Axle buoyancy chamber type indoor polling airship

Abstract

The invention relates to the technical field of unmanned detection, and provides an axle buoyancy chamber type indoor inspection airship. A cabin body of the inspection airship is of a shell structure and is divided into an upper cavity and a lower cavity, a hollow stepping motor is installed in the upper cavity, and a detection control unit is installed in the lower cavity. Two buoyancy tires are symmetrically arranged on the two sides of the cabin body and installed on the cabin body through tire supports, the buoyancy of the buoyancy tires is larger than the dead weight of the airship so that the buoyancy tires can make close contact with the top face of the limited space, and a wheel train driving friction pair is formed. A hollow transmission shaft of the buoyancy tire is connected with the output end of the hollow stepping motor, and the buoyancy tire walks on the top face of the limited space in a wheel mode. The buoyancy tires can perform automatic air supply and / or buoyancy adjustment so as to adjust the buoyancy of the airship; two independently-driven vector fans are correspondingly arranged on the outer sides of the two buoyancy tires respectively, and the angle and thrust differential motion of the vector fans are changed through rotation of the two vector fans, so that position and attitude control of the airship in the flying process is achieved.

Description

Technical Field

[0001] The present application relates to the field of unmanned detection technology, and in particular to an axle floating cabin type indoor inspection airship. Background Art

[0002] In confined spaces such as mine tunnels, large commercial buildings, industrial plants, warehouses, and public places, continuous safety monitoring, facility management, on-site inspections, gas detection, and equipment operation inspections are required. Traditional inspections are mostly done manually, which consumes a lot of human resources and is inefficient. Ground inspection robots and other equipment are mostly operated on the ground, where the ground environment is complex and navigation is difficult. Inspection drones operating in confined spaces have problems such as high noise, poor safety, short operating time, and inability to achieve 24-hour monitoring. Therefore, there is an urgent need to provide a technical solution to address the above-mentioned deficiencies in existing technologies. Summary of the invention

[0003] The purpose of the present application is to provide an axle floating cabin indoor inspection airship to solve or alleviate the problems existing in the above-mentioned prior art.

[0004] In order to achieve the above objectives, this application provides the following technical solutions:

[0005] The present application provides a wheel-axle floating cabin type indoor inspection airship, comprising: a cabin body, the cabin body is a shell structure, and is divided into two upper and lower cavities, a hollow stepping motor is installed in the upper cavity, and a detection control unit is installed in the lower cavity; a buoyancy tire, the buoyancy tire has two, the two independently driven buoyancy tires are symmetrically arranged on both sides of the cabin body, and are installed on the cabin body through a tire bracket; wherein the buoyancy of the buoyancy tire is greater than the dead weight of the airship, so as to be in close contact with the top surface of the confined space to form a wheel train drive friction pair, and the buoyancy tire can automatically inflate and / or adjust the buoyancy; the hollow transmission shaft of the buoyancy tire is connected to the output end of the hollow stepping motor, and can rotate around the hollow transmission shaft under the drive of the hollow stepping motor, so as to walk on the top surface of the confined space in a wheeled manner; and a vector fan, the vector fan has two, the two independently driven vector fans are symmetrically arranged on the outside of the two buoyancy tires, located on the tire bracket, and can rotate around the connection axis between the two buoyancy tires and the tire bracket.

[0006] Preferably, the tire bracket is an inverted trapezoidal structure with an opening at the upper end, the bottom surface of the inverted trapezoidal structure is connected to the bottom surface of the cabin, and the upper end opening of the inverted trapezoidal structure is installed with the hollow transmission shaft; wherein, one end of the hollow transmission shaft is rotatably mounted on a mounting ear plate extending upward from the upper end opening of the inverted trapezoidal structure, and the other end is connected to the output end of the hollow stepper motor.

[0007] Preferably, the hollow transmission shaft is rotatably connected to the mounting ear plate via a connecting flange; wherein, the connecting flange is connected to the end face flange of the buoyancy tire, and a groove matching the hollow transmission shaft is provided on the end face facing the buoyancy tire, and a rotating shaft is provided on the end face facing away from the buoyancy tire, and the rotating shaft is connected to the mounting ear plate via a bearing.

[0008] Preferably, the vector fan is rotatably mounted on the mounting ear plate by a frameless torque motor, and is symmetrically arranged on both sides of the mounting ear plate with the buoyancy tire, wherein the frameless torque motor is used to control the angle of the vector fan to adjust the flight attitude.

[0009] Preferably, a compressed helium gas storage tank is provided in the cabin, and the compressed helium gas storage tank automatically inflates and / or adjusts the buoyancy of the buoyancy tire through a hose and the hollow transmission shaft.

[0010] Preferably, one end of the hollow transmission shaft connected to the hollow stepping motor is threadedly connected to a rotary joint, and the rotary joint is connected to the compressed helium gas storage tank through the hose.

[0011] Preferably, it also includes: a video acquisition unit, which is installed at the lower part of the cabin and can rotate 360 ​​degrees to perform multi-spectral observation.

[0012] Preferably, the two buoyancy tires are independently driven by the two hollow stepping motors, respectively, and the two hollow stepping motors are symmetrically arranged in the upper cavity.

[0013] Preferably, it also includes: a series component, which is used to connect two independent cabins, and each of the independent cabins is respectively equipped with the buoyancy tire and the vector fan, so that the airship is driven in series.

[0014] Preferably, the cabin, the tire bracket, and the hollow transmission shaft are all made of carbon fiber; the buoyancy tire is made of polyester fiber or polyethylene; and or, the film thickness of the buoyancy tire is 0.8 mm.

[0015] Beneficial effects:

[0016] The axle floating cabin type indoor inspection airship provided in the embodiment of the present application has a cabin body of a shell structure and is divided into two upper and lower cavities. A hollow stepper motor is installed in the upper cavity to provide driving force to the buoyancy tire, and a detection control unit is installed in the lower cavity to perform on-site data collection, survey, etc.; two buoyancy tires are symmetrically arranged on both sides of the cabin body and installed on the cabin body through tire brackets. The buoyancy of the buoyancy tire is greater than the dead weight of the airship, so as to be in close contact with the top surface of the confined space to form a wheel system drive friction pair; the hollow buoyancy tire The transmission shaft is connected to the output end of the hollow stepper motor so that it rotates around the hollow transmission shaft driven by the hollow stepper motor and walks on the top surface of the confined space in a wheeled manner; and the buoyancy tire can automatically inflate and / or adjust the buoyancy to adjust the buoyancy of the airship; on the outside of the two buoyancy tires, two independently driven and rotatably mounted vector fans on the tire brackets are arranged respectively, and the angle and thrust differential of the vector fans are changed by the rotation of the two independently driven vector fans, so as to realize the position and attitude control of the airship during the flight.

[0017] In this way, the wheel system formed by the buoyancy tire drives the friction pair to move on the top surface of the confined space, which effectively solves the complex environmental problems faced by ground mobile inspection equipment and avoids the impact on the operation of personnel, vehicles and other facilities. Combined with two independently driven vector fans, it is more flexible in action and control than traditional airships. By changing the angle and thrust of the two vector fans, the airship can be able to jump and stay in the air for a short time to achieve the purpose of obstacle avoidance. The detection and control unit deployed in the lower cavity can realize the functions of airship route planning, data survey, collection and positioning, and transmission, which can replace manual inspection operations 24 hours a day. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0019] in:

[0020] Figure 1 A schematic structural diagram of an axle floating cabin indoor inspection airship provided according to some embodiments of the present application;

[0021] Figure 2 Another structural schematic diagram of an axle floating cabin type indoor inspection airship provided according to some embodiments of the present application;

[0022] Figure 3 for Figure 2 Partial view at A in the middle;

[0023] Figure 4 for Figure 3 Partial view at B in the middle;

[0024] Figure 5 A schematic diagram of the structure of a hollow transmission shaft provided according to some embodiments of the present application;

[0025] Figure 6 A schematic diagram of the structure of a connecting flange provided according to some embodiments of the present application;

[0026] Figure 7 A schematic diagram of the structure of a mounting ear plate on a tire bracket provided according to some embodiments of the present application;

[0027] Figure 8 for Figure 7 A cross-sectional view of the mounting lug shown;

[0028] Fig. 9 for Figure 8 Middle BB section view;

[0029] Fig.10 A schematic diagram of the end surface structure of a buoyancy tire provided according to some embodiments of the present application;

[0030] Fig.11 A schematic diagram of the structure of a series drive of an airship is provided according to some embodiments of the present application;

[0031] Fig.12 A schematic diagram of the connection between a series assembly and two independent cabins provided according to some embodiments of the present application;

[0032] Fig.13 A schematic diagram of the structure of a series assembly provided according to some embodiments of the present application;

[0033] Fig.14 for Fig.13 a cross-sectional view of the series assembly shown;

[0034] Fig.15 A schematic diagram of the structure of a first series connector provided according to some embodiments of the present application;

[0035] Fig.16 This is a schematic structural diagram of a second series connector provided according to some embodiments of the present application.

[0036] Description of reference numerals:

[0037] 100, cabin; 200, buoyancy tire; 300, vector fan; 400, tire bracket; 500, video acquisition unit; 101, power cabin; 102, equipment cabin;

[0038] 1. Hollow stepper motor; 2. Rotary joint; 3. Hollow transmission shaft; 4. Flange plate; 5. Connecting flange; 6. Frameless torque motor; 401. Mounting ear plate; 411. Bearing mounting hole; 421. Motor mounting hole;

[0039] 600, series assembly; 601, first series joint; 602, second series joint; 603, stabilizing connecting rod. DETAILED DESCRIPTION

[0040] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and does not limit the present application. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present application without departing from the scope or spirit of the present application. For example, a feature shown or described as a part of an embodiment may be used in another embodiment to produce yet another embodiment. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the embodiments of the present invention should belong to the scope of protection of the embodiments of the present invention.

[0041] With the rapid development of intelligent technology, inspection technology has gradually developed towards automation and intelligence, resulting in wheeled and tracked inspection robots, robot dogs, etc. that move on the road, as well as inspection drones based on flying airspace.

[0042] For ground inspection equipment, in indoor environments, inspection vehicles, robot dogs, and robots need to share channels with staff and other mobile equipment. There is a situation of cross-operation with personnel and vehicles, which makes collisions and interferences extremely likely to occur. Moreover, the indoor ground environment is complex and may contain various obstacles, uneven areas, narrow passages, etc., which increase the navigation difficulty of the inspection equipment. In order to cope with this complex indoor environment, ground inspection equipment requires highly developed artificial intelligence technology to be able to perceive and process environmental changes in real time, and perform path planning and obstacle avoidance.

[0043] For flying inspection equipment such as drones, due to the limitation of battery capacity, the hovering time is usually short. Frequent battery replacement or charging causes a lack of continuity in inspections, and long-term inspection tasks cannot be carried out. Moreover, in a small confined space, drone flight has a high risk of collision, and once a malfunction occurs, it is likely to lose the ability to hover in the air, and may also cause damage to buildings, equipment, and personnel.

[0044] Based on this, the embodiment of the present application proposes a wheel-axle floating cabin modular confined space inspection airship - wheel-axle floating cabin indoor inspection airship, which is different from conventional indoor drones, airships and other equipment suspended in the air. The wheel-axle floating cabin indoor inspection airship uses buoyancy airbags as tires, and the buoyancy is greater than its own weight. The buoyancy tires are in close contact with the top surface of the confined space to form a wheel train drive friction pair. Under relatively flat and regular top surface conditions, the tires on both sides are driven by hollow stepper motors and travel on the top surface of the indoor space in a wheeled vehicle travel control mode. When the tires on both sides rotate synchronously, the overall forward and backward movements of the equipment are completed, and the speed difference of the tires on both sides completes the yaw and steering movements; vector fans are installed on both sides of the buoyancy tires. When encountering ups and downs on the top surface of the indoor space, obstacles, etc., it can fly briefly to form a jumping action to complete obstacle avoidance; at the same time, the inspection airship can carry visible light, non-visible light cameras, gas sensors, laser radars, communication equipment, central processors and other equipment to complete the autonomous navigation and inspection operations of the airship.

[0045] In this way, the problem of efficient and stable operation of unmanned inspection equipment in confined spaces can be effectively solved. The characteristics of long-term airborne and large-load airships can be used to realize long-duration flight inspections of unmanned inspection equipment, solve the navigation and control problems of traditional ground inspection equipment in complex ground environments, and simplify obstacle avoidance and control methods. The wheeled vehicle form is formed by using the wheeled drive method and the top surface of the confined space, which is more efficient than the traditional airship propeller form. The vector fans on both sides can be used to perform short flights to form jumping movements to adapt to various top surface conditions. At the same time, according to the mission load requirements, the wheel-axle floating cabin indoor inspection airship can be used as the basic module, and multiple devices can be connected in series to form a multi-wheel drive device to further improve the load capacity.

[0046] like Figures 1 to 16 As shown, the axle floating cabin indoor inspection airship includes: a cabin 100, a buoyancy tire 200 and a vector fan 300. The buoyancy tire 200 is mounted on the cabin 100 through a tire bracket 400, and the vector fan 300 is synchronously mounted on the tire bracket 400. A power drive unit, a detection control unit, a power source (power battery), etc. are arranged in the cabin 100 to realize power transmission and control of the buoyancy tire 200 and the vector fan 300, as well as survey and collection of field data.

[0047] In the embodiment of the present application, the cabin 100 adopts a shell structure and is made of carbon fiber material to effectively reduce the weight of the cabin 100. The shell structure of the cabin 100 is divided into two upper and lower cavities by a partition, wherein the upper cavity is the power cabin 101, and the lower cavity is the equipment cabin 102. The power cabin 101 is installed with a hollow stepper motor 1, a power supply, etc. through bolt fasteners, and the equipment cabin 102 is installed with a detection control unit, such as a gas sensor, a laser radar, a communication device, a central processing unit, etc. A video acquisition unit 500 (which can carry a visible light, a non-visible light camera, a pan / tilt, etc.) is also installed at the bottom of the cabin 100. The video acquisition unit 500 can rotate 360 ​​degrees for multi-spectral observation.

[0048] In the present application, there are two buoyancy tires 200, and the two buoyancy tires 200 are independently driven by two hollow stepper motors 1, and the two middle stepper motors are symmetrically arranged in the power cabin 101; at the same time, the two independently driven buoyancy tires 200 are symmetrically arranged on both sides of the cabin 100, and the tire bracket 400 with a symmetrical structural design is installed on the cabin 100; two vector fans 300 are symmetrically arranged on the outside of the two buoyancy tires 200. Thus, through the completely symmetrical structural design and layout, the center of gravity of the inspection airship is located on its symmetry plane, which effectively improves the stability control and flight of the inspection airship.

[0049] The hollow transmission shaft 3 of the buoyancy tire 200 is connected to the output end of the reduction box of the hollow stepper motor 1. Since the buoyancy of the buoyancy tire 200 is greater than its own weight, the buoyancy tire 200 is in close contact with the top surface of the confined space to form a wheel train drive friction pair. Under the condition of a relatively flat and regular top surface, the buoyancy tire 200 can rotate around the hollow transmission shaft 3 driven by the hollow stepper motor 1 to walk on the top surface of the confined space. The tires on both sides are driven by the hollow stepper motor 1 and travel on the top surface of the indoor space in a wheeled vehicle travel control mode. When the tires on both sides rotate synchronously, the overall forward and backward movements of the equipment are completed, and the speed difference of the tires on both sides completes the yaw and steering movements. And the buoyancy tire 200 can automatically inflate and / or adjust the buoyancy. Specifically, a compressed helium gas storage tank is provided in the cabin 100, and the compressed helium gas storage tank automatically inflates and / or adjusts the buoyancy of the buoyancy tire 200 through a hose and a hollow transmission shaft 3. Among them, one end of the hollow transmission shaft 3 connected to the hollow stepping motor 1 is threadedly connected with a high-speed rotating joint 2, and the high-speed rotating joint 2 is connected to a compressed helium gas storage tank through a hose; automatic air replenishment and / or buoyancy adjustment are performed into the buoyancy tire through the radial opening on the hollow transmission shaft 3 through the compressed helium gas storage tank and the high-speed rotating joint 2.

[0050] In a specific example, the buoyancy tire 200 uses a cylindrical airbag with a diameter D of 0.95 m and a length L of 5 m. The volume V of the cylindrical airbag is:

[0051]

[0052] The cylindrical airbag is filled with helium, and the density of helium is ρ h =0.1785kg / m 3 , the air density is ρ k =1.225kg / m 3 , then the buoyancy of the cylindrical airbag is the mass of air that can be displaced by the volume of helium, that is, according to the formula:

[0053] F f =(ρ k -ρ h )×V≈3.7kg

[0054] Determine the buoyancy F of the buoyancy tire 200 f , that is, the buoyancy tire 200 can provide about 3.7 kg of buoyancy.

[0055] After ensuring that it can carry 2kg (F requirement of airship load) f =3.7kg>F=2kg, meeting the load requirements), in order to ensure that the buoyancy tire 200 has sufficient strength, tensile resistance, puncture resistance and appropriate thickness, the cabin 100, the tire bracket 400, and the hollow drive shaft 3 are all made of carbon fiber material to effectively reduce the structural weight; the buoyancy tire 200 uses polyester fiber or polyethylene to ensure that the cylindrical airbag has sufficient tensile strength to withstand the load, as well as sufficient tensile strength and puncture resistance.

[0056] Here, first, according to the formula:

[0057]

[0058] Calculate the surface area A of the cylindrical airbag.

[0059] Then, the thickness T of the cylindrical airbag is calculated according to the tensile strength σ of the material and the surface area A of the cylindrical airbag. Specifically, according to the formula:

[0060]

[0061] Among them, for high-strength polyester fibers (such as Dacron), its tensile strength is 1500MPa, elongation is 15%, and density is 1.38g / cm 3 For ultra-high molecular weight polyethylene (UHMWPE), its tensile strength is 1500MPa, elongation is 10% to 15%, and density is 0.97g / cm 3 When the cylindrical airbag is made of high-strength polyester fiber (such as Dacron), the thickness T of the cylindrical airbag is:

[0062]

[0063] Similarly, when the cylindrical airbag is made of ultra-high molecular weight polyethylene (UHMWPE), the thickness of the cylindrical airbag is T≈0.8mm. That is to say, whether the buoyancy tire 200 uses high-strength polyester fiber (such as Dacron) or ultra-high molecular weight polyethylene (UHMWPE), it can ensure that it can carry a load of 2kg, and the film thickness of its cylindrical airbag is 0.8mm. That is to say, under the premise of meeting the load of 2kg, the cylindrical airbag uses ultra-high molecular weight polyethylene (UHMWPE) or ultra-high molecular weight polyethylene (UHMWPE), both of which have strong tensile and puncture resistance.

[0064] In the present application, the tire bracket 400 adopts an inverted trapezoidal structure with an opening at the upper end, the bottom surface of the inverted trapezoidal structure is connected to the bottom surface of the equipment compartment 102, and the upper end opening of the inverted trapezoidal structure is rotatably mounted on the hollow transmission shaft 3. Among them, a buckle-type mounting ear plate 401 extends upward from the upper end opening of the inverted trapezoidal structure, one end of the hollow transmission shaft 3 is rotatably mounted on the mounting ear plate 401, and the other end is connected to the output end of the hollow stepping motor 1.

[0065] Specifically, the mounting ear plate 401 is provided with a bearing mounting hole 411 and a motor mounting hole 421 in the vertical direction. A rotating bearing is mounted in the bearing mounting hole 411, and a connecting flange 5 is directly connected to the rotating bearing; the hollow transmission shaft 3 is rotatably connected to the mounting ear plate 401 through the connecting flange 5. Here, the connecting flange 5 is connected to the end face flange of the buoyancy tire 200, and a groove matching the hollow transmission shaft 3 is provided on the end face facing the buoyancy tire 200, and a rotating shaft is provided on the end face facing away from the buoyancy tire 200, and the rotating shaft is connected to the mounting ear plate 401 through a rotating bearing. Thus, by connecting the connecting flange 5 to the flange of the end face of the buoyancy tire 200, while realizing the rotating friction pair of the buoyancy tire 200 through the rotating bearing, the end face of the hollow transmission shaft 3 is sealed by the groove on the end face of the connecting flange 5, effectively preventing the gas in the buoyancy tire 200 from being lost to the outside through the hollow transmission shaft 3. It should be noted that a plurality of studs are respectively provided on both end surfaces of the buoyancy tire 200, wherein the plurality of studs on one end surface are flange-connected to the connecting flange 5 through fastening nuts; and the plurality of studs on the other end surface are flange-connected to the flange plate 4 (close to the equipment compartment 102) provided on the hollow transmission shaft 3 through fastening nuts.

[0066] A frameless torque motor 6 is tightly mounted in the motor mounting hole 421, and the output end of the frameless torque motor 6 is directly connected to the vector fan 300, driving the vector fan 300 to rotate, and controlling the angle of the vector fan 300 to adjust the flight attitude of the airship. Specifically, the precise angle control of the vector fan 300 is adjusted by the frameless torque motor 6, and the precise vector control of the angle of the vector fan 300 is achieved under the operation of the flight control system to complete the adjustment of the flight attitude of the airship. Thus, through the vector fans 300 on both sides, a short flight can be performed to form a jumping action to adapt to various top surface conditions. At the same time, the inclination angle of the vector fan 300 can be adjusted so that the vector fan 300 is facing the ventilation airflow in the confined space, and the vector fan 300 uses the ventilation airflow to generate electricity by itself, and the power supply is reversely charged.

[0067] The inspection airship of the present application combines the characteristics of traditional airships with those of vehicles, effectively solving the problem of efficient and stable operation of unmanned inspection equipment in confined spaces, and utilizing the advantages of long hovering and large load-bearing capacity of the inspection airship to achieve long-duration flight inspections, thereby solving the navigation and control problems of traditional ground inspection equipment in the face of complex ground environments, simplifying obstacle avoidance and control methods, and utilizing a wheeled drive method and the top surface of a confined space to form a wheeled vehicle form, which is more efficient than the traditional airship propeller form; at the same time, through the vector fans 300 on both sides, short-term flight can be used to form jumping movements to adapt to various top surface conditions.

[0068] In addition, multiple buoyancy tire 200 models can be connected in series to form a multi-wheel drive device to further improve the load capacity of the inspection airship. Specifically, two independent cabins 100 are connected through a series assembly 600, and each independent cabin 100 is respectively equipped with a buoyancy tire 200 and a vector fan 300, so that the airship is driven in series.

[0069] Among them, connection interfaces and wire holes are respectively provided on the front and rear covers of the power cabin 101 of the cabin 100, and the two ends of the series assembly 600 are respectively connected to the connection interface on the rear cover of an independent cabin 100 and the connection interface on the front cover of another independent cabin 100 through fasteners, so as to realize the series connection of the two cabins 100. Buoyancy tires 200 and vector fans 300 are respectively equipped on the two independent cabins 100, which further effectively improves the load capacity of the airship.

[0070] In a specific example, the series assembly 600 includes: a first series connector 601, a second series connector 602 and a stabilizing connecting rod 603; the first series connector 601 and the second series connector 602 adopt a plug-in structure, and one end of the first series connector 601 and one end of the second series connector 602 are plug-in connected, and the other end of the first series connector 601 and the other end of the second series connector 602 are flange-connected to the connection interface on the rear cover plate of an independent cabin 100 and the connection interface on the front cover plate of another independent cabin 100 respectively using a flange structure; the two ends of the stabilizing connecting rod 603 pass through the flange plate of the first series connector 601 and the flange plate of the second series connector 602 respectively, and are fixed to the rear cover plate of an independent cabin 100 and the front cover plate of another independent cabin 100 by fasteners.

[0071] The flanges of the first series joint 601 and the second series joint 602 are respectively provided with special-shaped countersunk holes; correspondingly, the middle part of the stable connecting rod 603 is a special-shaped rod, and the two ends are threaded rods. Among them, the special-shaped rod is inserted into the special-shaped countersunk hole, and the threaded rod passes through the flange and is fixed to the front and rear cover plates by fastening nuts. Thus, the anti-torsion performance of the series assembly 600 is effectively enhanced through the cooperation of the special-shaped countersunk hole and the special-shaped rod.

[0072] In this embodiment, the first series connector 601 and the second series connector 602 are both provided with wire holes along the axial direction, and then, the power supply, control, detection and other components in the two independent cabins 100 are connected by wire harnesses through the wire holes, so as to realize coordinated control of the buoyancy tires 200, vector fans 300, detection control units and the like correspondingly equipped in the two independent cabins 100, thereby effectively improving the control accuracy and detection accuracy of the airship series drive.

[0073] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0074] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0075] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0077] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0078] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An axle floating cabin indoor inspection airship, characterized in that: include: The cabin is a shell structure and is divided into two cavities, the upper cavity is equipped with a hollow stepping motor, and the lower cavity is equipped with a detection control unit; Buoyancy tires, there are two buoyancy tires, the two independently driven buoyancy tires are symmetrically arranged on both sides of the cabin, and are installed on the cabin through tire brackets; wherein the buoyancy of the buoyancy tire is greater than the deadweight of the airship, so as to be in close contact with the top surface of the confined space to form a wheel train drive friction pair, and the buoyancy tire can be automatically inflated and / or buoyancy adjusted; the hollow transmission shaft of the buoyancy tire is connected to the output end of the hollow stepping motor, and can rotate around the hollow transmission shaft under the drive of the hollow stepping motor to walk on the top surface of the confined space in a wheeled manner; Vector fans, there are two vector fans, the two independently driven vector fans are symmetrically arranged on the outsides of the two buoyancy tires, located on the tire bracket, and can rotate around the connection axis between them and the tire bracket.

2. The axle floating cabin indoor inspection airship according to claim 1, characterized in that: The tire bracket is an inverted trapezoidal structure with an opening at the upper end, the bottom surface of the inverted trapezoidal structure is connected to the bottom surface of the cabin, and the upper end opening of the inverted trapezoidal structure is installed with the hollow transmission shaft; wherein one end of the hollow transmission shaft is rotatably mounted on a mounting ear plate extending upward from the upper end opening of the inverted trapezoidal structure, and the other end is connected to the output end of the hollow stepping motor.

3. The axle floating cabin indoor inspection airship according to claim 2, characterized in that: The hollow transmission shaft is rotatably connected to the mounting ear plate via a connecting flange; wherein the connecting flange is connected to the end face flange of the buoyancy tire, and a groove matching the hollow transmission shaft is provided on the end face facing the buoyancy tire, and a rotating shaft is provided on the end face facing away from the buoyancy tire, and the rotating shaft is connected to the mounting ear plate via a bearing.

4. The axle floating cabin indoor inspection airship according to claim 2, characterized in that: The vector fan is rotatably mounted on the mounting ear plate through a frameless torque motor, and is symmetrically arranged on both sides of the mounting ear plate with the buoyancy tire, wherein the frameless torque motor is used to control the angle of the vector fan to adjust the flight attitude.

5. The axle-floating indoor inspection airship according to claim 1, characterized in that: A compressed helium gas storage tank is arranged in the cabin, and the compressed helium gas storage tank automatically inflates and / or adjusts the buoyancy of the buoyancy tire through a hose and the hollow transmission shaft.

6. The axle-floating cabin indoor inspection airship according to claim 5, characterized in that: One end of the hollow transmission shaft connected to the hollow stepping motor is threadedly connected with a rotary joint, and the rotary joint is connected to the compressed helium gas storage tank through the hose.

7. The axle-floating indoor inspection airship according to claim 1, characterized in that: Also includes: The video acquisition unit is installed at the lower part of the cabin and can rotate 360 ​​degrees to perform multi-spectral observation.

8. The axle-floating cabin indoor inspection airship according to claim 1, characterized in that: The two buoyancy tires are independently driven by the two hollow stepping motors, and the two hollow stepping motors are symmetrically arranged in the upper cavity.

9. The axle-floating cabin indoor inspection airship according to claim 1, characterized in that: Also includes: A series assembly is used to connect two independent cabins, and each of the independent cabins is respectively equipped with the buoyancy tire and the vector fan, so that the airship is driven in series.

10. The axle-floating indoor inspection airship according to any one of claims 1 to 9, characterized in that: The cabin, the tire bracket, and the hollow transmission shaft are all made of carbon fiber; the buoyancy tire is made of polyester fiber or polyethylene; and or, the film thickness of the buoyancy tire is 0.8 mm.

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