Hovering inspection unmanned aerial vehicle suitable for closed space and control method of hovering inspection unmanned aerial vehicle

Abstract

The invention discloses a hovering inspection unmanned aerial vehicle suitable for a closed space and a control method thereof, relates to the technical field of unmanned aerial vehicles, and aims to solve the problems that an existing unmanned aerial vehicle is inconvenient to hover in the closed space and is inconvenient to fully scan the closed space, and the overall scanning effect is reduced. According to the technical scheme, the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a rotating inner ring is rotationally connected to the outer side of the unmanned aerial vehicle body, a hovering outer ring used for hovering is rotationally connected to the outer side of the rotating inner ring, and an adsorption magnet used for guiding flight and hovering is fixedly connected to the side wall of the hovering outer ring; four sets of adsorption magnets are distributed on the side wall of the hovering outer ring, and the outer side of the unmanned aerial vehicle body is fixedly connected with a scanning camera used for scanning. And the effects of stable adsorption scanning, full scanning in a closed space and stable flight are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a hovering inspection unmanned aerial vehicle suitable for a closed space and a control method thereof. Background Art

[0002] Unmanned aerial vehicle, abbreviated as "UAV", is an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. UAV is actually a general term for unmanned aerial vehicles. From a technical point of view, it can be divided into several categories: unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders.

[0003] A precision hovering drone such as the one with application number CN201621446691.9, which surveys the surroundings by setting a fisheye lens. At least two fisheye lenses are set on the body of the drone, which can well solve the problem of real-time detection and obstacle avoidance of the drone during flight; and through the setting of thin-film solar cells, the drone can be continuously powered when the weather is clear and sunny, so that the drone can work for a long time, thereby increasing the use time of the drone.

[0004] The above-mentioned prior art solutions have the following defects: the existing drones are not convenient to hover in a closed space, and are not convenient to fully scan the closed space, which reduces the overall scanning effect. Summary of the invention

[0005] The object of the present invention is to provide a tree barrier cutting device with an embracing climbing function and a control method thereof, which solves the problem that existing drones are inconvenient to hover in closed spaces and facilitates full scanning of closed spaces.

[0006] To achieve the above object, the present invention provides the following technical solutions: A hovering inspection drone suitable for closed spaces comprises a drone body, wherein a rotating inner ring is rotatably connected to the outside of the drone body, a hovering outer ring is rotatably connected to the outside of the rotating inner ring, an adsorption magnet for guiding flight and hovering is fixedly connected to the side wall of the hovering outer ring, four groups of the adsorption magnets are distributed on the side wall of the hovering outer ring, and a scanning camera for scanning is fixedly connected to the outside of the drone body.

[0007] Furthermore, a first remote control motor is fixedly installed inside the hovering outer ring, an output end of the first remote control motor is fixedly connected to a first rotating shaft, an outer side of the first rotating shaft is fixedly connected to the rotating inner ring, and the rotating inner ring is rotatably connected to the hovering outer ring through the first rotating shaft.

[0008] Furthermore, there are two groups of the first remote-controlled motors symmetrically distributed about the center line of the hovering outer ring, and the first remote-controlled motors are distributed corresponding to the first rotating axis.

[0009] Furthermore, a second remote control motor is fixedly connected inside the rotating inner ring, a second rotating shaft is fixedly connected to an output end of the second remote control motor, the second rotating shaft is fixedly connected to the drone body, and the drone body is rotatably connected to the rotating inner ring via the second rotating shaft.

[0010] Furthermore, there are two groups of the second remote-controlled motors symmetrically distributed about the center line of the rotating inner ring, and the second remote-controlled motors are distributed corresponding to the second rotating axis.

[0011] Furthermore, a reinforcing connecting rod is fixedly connected to a side of the second rotating shaft close to the second remote-controlled motor, and a side of the reinforcing connecting rod away from the second rotating shaft is fixedly connected to the drone body.

[0012] Furthermore, the adsorption magnets on the side walls of the hovering outer ring are cylindrical structures, and each of the adsorption magnets on the side walls of the hovering outer ring is arranged in two groups, and the insides of the hovering outer ring and the rotating inner ring are hollow annular structures.

[0013] Furthermore, a control method for a hovering inspection drone suitable for a closed space is as follows: S1: Flying in a closed space, first put the drone into a closed space, and the closed space must be made of iron. At the same time, during the flight, the magnet will apply suction to keep the outer ring of the hovering device close to the horizontal state to ensure the positioning of the drone. S2: Hovering in a closed space, by fitting the drone body to the closed space and adsorbing the magnet to the wall, the drone body can be hovered, making it easier for the drone body to scan the space; S3: Space scanning. When the drone body is hovering on one side of the space, the first remote-controlled motor drives the first rotating shaft to rotate, and the first rotating shaft drives the rotating inner ring to change its angle during the rotation. At the same time, the second remote-controlled motor drives the second rotating shaft to rotate, and the second rotating shaft drives the drone body to change its angle during the rotation. The rotation directions of the second rotating shaft and the first rotating shaft are perpendicular to each other, thereby achieving the effect of all-round rotation of the drone body, so that the scanning camera can fully scan the inside of the closed space.

[0014] In summary, the beneficial technical effects of the present invention are: 1. The present invention uses an adsorption magnet to adsorb to a closed space, and does not require much power to fly during the adsorption process, thereby reducing the overall resource consumption. At the same time, the adsorption magnet and the closed space have good stability, ensuring the stability of the overall scanning, and achieving the effect of stable adsorption scanning; 2. The present invention drives the rotating shaft to rotate through the remote control motor, so as to ensure that the angle of the drone can be adjusted during the overall suspension process, and the rotation directions of the second rotating shaft and the first rotating shaft are perpendicular to each other, thereby achieving the effect of omnidirectional rotation of the drone body, so that the scanning camera can fully scan the inside of the closed space, thereby achieving the effect of fully scanning the closed space; 3. The present invention attracts the enclosed space through the corresponding adsorption magnets distributed on the four sides of the hovering outer ring, thereby ensuring that the angle of the drone body does not change too much during flight, ensuring the overall normal flight, increasing the overall flight exploration effect, and achieving a stable flight effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the top view structure of the present invention; Figure 3 It is a schematic diagram of the second three-dimensional structure of the present invention; Figure 4 It is a schematic diagram of the third three-dimensional structure of the present invention.

[0016] In the figure, 1. drone body; 2. rotating inner ring; 3. hovering outer ring; 4. adsorption magnet; 5. scanning camera; 21. second remote control motor; 22. second rotation axis; 23. strengthening connecting rod; 31. first remote control motor; 32. first rotation axis. DETAILED DESCRIPTION

[0017] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0018] Reference Figure 1 A hovering inspection drone suitable for closed spaces comprises a drone body 1, a rotating inner ring 2 is rotatably connected to the outside of the drone body 1, a hovering outer ring 3 for hovering is rotatably connected to the outside of the rotating inner ring 2, an adsorption magnet 4 for guiding flight and hovering is fixedly connected to the side wall of the hovering outer ring 3, four groups of adsorption magnets 4 are distributed on the side wall of the hovering outer ring 3, a scanning camera 5 for scanning is fixedly connected to the outside of the drone body 1, the adsorption magnet 4 can generate magnetic attraction with the wall of the closed space during the flight of the drone body 1, thereby ensuring the directionality of the overall flight, and at the same time, the adsorption magnet 4 can be adsorbed on the wall to achieve hovering, and then the effect of all-round scanning is achieved through the linkage of each axis.

[0019] Reference Figure 2 A first remote control motor 31 is fixedly installed inside the hovering outer ring 3, and a first rotating shaft 32 is fixedly connected to the output end of the first remote control motor 31. The outer side of the first rotating shaft 32 is fixedly connected to the rotating inner ring 2, and the rotating inner ring 2 is rotatably connected to the hovering outer ring 3 through the first rotating shaft 32. The first rotating shaft 32 can drive the rotating inner ring 2 to rotate inside the hovering outer ring 3, and the rotation direction is perpendicular to the extension line of the rotation direction of the second rotating shaft 22, thereby ensuring overall all-round adjustment. There are two groups of first remote control motors 31 symmetrically distributed about the center line of the hovering outer ring 3, and the first remote control motors 31 and the first rotating shaft 32 are correspondingly distributed, which is convenient for overall angle adjustment.

[0020] Reference Figure 3 A second remote-controlled motor 21 is fixedly connected inside the rotating inner ring 2, and a second rotating shaft 22 is fixedly connected to the output end of the second remote-controlled motor 21. The second rotating shaft 22 is fixedly connected to the drone body 1. The drone body 1 is rotatably connected to the rotating inner ring 2 through the second rotating shaft 22. The second rotating shaft 22 can drive the drone body 1 to rotate inside the rotating inner ring 2, and is perpendicular to the extension line of the rotation direction of the first rotating shaft 32, thereby ensuring overall all-round adjustment. There are two groups of second remote-controlled motors 21 symmetrically distributed about the center line of the rotating inner ring 2, and the second remote-controlled motors 21 are correspondingly distributed with the second rotating shaft 22, which is convenient for overall angle adjustment.

[0021] Reference Figure 4 A reinforcing connecting rod 23 is fixedly connected to one side of the second rotating shaft 22 close to the second remote control motor 21, and a side of the reinforcing connecting rod 23 away from the second rotating shaft 22 is fixedly connected to the drone body 1, thereby increasing the fixing effect of the drone body 1 and preventing breakage. The adsorption magnet 4 on the side wall of the hovering outer ring 3 is a cylindrical structure, and each adsorption magnet 4 on the side wall of the hovering outer ring 3 is arranged in two groups. The interior of the hovering outer ring 3 and the rotating inner ring 2 is a hollow annular structure, which is convenient for the drone body 1 to be adjusted in all directions.

[0022] Working principle: First, the drone body 1 is placed in a closed space, and the closed space must be made of iron. At the same time, during the flight of the whole, the adsorption magnet 4 will apply suction to keep the hovering outer ring 3 in a nearly horizontal state to ensure the positioning flight of the drone body 1. The drone body 1 is fitted with the closed space, and the adsorption magnet 4 is adsorbed with the wall at the same time to complete the hovering of the drone body 1, which is convenient for the drone body 1 to perform space scanning. When the drone body 1 is hovering on one side of the space, the first remote-controlled motor 31 drives the first rotating shaft 32 to rotate, and the first rotating shaft 32 drives the rotating inner ring 2 to change its angle during rotation. At the same time, the second remote-controlled motor 21 drives the second rotating shaft 22 to rotate, and the second rotating shaft 22 drives the drone body 1 to change its angle during rotation, and the rotation directions of the second rotating shaft 22 and the first rotating shaft 32 are perpendicular to each other, thereby achieving the effect of all-round rotation of the drone body 1, so that the scanning camera 5 can fully scan the inside of the closed space.

[0023] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A hovering inspection drone suitable for use in enclosed spaces, comprising a drone body (1), characterized in that: The outer side of the drone body (1) is rotatably connected to a rotating inner ring (2), the outer side of the rotating inner ring (2) is rotatably connected to a hovering outer ring (3) for hovering, the side wall of the hovering outer ring (3) is fixedly connected to an adsorption magnet (4) for guiding flight and hovering, and the adsorption magnet (4) is distributed in four groups on the side wall of the hovering outer ring (3), and the outer side of the drone body (1) is fixedly connected to a scanning camera (5) for scanning.

2. The hovering inspection drone suitable for enclosed spaces according to claim 1, characterized in that: A first remote-controlled motor (31) is fixedly installed inside the hovering outer ring (3); an output end of the first remote-controlled motor (31) is fixedly connected to a first rotating shaft (32); an outer side of the first rotating shaft (32) is fixedly connected to the rotating inner ring (2); and the rotating inner ring (2) is rotationally connected to the hovering outer ring (3) via the first rotating shaft (32).

3. The hovering inspection drone suitable for enclosed spaces according to claim 2, characterized in that: Two groups of the first remote-controlled motors (31) are symmetrically distributed about the center line of the hovering outer ring (3), and the first remote-controlled motors (31) are distributed corresponding to the first rotating shaft (32).

4. The hovering inspection drone suitable for enclosed spaces according to claim 3 is characterized in that: A second remote-controlled motor (21) is fixedly connected inside the rotating inner ring (2); a second rotating shaft (22) is fixedly connected to an output end of the second remote-controlled motor (21); the second rotating shaft (22) is fixedly connected to the drone body (1); and the drone body (1) is rotationally connected to the rotating inner ring (2) via the second rotating shaft (22).

5. The hovering inspection drone suitable for enclosed spaces according to claim 4, characterized in that: The second remote-controlled motors (21) are arranged in two groups symmetrically about the center line of the rotating inner ring (2), and the second remote-controlled motors (21) are arranged corresponding to the second rotating shaft (22).

6. The hovering inspection drone suitable for enclosed spaces according to claim 5, characterized in that: A side of the second rotating shaft (22) close to the second remote-controlled motor (21) is fixedly connected to a reinforcing connecting rod (23), and a side of the reinforcing connecting rod (23) away from the second rotating shaft (22) is fixedly connected to the drone body (1).

7. The hovering inspection drone suitable for enclosed spaces according to claim 6, characterized in that: The adsorption magnets (4) on the side walls of the suspended outer ring (3) are cylindrical structures, and each of the adsorption magnets (4) on the side walls of the suspended outer ring (3) is arranged in two groups, and the interiors of the suspended outer ring (3) and the rotating inner ring (2) are hollow annular structures.

8. A control method for a hovering inspection drone suitable for a closed space as claimed in claims 1 to 7, characterized in that: The method is as follows: S1: Flying in a closed space, firstly, the drone body (1) is placed in the closed space, and the closed space must be made of iron. At the same time, during the flight of the whole, the adsorption magnet (4) will exert suction to keep the hovering outer ring (3) in a nearly horizontal state, so as to ensure the positioning flight of the drone body (1); S2: hovering in a closed space, by fitting the drone body (1) to the closed space and adsorbing the magnet (4) to the wall, the drone body (1) is hovered, so that the drone body (1) can scan the space; S3: Space scanning, when the drone body (1) is hovering at one side of the space, the first remote-controlled motor (31) drives the first rotating shaft (32) to rotate, and the first rotating shaft (32) drives the rotating inner ring (2) to change its angle during the rotation. At the same time, the second remote-controlled motor (21) drives the second rotating shaft (22) to rotate, and the second rotating shaft (22) drives the drone body (1) to change its angle during the rotation. The rotation directions of the second rotating shaft (22) and the first rotating shaft (32) are perpendicular to each other, thereby achieving the effect of all-round rotation of the drone body (1), so that the scanning camera (5) can fully scan the interior of the closed space.

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