An unmanned aerial vehicle-based anticorrosive coating detection and local repair integrated equipment

Abstract

The present application relates to bridge maintenance technical field, especially in a kind of anticorrosive coating detection and local repair integration equipment based on unmanned aerial vehicle.The technical problem to be solved is: when adopting unmanned aerial vehicle to carry out steel bridge anticorrosive coating disease detection and maintenance, it is usually carried out separately, time-consuming and labor-consuming;And when carrying out derusting by unmanned aerial vehicle, the dry sand impacting steel bridge can rebound on unmanned aerial vehicle, affect the picture transmission of camera on unmanned aerial vehicle, and in the case where dry sand gradually reduces, the gravity center of dry sand gradually changes, so that the gravity center of dry sand and the gravity center of unmanned aerial vehicle are not on the same axis, poor stability, affect derusting and coating repair effect.The technical scheme: a kind of anticorrosive coating detection and local repair integration equipment based on unmanned aerial vehicle, including fuselage and battery etc.;Battery is arranged on the upper side of machine body.The present application realizes that the inclined surface on the anti-collision ring guides airflow, reduces the sway of airflow to unmanned aerial vehicle;Sinking airflow caused by flight assembly is guided, so that two sinking airflows form downward air port between two air guide plates, and then the rebounding dry sand is blown to the lower side, thereby avoiding that dry sand affects the observation of camera to the rusting place of steel bridge.

Description

Technical Field

[0001] This invention relates to the field of bridge maintenance technology, and in particular to an integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs). Background Technology

[0002] The integrity of the anti-corrosion coating directly affects the longevity and durability of steel bridges; therefore, the inspection and repair of the anti-corrosion coating is a crucial aspect of steel bridge maintenance. Due to the complex operating environment of steel bridges, manual inspection and repair are difficult and pose safety risks. Therefore, using drones for coating inspection and repair is an effective solution. However, currently, the inspection and repair using drones as a platform are carried out separately and independently, which is relatively time-consuming and labor-intensive. During the repair process, staff usually operate drones to remove rust and paint the rusted areas at higher points on the steel bridge. However, during this process, when the drone removes rust from the steel bridge, the dry sand impacting the bridge bounces back onto the drone. Furthermore, due to the high speed of the dry sand, the protective cover of the drone's camera is severely scratched, causing the camera's transmitted image to be blurry. This makes it impossible for operators to clearly see the rust removal status and the areas that need rust removal, affecting the normal rust removal and repair work. In addition, the dry sand cannot enter the pressure pump without power. Moreover, as the dry sand in the hopper gradually decreases, the center of gravity of the dry sand gradually changes, causing the center of gravity of the dry sand and the center of gravity of the drone to be out of sync, affecting the stability of the drone and further affecting the accurate positioning of the rusted areas, resulting in poor rust removal and repair effects. Summary of the Invention

[0003] To overcome the shortcomings of using drones for steel bridge anti-corrosion coating defect detection and repair, which are usually carried out separately, resulting in time and labor consumption; and the fact that when using drones for rust removal, the dry sand impacting the steel bridge will bounce back onto the drone, affecting the image transmitted by the drone's camera, and that as the dry sand gradually decreases, the center of gravity of the dry sand will gradually change, causing the center of gravity of the dry sand and the center of gravity of the drone to be not on the same axis, resulting in poor stability and affecting the rust removal and coating repair effect, this invention provides an integrated equipment for anti-corrosion coating detection and local repair based on drones.

[0004] Technical Solution: An integrated anti-corrosion coating inspection and local repair equipment based on unmanned aerial vehicles (UAVs) includes a fuselage, battery, landing gear, and flight components. The battery is located on the upper side of the fuselage; two symmetrically mounted landing gears are installed on the lower side of the fuselage; four circular arrays of flight components are located on the outer side of the fuselage; the flight components are powered by the battery to achieve flight; the equipment also includes an observation component, a spraying component, anti-collision rings, air deflectors, and a balance maintenance system; an observation component for observing damaged areas of a steel bridge is located on the front side of the fuselage; a spraying component for repairing damaged areas of the steel bridge is installed on the lower side of the fuselage; anti-collision rings are installed on the outer sides of the four circular arrays of flight components to prevent the UAV from colliding with the steel bridge; two symmetrically mounted air deflectors for guiding airflow are located between the two front flight components; a balance maintenance system is installed on the fuselage to maintain the balance of the UAV; the spraying component is connected to the balance maintenance system; and the balance maintenance system is connected to the battery.

[0005] Furthermore, the flight assembly includes connecting rods and propellers; four connecting rods in a ring array are fixed to the outside of the fuselage; each connecting rod is rotatably connected to a propeller, and each propeller consists of three blades.

[0006] Furthermore, the observation components include a camera and a protective cover; a camera for observing the rust on the steel bridge is fixedly attached to the front of the body; a protective cover for protecting the camera lens is fixedly attached to the front of the body; the protective cover is located in front of the camera.

[0007] Furthermore, the spraying assembly includes a material tank, a pressure pump, a connecting pipe, and a nozzle; a material tank for storing dry sand is fixedly connected to the lower side of the machine body; the material tank is connected to the balance maintenance system; a dry sand inlet is opened on the upper side of the material tank, and a dry sand outlet is opened on the lower side; an inclined surface is provided on the lower side of the inner side of the material tank; a pressure pump is connected to the lower side of the material tank outlet; a connecting pipe is connected to the front side of the pressure pump; a nozzle for spraying dry sand to remove rust from the rusted areas of the steel bridge is fixedly connected to the front side of the connecting pipe.

[0008] Furthermore, the upper and lower surfaces of the anti-collision ring are beveled.

[0009] Furthermore, the air intake plate is set to be inclined downward arc shape, and the width of the arc-shaped air intake surface of the air intake plate gradually decreases based on the flow direction of the downward airflow guided by the air intake plate.

[0010] Furthermore, the battery is located on the rear side of the upper surface of the device.

[0011] Furthermore, the balance maintenance system includes a pressure plate, a protective plate, a contact sensor, a connecting rope, a sliding plate, and an elastic element; a pressure plate that can move back and forth to sweep dry sand into the discharge port of the material box is provided on the material box; a protective plate for preventing dry sand from overflowing is fixed in a chute opened on the upper side of the material box, and the protective plate is made of elastic material with deformation capability; a contact sensor is fixed in the right inner surface of the material box, and with the lateral direction as the reference, the contact sensor is located in the middle of the protective plate; a connecting rope is fixed in the upper side of the sliding assembly; a connecting rope is provided on the material box; the connecting rope is connected to the pressure plate; two chute openings are provided on the upper side of the machine body; two symmetrical sliding plates are fixed in the lower side of the battery, and the two sliding plates are located in the chute on the upper side of the adjacent machine body; an elastic element is fixed in front of each of the two sliding plates.

[0012] Furthermore, the pressure plate is arc-shaped and has the ability to deform.

[0013] Furthermore, it also includes a fixing rod, a first arc-shaped plate, and a second arc-shaped plate; two symmetrical fixing rods are fixed to the front side of the inner ring of the anti-collision ring to prevent the downward airflow from causing the sprayed dry sand to be sprayed out; the first arc-shaped plate is fixed to the lower side of the two fixing rods; the second arc-shaped plate is fixed to the lower side of the first arc-shaped plate.

[0014] The beneficial effects of the present invention are as follows: The present invention achieves the goal of guiding the airflow by setting the upper and lower surfaces of the anti-collision ring as inclined surfaces, thereby reducing the swaying of the drone by the airflow.

[0015] Two air deflectors guide the downdrafts generated by two adjacent flight components, creating a downward airflow between the two air deflectors. This blows the rebounded dry sand downwards, thus preventing the dry sand from affecting the camera's observation of the rusted areas of the steel bridge.

[0016] The pressure plate is moved forward by an electric slider, which allows the dry sand in the hopper to flow better to the outlet on the hopper. At the same time, the battery is slid backward by a connecting rope, thereby balancing the imbalance of the drone caused by the dry sand shifting the center of gravity.

[0017] The first and second arc-shaped plates prevent the downward airflow generated by the propeller from deflecting the dry sand ejected from the nozzle downwards. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention;

[0020] Figure 3 This is a partial three-dimensional structural schematic diagram of the present invention;

[0021] Figure 4 This is a partial cross-sectional view of the present invention;

[0022] Figure 5 This is a three-dimensional structural diagram of the air intake plate of the present invention;

[0023] Figure 6 This is a three-dimensional structural diagram of the balance maintenance system of the present invention;

[0024] Figure 7 For the present invention Figure 6 Enlarged view of area A;

[0025] Figure 8 This is a schematic diagram of a three-dimensional structure of the balance maintenance system of the present invention;

[0026] Figure 9 This is a schematic diagram of the combined three-dimensional structure of the fixing rod, the first arc-shaped plate, and the second arc-shaped plate of the present invention. Reference numerals: 1-body, 2-battery, 3-foot bracket, 4-anti-collision ring, 5-air guide plate, 5001-arc-shaped air guide surface, 101-connecting rod, 102-propeller, 201-camera, 202-protective cover, 301-material bin, 30101-sloping surface, 302-pressure pump, 303-connecting pipe, 304-nozzle, 401-slide rail, 402-electric slider, 403-pressure plate, 404-protective plate, 405-contact sensor, 406-connecting rope, 407-slide plate, 408-elastic element, 501-fixing rod, 502-first arc-shaped plate, 503-second arc-shaped plate. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings.

[0028] Example 1

[0029] An integrated equipment for anti-corrosion coating inspection and local repair based on drones, such as... Figures 3-5 As shown, it includes a fuselage 1, a battery 2, landing gear 3, and flight components; the battery 2 is located on the upper side of the fuselage 1; two symmetrical landing gear 3 are installed on the lower side of the fuselage 1; four flight components are arranged in a circular array on the outer side of the fuselage 1; the flight components are powered by the battery 2 to achieve flight;

[0030] It also includes an observation component, a spraying component, anti-collision rings 4, air guides 5, and a balance maintenance system; the observation component is located on the front side of the fuselage 1; the spraying component is installed on the lower side of the fuselage 1; anti-collision rings 4 are installed on the outer sides of the four circular array flight components; the anti-collision rings 4 prevent the UAV from colliding with the steel bridge during movement and causing the UAV to crash; two symmetrical air guides 5 are set between the two flight components on the front side; the two air guides 5 guide the downdraft generated by the two adjacent flight components, so that the two downdrafts form a downward air vent between the two air guides 5. During the sandblasting and rust removal work of the spraying component on the steel bridge, when the dry sand impacting the steel bridge is rebounded towards the observation component, the rebounded dry sand is blown downward by the air vent, avoiding the dry sand from affecting the observation component's observation of the rusted parts of the steel bridge; the balance maintenance system is installed on the fuselage 1; the spraying component is connected to the balance maintenance system; the balance maintenance system is connected to the battery 2.

[0031] The flight assembly includes connecting rods 101 and propellers 102; four connecting rods 101 in a ring array are fixed to the outside of the fuselage 1; each connecting rod 101 is rotatably connected to a propeller 102, and each propeller 102 consists of three blades; the propellers 102 are driven to rotate by the battery 2 to achieve flight.

[0032] The observation component includes a camera 201 and a protective cover 202; the camera 201 is fixedly attached to the front side inside the body 1; the protective cover 202 is fixedly attached to the front side of the body 1; the protective cover 202 is located in front of the camera 201; the rusted area of ​​the steel bridge is observed through the camera 201, and the rust is removed by the spraying component.

[0033] The spraying assembly includes a material tank 301, a pressure pump 302, a connecting pipe 303, and a spray nozzle 304; the material tank 301 is bolted to the lower side of the machine body 1; the material tank 301 is connected to the balance maintenance system; the material tank 301 has a dry sand inlet on the upper side and a dry sand outlet on the lower side; the lower inner surface of the material tank 301 is provided with an inclined surface 30101, which causes the dry sand located at the rear of the material tank 301 to flow towards the outlet, preventing the material tank 301 from... The dry sand left inside the material box 301 reduces the rust removal ability of the spraying assembly on the steel bridge. A pressure pump 302 is connected to the lower side of the material box 301 outlet. A connecting pipe 303 is connected to the front side of the pressure pump 302. A nozzle 304 is fixed to the front side of the connecting pipe 303. The pressure pump 302 pressurizes the dry sand, which is then transmitted to the nozzle 304 through the connecting pipe 303 and sprayed outward through the nozzle 304, thereby achieving the effect of rust removal on the rusted parts of the steel bridge.

[0034] The upper and lower surfaces of the anti-collision ring 4 are sloping 30101. When the drone removes rust from the steel bridge, the anti-collision ring 4 prevents the drone from colliding with the steel bridge during movement. In addition, the airflow at high altitudes can cause the drone to shake, which can cause the nozzle 304 to shake when spraying dry sand. This can result in uneven spraying of the rusted areas of the steel bridge by the drone and a reduced rust removal effect. Therefore, the upper and lower surfaces of the anti-collision ring 4 guide the airflow to reduce the shaking of the drone when removing rust from the steel bridge.

[0035] The air guide plate 5 is set to be inclined downward arc shape. Based on the flow direction of the descending airflow guided by the air guide plate 5, the width of the arc-shaped air guide surface 5001 of the air guide plate 5 gradually decreases. The air guide plate 5 causes the descending airflow to converge towards the middle position in front of the protective cover 202. Furthermore, the gradually decreasing diameter of the arc-shaped air guide surface 5001 increases the flow velocity of the descending airflow on the arc-shaped air guide surface 5001, thereby increasing the flow velocity of the descending airflow at the air vent formed between the two air guide plates 5. This enhances the interception effect of dry sand when it is rebounded.

[0036] Battery 2 is located on the rear side of the upper surface of fuselage 1. Since the two air deflectors 5 block part of the downward airflow of the adjacent propellers 102, the downward airflow at the front of the drone is reduced, causing the front of the drone to tilt downward, which in turn causes the drone to lose balance. Therefore, in order to maintain the balance of the drone, battery 2 is moved backward to the position shown in the figure. The weight of battery 2 helps the drone maintain front-to-back balance, so that the drone will not lose balance when hovering.

[0037] The following are the working steps of this invention for intercepting dry sand:

[0038] First, the staff attached the material box 301 filled with dry sand to the fuselage 1 with bolts. Then, the staff used the drone's remote controller to control the battery 2 to power the propeller 102, causing the propeller 102 to rotate, thus enabling the drone to fly. During the flight, the camera 201 transmitted the image of the steel bridge to a display screen on the ground, allowing the staff to observe whether there were any rusted areas on the steel bridge. When rusted areas were found, the staff used the remote controller to control the drone to remove the rust from the rusted areas on the steel bridge.

[0039] When staff observe rust on the steel bridge, they control a drone via remote control to hover in the air and aim the nozzle 304 at the rusted area. The pressure pump 302 then forces dry sand from the hopper 301 to flow at high speed and spray it through the nozzle 304 onto the rusted area of ​​the steel bridge. The high-speed spray of dry sand removes the rust. The lower surface of the hopper 301 is designed with a slope 30101, allowing the dry sand at the rear of the hopper 301 to automatically flow into the outlet, preventing blockage. Simultaneously, staff use a camera 201 to monitor the rust removal process and move the drone accordingly. However, the dry sand impacting the steel bridge is sometimes reflected back towards the drone, especially towards the camera 201, which can damage the camera. 01 Damage occurs because, although the camera 201 is protected by a protective cover 202, the rebounded dry sand still falls onto the protective cover 202, causing scratches and blurring the image transmitted by the camera 201. This prevents workers from promptly assessing the rust removal situation and makes it easy for workers to misjudge the situation during the process of moving the drone to remove rust from the steel bridge. This can lead to the drone getting too close to the steel bridge, causing a collision and crash. Therefore, when the drone hovers in the air to remove rust from the steel bridge, the rotation of the four propellers 102 creates a downdraft. The two air deflectors 5 guide the downdrafts created by the two adjacent propellers 102, ensuring that the two downdrafts converge at two... A downward airflow is formed between the air intake plates 5, causing the dry sand impacting the steel bridge to be bounced back towards the camera 201 and blown downwards by the airflow. This prevents the dry sand from affecting the camera 201's observation of the rusted areas of the steel bridge. As shown in the figure, during the process of guiding the downward airflow through the two air intake plates 5, since the two air intake plates 5 are curved, when the downward airflow falls onto the curved air intake surface 5001, the downward airflow on the front and rear sides of the air intake plates 5 converges towards the middle of the air intake plates 5, increasing the airflow on the air intake plates 5. Furthermore, based on the direction of the downward airflow guided by the air intake plates 5, the diameter of the curved air intake surface 5001 of the air intake plates 5 gradually decreases, causing the flow velocity of the downward airflow on the air intake plates 5 to gradually increase, thereby enhancing the airflow between the two air intake plates 5. The airflow velocity enhances the interception effect of the airflow between the two air deflectors 5 on the dry sand. At the same time, the air deflectors 5 are set at an angle downward, so that the air vent formed between the two air deflectors 5 is downward. The dry sand that bounces back is blown downward through the air vent formed between the two air deflectors 5, so that the dry sand that bounces back will not interfere with the transmission of the rust removal image by the camera 201. Since the two air deflectors 5 block part of the downward airflow of the adjacent propellers 102, the downward airflow at the front of the drone is reduced, causing the front of the drone to tilt downward, which in turn causes the drone to lose balance. Therefore, in order to maintain the balance of the drone, the battery 2 is moved backward to the position shown in the figure. The weight of the battery 2 keeps the drone balanced front and back, so that the drone will not lose balance when hovering.

[0040] Meanwhile, due to the large amount of airflow at high altitudes, the drone shakes when it hovers, causing the nozzle 304 to shake as well. This causes the dry sand sprayed from the nozzle 304 to shake, thus affecting the drone's rust removal effect on the rusted areas of the steel bridge. Therefore, the upper and lower surfaces of the anti-collision ring 4 are set as inclined surfaces 30101, which guide the airflow and reduce the shaking of the drone caused by the airflow.

[0041] Finally, after the drone has finished removing rust from the rusted areas of the steel bridge, the staff uses a remote control to land the drone, then disassembles the material box 301, and then bolts the paint-filled material box 301 back onto the drone body 1. The drone is then raised to the rust-removed area of ​​the steel bridge to apply anti-corrosion paint, thereby extending the service life of the steel bridge. Example 2

[0042] Based on Example 1, such as Figure 6 and Figure 7As shown, the balance maintenance system includes a sliding assembly, a pressure plate 403, a protective plate 404, a contact sensor 405, a connecting rope 406, a sliding plate 407, and an elastic element 408. A sliding assembly is provided on the upper side of the material box 301, and a groove is formed on the upper side of the material box 301. A pressure plate 403 for sweeping dry sand into the outlet of the material box 301 is fixedly connected to the lower side of the sliding assembly through the groove on the upper side of the material box 301. The sliding assembly slides forward, thereby driving the pressure plate 403 to slide forward, causing the pressure plate 403 to squeeze the dry sand in the material box 301 forward, thus causing the dry sand to flow towards the material box. The discharge port on the lower side of the hopper 301 prevents dry sand from the rear of the hopper 301 from flowing out of the discharge port. A protective plate 404 is fixedly connected to the chute on the upper side of the hopper 301. The protective plate 404 is made of elastic material and has the ability to deform. When the pressure plate 403 squeezes the dry sand forward, the dry sand will flow out from the chute on the upper side of the hopper 301 after being squeezed, resulting in a reduction in the total amount of dry sand in the hopper 301. The protective plate 404 fixed in the chute of the hopper 301 prevents the dry sand from overflowing. After the pressure plate 403 returns to the initial position, the protective plate 404 automatically deforms back to the initial position. The pressure plate 403 prevents the protective plate 404 from being deformed and causing dry sand to flow out of the chute. A contact sensor 405 is fixedly attached to the right inner surface of the material box 301, and with the lateral direction as the reference, the contact sensor 405 is located in the middle of the protective plate 404. When the protective plate 404 slides forward and touches the contact sensor 405, the electric slider 402 stops sliding forward, causing the pressure plate 403 to stop sliding forward. A connecting rope 406 is bolted to the upper side of the sliding assembly. Two chute grooves are opened on the upper side of the machine body 1. Two symmetrical sliding plates 407 are fixedly attached to the lower side of the battery 2. Two sliding plates 407 are located in the sliding grooves on the upper side of the adjacent fuselage 1; each of the two sliding plates 407 has an elastic element 408 fixed to its front side, and the elastic element 408 causes the spring to extend and retract; when the sliding assembly slides forward, it pulls the battery 2 backward through the connecting rope 406, thereby increasing the weight on the rear side of the drone, and thus making the battery 2 and the dry sand form a weight balance, thereby maintaining the balance of the drone. When the pressure plate 403 contacts the contact sensor 405, the sliding assembly stops sliding forward, and then the elastic element 408 moves the battery 2 to the initial position, ensuring that the center of gravity of the drone remains stable. The sliding assembly includes a slide rail 401 and an electric slider 402; the slide rail 401 is fixedly connected to the upper side of the material box 301; the electric slider 402 is slidably connected to the slide rail 401, and the initial position of the electric slider 402 is located behind the slide rail 401; the upper side of the electric slider 402 is bolted to the connecting rope 406; the lower side of the electric slider 402 is fixedly connected to the pressure plate 403; the pressure plate 403 moves forward by the electric slider 402 sliding forward on the slide rail 401, and the battery 2 slides backward by the connecting rope 406, so that the battery 2 and the dry sand are balanced during the process of the pressure plate 403 moving forward to squeeze the dry sand, thus preventing the drone from becoming unbalanced.

[0043] The pressure plate 403 is arc-shaped and has deformation capability, which allows the pressure plate 403 to extend downward during forward movement, thereby making the pressure plate 403 fit tightly against the inclined surface 30101 to prevent the leakage of dry sand.

[0044] The following are the working steps of the balance maintenance system of the present invention:

[0045] Because the dry sand inside the rear of the material bin 301 has difficulty flowing into its outlet, when the drone repairs the rusted area of ​​the steel bridge, the electric slider 402 drives the pressure plate 403 to slide forward. This causes the pressure plate 403 to squeeze the dry sand towards the outlet of the material bin 301, thereby sweeping the dry sand inside the rear of the material bin 301 into its outlet. As the pressure plate 403 squeezes the dry sand forward, the squeezed dry sand flows out from the chute on the upper side of the material bin 301, resulting in a reduction in the total amount of dry sand inside the material bin 301. The protective plate 404, fixed inside the chute of the material bin 301, prevents dry sand from overflowing. When the pressure plate 403 returns to its initial position, the protective plate 404 automatically deforms back to its initial closed state, thus preventing dry sand from flowing out of the chute on the material bin 301 through the protective plate 404. When the material bin 301 is full of dry sand, the center of gravity of the dry sand is on the same axis as the drone. However, when the drone repairs the rusted areas of the steel bridge, and the amount of dry sand gradually decreases, the center of gravity of the dry sand moves forward. At this point, the center of gravity of the dry sand and the center of gravity of the drone are no longer on the same axis, causing… The drone tilts forward, causing it to lose balance. Therefore, when the electric slider 402 slides forward, the connecting rope 406 causes the battery 2 to slide backward on the groove on the body 1, increasing the weight on the rear of the drone. This weight of the battery 2 helps maintain the drone's approximate balance. As the battery 2 slides backward, the two elastic elements 408 extend backward along with it. Simultaneously, when the dry sand decreases to more than half its original volume inside the hopper 301, further reduction in the amount of dry sand causes the center of the dry sand to shift backward. Therefore, when the electric slider... When contact sensor 405 is touched, electric slider 402 stops sliding and remains stationary. When the center of gravity of the dry sand begins to shift, electric slider 402 is controlled to slide backward, driving pressure plate 403 to slide backward as well. Simultaneously, two elastic elements 408 contract, causing battery 2 to slide forward. Electric slider 402 slows down the forward sliding speed of battery 2, maintaining balance between battery 2 and the gradually decreasing dry sand. When the rust on the steel bridge is removed and the amount of dry sand is reduced to zero, electric slider 402 and battery 2 return to their initial positions. Example 3

[0046] Based on Examples 1 and 2, such as Figure 8As shown, it also includes a fixing rod 501, a first arc-shaped plate 502, and a second arc-shaped plate 503; two symmetrical fixing rods 501 are fixed to the front side of the inner ring of the anti-collision ring 4; the first arc-shaped plate 502 is fixed to the lower side of the two fixing rods 501; the second arc-shaped plate 503 is bolted to the lower side of the first arc-shaped plate 502; when the drone removes rust from the rusted parts of the steel bridge, the downward airflow generated by the propeller 102 will blow the dry sand sprayed from the nozzle 304 downward, resulting in a reduction in the rust removal effect of the drone on the steel bridge. Therefore, the first arc-shaped plate 502 and the second arc-shaped plate 503 are used to remove rust. 3. The downward airflow is blocked, thus preventing the dry sand sprayed from the nozzle 304 from deflecting downwards. At the same time, the connecting pipe 303 is fixed to the anti-collision ring 4 by the first arc plate 502 and the second arc plate 503, which enhances the stability of the nozzle 304 when spraying dry sand and prevents the connecting pipe 303 from shaking when the nozzle 304 sprays dry sand, which would cause uneven rust removal of the steel bridge by the drone. In addition, when replacing the paint box 301, the connecting pipe 303 on the paint box 301 can be replaced by bolts between the first arc plate 502 and the second arc plate 503.

[0047] The above embodiments are provided for those skilled in the art to implement or use the present invention. Those skilled in the art can make various modifications or changes to the above embodiments without departing from the inventive concept of the present invention. Therefore, the protection scope of the present invention is not limited to the above embodiments, but should be the maximum scope that conforms to the innovative features mentioned in the claims.

Claims

1. An integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs), characterized in that, The device includes a fuselage (1), a battery (2), landing gear (3), and flight components. The battery (2) is located on the upper side of the fuselage (1). Two symmetrical landing gears (3) are installed on the lower side of the fuselage (1). Four circular arrays of flight components are installed on the outer side of the fuselage (1). The flight components are powered by the battery (2) to enable flight. The device also includes an observation component, a painting component, a collision protection ring (4), a wind deflector (5), and a balance maintenance system. An observation component for observing the damaged area of ​​the steel bridge is located on the front side of the fuselage (1). A painting component for repairing the damaged area of ​​the steel bridge is installed on the lower side of the fuselage (1). Collision protection rings (4) are installed on the outer side of the four circular arrays of flight components to prevent the UAV from colliding with the steel bridge. Two symmetrical wind deflectors (5) for guiding airflow are located between the two flight components on the front side. A balance maintenance system for maintaining the balance of the UAV is installed on the fuselage (1). The painting component is connected to the balance maintenance system. The balance maintenance system is connected to the battery (2). The spraying assembly includes a material tank (301), a pressure pump (302), a connecting pipe (303), and a nozzle (304); a material tank (301) for storing dry sand is fixedly connected to the lower side of the machine body (1); the material tank (301) is connected to the balance maintenance system; a dry sand inlet is opened on the upper side of the material tank (301), and a dry sand outlet is opened on the lower side; an inclined surface (30101) is provided on the lower inner surface of the material tank (301); a pressure pump (302) is connected to the lower side of the outlet of the material tank (301); a connecting pipe (303) is connected to the front side of the pressure pump (302); a nozzle (304) for spraying dry sand to remove rust from the rusted parts of the steel bridge is fixedly connected to the front side of the connecting pipe (303). The balance maintenance system includes a sliding component, a pressure plate (403), a protective plate (404), a contact sensor (405), a connecting rope (406), a sliding plate (407), and an elastic element (408); a pressure plate (403) that can move back and forth is provided on the material box (301) to sweep dry sand into the outlet of the material box (301); a protective plate (404) for preventing dry sand from overflowing is fixed in the sliding groove opened on the upper side of the material box (301), and the protective plate (404) is made of elastic material and has the ability to deform; a contact sensor is fixed on the inner right surface of the material box (301). (405), and with the lateral direction as the reference, the contact sensor (405) is located in the middle of the protection plate (404); a connecting rope (406) is fixedly connected to the upper side of the sliding assembly; a connecting rope (406) is provided in the material box (301); the connecting rope (406) is connected to the pressure plate (403); two sliding grooves are opened on the upper side of the machine body (1); two left-right symmetrical sliding plates (407) are fixedly connected to the lower side of the battery (2), and the two sliding plates (407) are located in the sliding grooves on the upper side of the adjacent machine body (1); an elastic element (408) is fixedly connected to the front side of each of the two sliding plates (407). The sliding assembly includes a slide rail (401) and an electric slider (402); the slide rail (401) is fixedly connected to the upper side of the material box (301); the electric slider (402) is slidably connected to the slide rail (401), and the initial position of the electric slider (402) is located behind the slide rail (401); the upper side of the electric slider (402) is bolted to the connecting rope (406); the lower side of the electric slider (402) is fixedly connected to the pressure plate (403); the pressure plate (403) moves forward by the electric slider (402) sliding forward on the slide rail (401), and the battery (2) slides backward by the connecting rope (406), so that the battery (2) and the dry sand are balanced during the process of the pressure plate (403) moving forward to squeeze the dry sand, thus preventing the drone from becoming unbalanced.

2. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The flight assembly includes connecting rods (101) and propellers (102); four connecting rods (101) in a ring array are fixed to the outside of the fuselage (1); each connecting rod (101) is rotatably connected to a propeller (102) on its upper side, and each propeller (102) consists of three blades.

3. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The observation components include a camera (201) and a protective cover (202); a camera (201) for observing the rust of the steel bridge is fixedly attached to the front of the body (1); a protective cover (202) for protecting the lens of the camera (201) is fixedly attached to the front of the body (1); the protective cover (202) is located in front of the camera (201).

4. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The upper and lower surfaces of the anti-collision ring (4) are inclined.

5. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The air guide plate (5) is set to be inclined downward arc. Based on the flow direction of the downward airflow guided by the air guide plate (5), the width of the arc-shaped air guide surface (5001) of the air guide plate (5) gradually decreases.

6. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The battery (2) is located on the rear side of the upper surface of the body (1).

7. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The pressure plate (403) is arc-shaped and has the ability to deform.

8. The integrated equipment for anti-corrosion coating inspection and local repair based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, It also includes a fixing rod (501), a first arc plate (502), and a second arc plate (503); the inner ring of the anti-collision ring (4) has two left-right symmetrical fixing rods (501) fixed to the front side to prevent the dry sand from being sprayed out by the descending airflow; the first arc plate (502) is fixed to the lower side of the two fixing rods (501); the second arc plate (503) is fixed to the lower side of the first arc plate (502).

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