the body. A plurality of arms are arranged around the body. Motors are respectively provided at the outer ends of each arm. The upper ends of the shafts above the motors are respectively provided with rotor fixing rods. The rotors are arranged on the outer edges of the rotor fixing rods. Spring-type universal balls are provided above the rotor fixing rods.

[0006] For the drone for bridge inspection described above, the lower end of the self-damping hammer is fixed on the body connecting plate, and the body connecting plate wraps the upper surface and both sides of the body and is fixed by the fixing screws of the legs.

[0007] For the described bridge inspection UAV, the upper part of the leg is composed of two parallel rods. One end of each of the two parallel rods is respectively connected to the upper end of the inclined rod, and the lower ends of the two inclined rods are respectively connected to the bottom rod of the U-shaped structure; the two parallel rods are located in the upper-middle part of the bottom rod of the U-shaped structure.

[0008] For the described bridge inspection UAV, the front-view camera is arranged on the end face at one end of the fuselage.

[0009] For the described bridge inspection UAV, the self-damping hammer includes a hammer tube, a damping spring A and a hammer head. The inner wall of the upper end of the hammer tube is provided with internal threads. The tube cavity below the internal threads is an enlarged-diameter cavity. The outer edge of the middle part of the hammer head is provided with a protruding ring, and the outer edge of the lower end of the smooth rod below the protruding ring is provided with enlarged external threads B; the damping spring A is installed in the tube cavity of the hammer tube, and the external threads B of the hammer head enter the internal threads of the hammer tube and press on the upper end of the damping spring A.

[0010] For the described bridge inspection UAV, a pointed tip is provided at the upper end of the hammer head.

[0011] For the described bridge inspection UAV, external threads A are provided on the upper part of the upper protruding ring of the hammer head.

[0012] For the described bridge inspection UAV, the spring-type universal ball includes a connecting pipe, a universal ball, a telescopic pipe and a damping spring B. The lower end of the connecting pipe is fixedly connected to the upper end of the rotor fixing rod. The upper mouth of the connecting pipe is provided with an inward flange. The lower part of the telescopic pipe is inserted into the upper mouth of the connecting pipe. The outer edge of the lower mouth of the telescopic pipe is provided with an outward flange. The periphery of the connecting ring in the middle of the universal ball is restricted by the inward flange of the upper mouth of the telescopic pipe. The damping spring B is installed in the telescopic pipe and the connecting pipe, and the upper and lower ends of the damping spring B respectively abut against the lower part of the universal ball and the bottom plate arranged at the lower part inside the connecting pipe.

[0013] For the described bridge inspection UAV, a plurality of balls are distributed on the inner spherical surface of the hemispherical lower supporting plate of the universal ball. The lower part of the ball body presses on the plurality of balls. The annular upper shell is buckled around the upper-middle part of the ball body. The protruding ring arranged around the lower end of the annular upper shell is wrapped by the inward flange of the connecting ring at the upper mouth of the hemispherical lower supporting plate. The upper end of the damping spring B abuts against the hemisphere on the lower surface of the hemispherical lower supporting plate.

[0014] Through the above disclosure, the beneficial effects of the present invention are:

[0015] The bridge inspection drone described in the present invention is equipped with a detachable self-damping hammer on the airframe. When the drone impacts upwards, the hammer head of the self-damping hammer strikes the bottom surface of the bridge. The damping spring A inside the hammer tube can ensure that the airframe is not damaged. At this time, the spring-type universal ball can ensure that the rotor does not contact the bottom surface of the bridge. Meanwhile, the video data is collected by the upward-looking camera, and the audio of the hammer head striking the bottom surface of the bridge is collected by the audio acquisition head for subsequent discrimination. When inspecting the bridge bearings, the self-damping hammer can be removed, and the drone can approach the bottom surface of the bridge. The spring-type universal ball is used to slide on the bottom surface of the bridge, and the displacement and damage information of the bridge bearings are collected by the forward-looking camera. The present invention effectively speeds up the progress of bridge inspection, especially for the inspection of bridge bearings that cannot be reached by existing methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 is a connection structural schematic diagram of the self-damping hammer and the airframe of the present invention;

[0018] Figure 3 is an assembly structural schematic diagram of the self-damping hammer of the present invention;

[0019] Figure 4 is a structural schematic diagram of the self-damping hammer of the present invention;

[0020] Figure 5 is a structural schematic diagram of the hammer head retracted structure of the self-damping hammer of the present invention;

[0021] Figure 6 is a structural schematic diagram of the spring-type universal ball of the present invention;

[0022] Figure 7 is a structural schematic diagram of the universal ball of the present invention;

[0023] Figure 8 is a drone operation flow chart of the present invention;

[0024] In the figure: 1. upward-looking camera; 2. airframe; 3. telescopic tube; 4. connecting tube; 5. rotor fixing rod; 6. rotor; 7. shaft; 8. motor; 9. arm; 10. leg; 11. forward-looking camera; 12. airframe connecting plate; 13. audio acquisition head; 14. hammer tube; 15. polished rod; 16. protruding ring; 17. hammer head; 18. external thread A; 19. fixing screw; 20. pointed head; 21. external thread B; 22. damping spring A; 23. internal thread; 24. lumen; 25. sphere; 26. annular upper shell; 27. connecting ring; 28. hemispherical lower support plate; 29. inner folded edge; 30. outer folded edge; 31. damping spring B; 32. bottom plate; 33. socket; 34. protruding ring; 35. ball. Detailed implementation manners

[0025] The present invention will be further described below in conjunction with embodiments; the following embodiments are not limitations on the present invention, but only serve as ways to support the implementation of the present invention. Any equivalent structure substitution within the technical framework disclosed by the present invention falls within the protection scope of the present invention;

[0026] Combined with the attached Figures 1 to 7 The bridge inspection unmanned aerial vehicle described in the figure includes a fuselage 2, legs 10, a self-damping hammer, an upward-looking camera 1, an audio acquisition head 13, arms 9, motors 8, shafts 7, rotor fixing rods 5, rotors 6, and spring-type universal ball bearings. Legs 10 are provided at the lower part of the fuselage 2. The upper parts of the legs 10 are two parallel rod bodies. One ends of the two parallel rod bodies are respectively connected to the upper ends of the inclined rods, and the lower ends of the two inclined rods are respectively connected to the bottom rod of the U-shaped structure; the two parallel rod bodies are in the upper middle part of the bottom rod of the U-shaped structure. A self-damping hammer is provided in the middle of the upper surface of the fuselage 2. The lower end of the self-damping hammer is fixed on the fuselage connecting plate 12. The fuselage connecting plate 12 wraps the upper surface and both sides of the fuselage 2 and is fixed by the fixing screws 19 of the legs 10. The upward-looking camera 1 and the audio acquisition head 13 are provided on the fuselage 2 on both sides of the self-damping hammer, and the front-looking camera 11 is provided on one end face of the fuselage 2; a plurality of arms 9 are provided around the fuselage 2. Motors 8 are respectively provided at the outer ends of each arm 9. The upper ends of the shafts 7 above the motors 8 are respectively provided with rotor fixing rods 5. The rotors 6 are provided on the outer edges of the rotor fixing rods 5. Spring-type universal ball bearings are provided above the rotor fixing rods 5.

[0027] Combined with the attached Figures 1 to 5 The self-damping hammer includes a hammer tube 14, a damping spring A 22, and a hammer head 17. Internal threads 23 are provided on the inner wall of the upper end of the hammer tube 14. The tube cavity 24 below the internal threads 23 is an enlarged cavity. A pointed head 20 is provided at the upper end of the hammer head 17. A protruding ring 16 is provided on the outer edge of the middle part of the hammer head 17. External threads A 18 are provided above the upper protruding ring 16 of the hammer head 17. External threads B 21 with an enlarged diameter are provided on the outer edge of the lower end of the smooth rod 15 below the protruding ring 16; the damping spring A 22 is installed in the tube cavity 24 of the hammer tube 14. After the external threads B 21 of the hammer head 17 enter the internal threads 23 of the hammer tube 14, they press on the upper end of the damping spring A 22.

[0028] Combined with the attached Figure 1 、 6Or 7, the spring-type universal ball includes a connecting pipe 4, a universal ball, a telescopic pipe 3, and a shock-absorbing spring B31. The socket 33 at the lower end of the connecting pipe 4 is sleeved on the upper end of the rotor fixing rod 5, and the lower end of the connecting pipe 4 is fixedly connected to the upper end of the rotor fixing rod 5 by welding. The upper mouth of the connecting pipe 4 is provided with an inward flange 29. The lower part of the telescopic pipe 3 is inserted into the upper mouth of the connecting pipe 4. The outer edge of the lower mouth of the telescopic pipe 3 is provided with an outward flange 30. Multiple balls 35 are distributed on the inner spherical surface of the hemispherical lower support plate 28 of the universal ball. The lower part of the sphere 25 is pressed on the multiple balls 35. The annular upper shell 26 is buckled around the middle and upper part of the sphere 25. The raised ring 34 provided around the lower end of the annular upper shell 26 is wrapped by the inward flange of the connecting ring 27 at the upper mouth of the hemispherical lower support plate 28. The periphery of the connecting ring 27 in the middle of the universal ball is restricted by the inward flange at the upper mouth of the telescopic pipe 3. The shock-absorbing spring B31 is installed in the telescopic pipe 3 and the connecting pipe 4. The lower two ends of the shock-absorbing spring B31 are abutted against the bottom plate 32 provided at the lower inner part of the connecting pipe 4, and the upper end of the shock-absorbing spring B31 is abutted against the hemisphere on the lower surface of the hemispherical lower support plate 28.

[0029] Implement the bridge inspection drone of the present invention, in combination with the attached Figures 1 to 5 , the body connecting plate 12 is made of stainless steel plate. The lower end of the hammer pipe 14 is welded to the body connecting plate 12. The housing of the drone body 2 can be set to be square in the middle, and extended trapezoids are respectively provided on both sides of the square housing. Holes for installing and fixing screws 19 of the corresponding legs 10 are respectively provided at the lower two bent ends of the body connecting plate 12, and the body connecting plate 12 is fixed by the fixing screws 19 of the legs 10; an audio collection head 13 and an upward-looking camera 1 are respectively installed on the trapezoids on both sides of the square housing, and the data lines of the audio collection head 13 and the upward-looking camera 1 are connected to the on-board computer of the drone. A corresponding control module is set in the on-board computer of the drone. Then, the shock-absorbing spring A22 is placed into the lumen 24 of the hammer pipe 14, and the external thread A18 of the hammer head 17 is connected to the internal thread 23 of the hammer pipe 14; in combination with the attached Figure 1 , 6 And 7, the universal balls of the four spring-type universal balls are in accordance with the attached Figure 7 Purchased from the market. The connecting pipe 4 is made according to the rotor fixing rod 5 of the drone. The rotor fixing rod 5 should be made of metal material, and the socket 33 of the connecting pipe 4 matches the rotor fixing rod 5; in accordance with the attached Figure 6 Assemble the connecting pipe 4, the telescopic pipe 3, the shock-absorbing spring B31 and the universal ball, and use the socket 33 of the connecting pipe 4 to sleeve on the upper end of the rotor fixing rod 5 and then weld and connect.

[0030] In combination with the attached Figure 8When using it to strike the bottom surface of the bridge, select the bridge to be detected, make marks on the drawing and divide it into multiple areas, confirm the target position and the set value of the striking force, use the front camera 11 to take pictures of the bridge, and then the ground staff controls the on-board computer of the drone through the drone controller. The drone flight control system starts the drone to take off and hover in the air at the target position, controls the drone to reach the system position and adjust it to an appropriate position height, and conducts position testing through the upward-looking camera 1 to make the self-damping hammer correspond to the best position. Lift the drone and use the self-damping hammer to conduct a striking test. At this time, the upward-looking camera 1 and the audio acquisition head 13 synchronously acquire video data and audio data. "The acquired video data and audio data are processed subsequently." The video data and audio data are retained in the on-board computer of the drone for subsequent copying. At the same time, the acquired video data and audio data can be uploaded to the cloud storage and the handheld drone controller through the network. Then, the next area is detected in the aforementioned manner until all detection tasks are completed.

[0031] Use algorithms to analyze the collected data. If it reaches or exceeds the safety value range or an abnormality occurs, corresponding warnings or repairs can be notified.

[0032] When inspecting the bridge bearings, remove the body connecting plate 12, mark the bridge number on the drawing, confirm the bridge bearings, and then the ground staff controls the on-board computer of the drone through the drone controller. The drone flight control system starts the drone to take off and hover in the air at the target bridge bearing. At this time, use the universal ball to slide on the lower surface of the bridge, control the drone to patrol around the bridge bearing, and at the same time the front camera 11 acquires video data. After the video data acquisition is completed, the next bridge bearing is collected for video data in the aforementioned manner until the task is completed. Finally, analyze the collected data information for subsequent processing.

[0033] The parts not detailed in the present invention are the prior art.

Claims

1. A bridge inspection drone, comprising a fuselage (2), legs (10), a self-damping hammer, an upward-looking camera (1), an audio collection head (13), arms (9), motors (8), shafts (7), rotor fixing rods (5), rotors (6) and spring-type universal ball bearings. Characterized in that: Legs (10) are provided at the lower part of the fuselage (2), a self-damping hammer is provided in the middle of the upper surface of the fuselage (2), the upward-looking camera (1) and the audio collection head (13) are arranged on the fuselage (2) on both sides of the self-damping hammer, and a forward-looking camera (11) is provided on the fuselage (2); A plurality of arms (9) are arranged around the fuselage (2), motors (8) are respectively provided at the outer ends of each arm (9), rotor fixing rods (5) are respectively provided at the upper ends of the shafts (7) above the motors (8), the rotors (6) are arranged on the outer edges of the rotor fixing rods (5), and spring-type universal ball bearings are provided above the rotor fixing rods (5); The spring-type universal ball bearing includes a connecting pipe (4), a universal ball, a telescopic pipe (3) and a damping spring B (31). The lower end of the connecting pipe (4) is fixedly connected to the upper end of the rotor fixing rod (5). An inner flange (29) is provided at the upper opening of the connecting pipe (4). The lower part of the telescopic pipe (3) is inserted into the upper opening of the connecting pipe (4). An outer flange (30) is provided at the outer edge of the lower opening of the telescopic pipe (3). The periphery of the connecting ring (27) in the middle of the universal ball is restricted by the inner flange of the upper opening of the telescopic pipe (3). The damping spring B (31) is installed in the telescopic pipe (3) and the connecting pipe (4), and the upper and lower ends of the damping spring B (31) respectively abut against the lower part of the universal ball and the bottom plate (32) arranged at the lower inner part of the connecting pipe (4); A plurality of balls (35) are distributed on the inner spherical surface of the hemispherical lower supporting plate (28) of the universal ball. The lower part of the sphere (25) presses on the plurality of balls (35). The annular upper shell (26) is buckled around the middle and upper part of the sphere (25). The protruding ring (34) arranged at the lower end periphery of the annular upper shell (26) is wrapped by the inner flange of the connecting ring (27) at the upper opening of the hemispherical lower supporting plate (28). The upper end of the damping spring B (31) abuts against the hemisphere on the lower surface of the hemispherical lower supporting plate (28).

2. The bridge inspection drone according to claim 1, Characterized in that: The lower end of the self-damping hammer is fixed on the fuselage connecting plate (12). After the fuselage connecting plate (12) wraps the upper surface and both sides of the fuselage (2), it is fixed by the fixing screws (19) of the legs (10).

3. The bridge inspection drone according to claim 1 or 2, Characterized in that: The upper part of the leg (10) is two parallel rod bodies. One ends of the two parallel rod bodies are respectively connected to the upper ends of the inclined rods, and the lower ends of the two inclined rods are respectively connected to the bottom rod of the U-shaped structure; The two parallel rod bodies are in the middle and upper part of the bottom rod of the U-shaped structure.

4. The bridge inspection drone according to claim 1, Characterized in that: The forward-looking camera (11) is arranged on one end face of the fuselage (2).

5. The bridge inspection drone according to claim 1, Characterized in that: The self-damping hammer includes a hammer tube (14), a damping spring A (22), and a hammer head (17). The inner wall of the upper end of the hammer tube (14) is provided with an internal thread (23). The tube cavity (24) below the internal thread (23) is an enlarged-diameter cavity. The outer edge of the middle part of the hammer head (17) is provided with a protruding ring (16). The outer edge of the lower end of the smooth rod (15) below the protruding ring (16) is provided with an enlarged-diameter external thread B (21). The damping spring A (22) is installed in the tube cavity (24) of the hammer tube (14). After the external thread B (21) of the hammer head (17) enters the internal thread (23) of the hammer tube (14), it presses on the upper end of the damping spring A (22).

6. The bridge inspection unmanned aerial vehicle according to claim 5, characterized in that: a pointed head (20) is provided at the upper end of the hammer head (17).

7. The bridge inspection unmanned aerial vehicle according to claim 5, characterized in that: an external thread A (18) is provided above the upper protruding ring (16) of the hammer head (17).

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