A UAV equipped with an inspection pan-tilt camera and an inspection method thereof

Abstract

The present application provides an unmanned aerial vehicle (UAV) equipped with an inspection gimbal camera and an inspection method thereof, comprising: a frame connected to a body at the center, the upper and lower surfaces of the body being provided with combination slots, a dustproof plate and a gimbal seat being plugged and combined inside the combination slots, the gimbal seat being penetrated at the center of the dustproof plate, symmetrical elastic lock boxes being fixed at both ends of the outer wall of the gimbal seat, one end of the elastic lock box passing through the dustproof plate and being plugged and locked inside the body surface, a gimbal frame being connected to one side at the center of the bottom surface of the gimbal seat; the present invention can realize rapid installation and disassembly of the gimbal camera and the inspection UAV, and simultaneously completes the locking and fixation of the dustproof plate and the gimbal seat with the inspection UAV by limiting the position of the dustproof plate using the gimbal seat, thereby ensuring the installation strength of the gimbal camera, and by providing a dual-position combination slot, a dual-angle combination can be realized, thereby improving the shooting angle accuracy of the gimbal camera during the inspection process.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles (UAVs) equipped with inspection pan-tilt cameras, and in particular to an unmanned aerial vehicle (UAV) equipped with inspection pan-tilt cameras and an inspection method thereof. Background Art

[0002] A drone equipped with an inspection gimbal camera is an advanced technical device that is widely used in many fields, such as inspection and operation of the new energy industry, power inspection, water conservancy hub inspection, etc. This type of drone is usually equipped with a variety of sensors such as high-definition visible light cameras and infrared thermal imaging cameras, which can realize detailed inspection and data collection of the target area.

[0003] During the inspection process, a drone equipped with an inspection gimbal camera needs to use its own camera or a mounting bracket to connect the gimbal and camera to provide the drone with inspection shooting functions. However, when a traditional mounting bracket is connected to a drone, various tools are needed to use screws and other items to fix the mounting bracket to the fuselage. This fixing method has low strength, and the mounting bracket is easily affected by vibrations that affect the shooting of the gimbal camera. In addition, the installation position is single, the camera layout is difficult to adjust, and the shooting angle is insufficient.

[0004] Therefore, we made improvements on this and proposed a drone equipped with an inspection gimbal camera and an inspection method thereof. Summary of the invention

[0005] The purpose of the present invention is to address the problem that the existing connection method between the mounting frame and the drone is not strong enough, and it is difficult to freely adjust the gimbal camera at multiple points, and the shooting angles are limited.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following unmanned aerial vehicle equipped with an inspection pan-tilt camera and an inspection method thereof to improve the above-mentioned problem.

[0007] The specific application is as follows:

[0008] A drone mounted with an inspection gimbal camera, comprising:

[0009] A frame of the body is connected to the center, and combination grooves are provided on the upper and lower surfaces of the body. A dustproof plate and a gimbal seat are plugged and combined inside the combination groove, and the gimbal seat is penetrated at the center of the dustproof plate. Symmetrical elastic lock boxes are fixed at both ends of the outer wall of the gimbal seat, and one end of the elastic lock box passes through the dustproof plate and is plugged and locked inside the surface of the body. A gimbal frame is connected to one side at the center of the bottom surface of the gimbal seat, and unfolding drive parts are provided on both sides of the bottom of the dustproof plate. The unfolding drive part drives the dustproof plate to cover the outside of the gimbal frame, and a closed sealing cover is fitted and slidably on the outside of the combination groove on the top surface of the body, and both ends of the closed sealing cover are embedded and slid inside the body.

[0010] As a preferred technical solution of the present application, symmetrical cross bars are connected at the four corners of the frame, one end of the cross bar away from the frame is connected to a wing, and symmetrical support frames are obliquely connected to both sides of the middle of the bottom surface of the frame.

[0011] As a preferred technical solution of the present application, embedded and locked battery packs are connected on both sides of the wings, a system control group is provided inside the nose end of the fuselage, an annular and equidistantly distributed embedding slots are provided in the middle of the inner wall of the combination groove, and two symmetrical sets of locking holes are provided on the bottom and top surfaces of the fuselage.

[0012] As a preferred technical solution of the present application, a plug-in ring is fixed at the position where the top surface of the dustproof plate is connected to the combination groove, and the inner wall of the top surface of the plug-in ring is hinged with a ring-shaped equidistantly distributed locking strip, a fitting block is fixed to the middle of the outer wall of the top of the locking strip, and a locking hook is fixed to the inner wall of the top of the locking strip, and a first spring is provided at the position where the plug-in ring and the locking strip are hinged, the locking strip is elastically hinged to the inner wall of the plug-in ring through the first spring, the plug-in ring is inserted into the combination groove, the locking strip is penetrated into the combination groove and elastically fits to the inner wall of the combination groove, the fitting block is embedded in the inner wall of the fitting slot, vertical side guard plates are fixed on both sides of the bottom surface of the dustproof plate, and symmetrical opening and closing protective plates are hinged on both sides of the bottom surface of the dustproof plate adjacent to the side guard plates, and the ends of the outer walls of the opening and closing protective plates are spliced ​​and closed with the ends of the outer walls of the side guard plates.

[0013] As a preferred technical solution of the present application, a combination plug rod is fixed at the center of the top surface of the pan-tilt seat, and the outer wall of the top end of the combination plug rod is provided with annular vertical slide grooves equidistantly distributed, and a horizontal slot is provided at the bottom end of the vertical slide groove. The combination plug rod is inserted at the center of the insertion ring, and the vertical slide groove slides on the outside of the lock hook. The combination plug rod is rotated and the lock hook slides inside the horizontal slot. A central driving hole is provided at the center of the bottom surface of the combination plug rod, and a micro push rod is fixed inside the central driving hole. The output end of the micro push rod is connected to a lens cover, and a lens fitting opening is provided on the bottom surface of the lens cover.

[0014] As a preferred technical solution of the present application, a patrol camera is rotatably connected to the bottom center of the pan-tilt frame, a micro motor is fixed to one end of the pan-tilt frame where the patrol camera is connected, and the output end of the micro motor is connected to the patrol camera drive.

[0015] As a preferred technical solution of the present application, a rebound chamber is opened inside the elastic lock box, a locking rod is passed through the center of the rebound chamber, and a pull rod is connected to the bottom end of the locking rod. Both ends of the locking rod and the pull rod pass through the upper and lower outer walls of the elastic lock box. A limiting plate is fixed at one end of the locking rod connected to the pull rod, and the limiting plate slides within the rebound chamber within a limited manner. A locking spring is provided at the bottom inner side of the rebound chamber, and the locking spring is sleeved on the outside of the pull rod. A pull ring is passed through the end of the pull rod located on the outside of the elastic lock box, and the top of the locking rod passes through the dustproof plate and is embedded in the locking hole.

[0016] As a preferred technical solution of the present application, the unfolding drive unit includes a second motor, which is fixed at the position where the lateral guard plate and the opening and closing guard plate are hinged, and a driving gear is connected to the output end of the second motor. A driven gear meshing with the driving gear is provided directly above the driving gear, and the driven gear is fitted on the outer walls at both ends of the lateral guard plate where the opening and closing guard plate is hinged.

[0017] As a preferred technical solution of the present application, the closed sealing cover includes a sealing strip, which is symmetrically fixed on both sides of the outside of the combination groove, and a sealing plate is provided on the inner side of the sealing strip for sealing and sliding, and the bottom of the sealing plate covers the outside of the combination groove, and symmetrical resistance-increasing grooves are provided on the sides of both ends of the sealing plate, and a hinge rod is provided on one side of the inside of the resistance-increasing groove, and a rebound sheet is hinged on the outside of the hinge rod, and a rubber block is fixed to the outer wall of the rebound sheet close to the outer side of the sealing plate, and the rubber block is attached to the inner wall of the sealing strip, and a second clockwork spring is fitted on one end of the hinge rod, and the other end of the second clockwork spring is fixed to the outer wall of the rebound sheet.

[0018] The present invention provides a method for inspecting an unmanned aerial vehicle mounted with an inspection pan-tilt camera, comprising the following steps: S: preparing an inspection unmanned aerial vehicle, determining an inspection shooting position, and installing a dustproof plate and a pan-tilt seat according to the shooting position;

[0019] S: According to the determined shooting position, insert the plug-in ring and lock bar of the dustproof plate into the combination slot, and ensure that the dustproof plate itself is in the positive standard position (the dustproof plate is attached to and parallel to the body);

[0020] S: Take out the gimbal seat, insert the combined plug rod into the plug ring, insert the plug ring deep into the plug ring, rotate the gimbal seat so that the gimbal seat and the dustproof plate are in a positive parallel position. At this time, the elastic lock box will be locked with the body, and the installation of the dustproof plate and the gimbal seat is completed;

[0021] S: Connect the gimbal imaging device and the operating terminal to connect the inspection camera with the gimbal, connect the gimbal with the system control group in the fuselage, complete the remote control of the drone and control the gimbal operation at the same time;

[0022] S: Start the drone. After the drone is in flight, remotely control the second motor to start, open the opening and closing protection plate, start the micro push rod to separate the lens cover at the lens end of the inspection camera, start the micro motor to adjust the shooting position of the inspection camera to the required angle, control the drone to fly to the shooting route, and then start the flight shooting;

[0023] S: The information collected during the shooting process will be transmitted to the control and management platform, which will detect the collected information;

[0024] S: After shooting is completed, the inspection camera is turned off, the micro motor is started to rotate the micro camera so that the lens is facing upward, the micro push rod is started to close the lens cover and the lens, the second motor is started to close the opening and closing protective plate, and the drone returns to land.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] In the scheme of the present application: through the combination grooves opened on the upper and lower surfaces of the body and the plug-in combination of the dustproof plate and the gimbal seat, the gimbal camera and the inspection drone can be quickly installed and disassembled, and the gimbal seat is used to limit the dustproof plate while completing the locking and fixation of the dustproof plate, the gimbal seat and the inspection drone, thereby ensuring the installation strength of the gimbal camera, and through the opening of the double-position combination slot, a double-angle combination can be achieved, thereby improving the shooting angle accuracy of the gimbal camera during the inspection process.

[0027] 1. In the present invention, by adding lateral guard plates and opening and closing guard plates at the bottom of the dustproof plate, the inspection UAV can protect the gimbal camera lens before takeoff and landing to prevent dust from adhering to the lens and improve shooting clarity. By arranging an expansion drive unit at the position where the lateral guard plate is connected to the opening and closing guard plate, the opening and closing guard plate can be controlled by remote control, thereby improving the protection effect of the gimbal camera during the operation of the inspection UAV.

[0028] 2. The present invention provides a micro push rod connected to the lens cover at the center of the bottom surface of the gimbal seat, which can cover and seal the lens of the gimbal camera, further improving the dust-proof effect of the lens. The micro push rod has a remote control function and can be retracted and extended when the gimbal camera is in use or stationary, and automatically completes separation and covering.

[0029] 3. The present invention provides a closed sealing cover on the outer side of the combined groove in the middle of the top surface of the body, which can cover and seal the upper combined groove when not in use, thereby increasing the waterproof and dustproof effect inside the body, and the resistance-increasing grooves on the inner sides of both ends of the closed sealing cover can increase the friction between the two ends of the closed sealing cover and the body when the closed sealing cover is connected to the body, which is beneficial to increase the connection strength between the closed sealing cover and the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1A schematic diagram of the overall structure of a drone equipped with an inspection pan-tilt camera and an inspection method thereof provided by the present invention;

[0031] Figure 2 for Figure 1 The schematic structural diagram of the frame and the middle section of the body shown;

[0032] Figure 3 for Figure 2 The structure of the bottom of the machine body is shown as an exploded and enlarged schematic diagram;

[0033] Figure 4 for Figure 3 The schematic diagram of the structure of the dustproof plate and the pan / tilt seat is shown;

[0034] Figure 5 for Figure 4 The schematic diagram of the structure of the dustproof plate shown;

[0035] Figure 6 for Figure 5 The structure of the plug-in ring position is shown in an exploded and enlarged schematic diagram;

[0036] Figure 7 for Figure 5 The structure of the unfolding drive unit is shown as an exploded and enlarged schematic diagram;

[0037] Figure 8 for Figure 4 The structural schematic diagram of the pan-tilt seat shown;

[0038] Fig. 9 for Figure 8 The schematic structural diagram of the cross-section of the middle part of the gimbal seat shown;

[0039] Fig.10 for Fig. 9 The schematic diagram of the internal structure of the gimbal shown is an exploded view;

[0040] Fig.11 for Figure 1 The schematic diagram of the structure of the middle section of the top surface of the fuselage shown in FIG.

[0041] Fig.12 for Fig.11 The structural cross-sectional exploded diagram of the position of the resistance increasing groove in the closed sealing cover is shown.

[0042] Indicated in the figure:

[0043] 1. Frame; 11. Crossbar; 12. Wing; 13. Support frame;

[0044] 2. Body; 21. Battery pack; 22. System control group; 23. Combination slot; 24. Insertion slot; 25. Locking hole;

[0045] 3. Dustproof plate; 31. Insertion ring; 32. Lock bar; 321. Engagement block; 322. Lock hook; 33. First spring; 34. Side guard plate; 35. Opening and closing guard plate;

[0046] 4. PTZ seat; 41. Combination rod; 42. Vertical slide slot; 43. Horizontal slot; 44. Center drive hole; 45. Micro push rod; 46. Lens cover; 47. Lens fitting port;

[0047] 5. PTZ; 51. Inspection camera; 52. Micro motor;

[0048] 6. Elastic lock box; 61. Rebound chamber; 62. Lock rod; 63. Pull rod; 64. Limiting piece; 65. Pull ring; 66. Locking spring;

[0049] 7. unfolding driving unit; 71. second motor; 72. driving gear; 73. driven gear;

[0050] 8. Closed sealing cover; 81. Sealing strip; 82. Sealing plate; 83. Resistance increasing groove; 84. Hinge rod; 85. Rebound sheet; 86. Second spring; 87. Rubber block. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] As described in the background art, the connection method between the mounting bracket and the drone is not strong enough, and it is difficult to freely adjust the gimbal camera at multiple points, and the shooting angles are limited.

[0053] In order to solve this technical problem, the present invention provides a drone equipped with an inspection gimbal camera and an inspection method thereof, which is used for high-strength connection and fixation between the inspection drone and the gimbal camera, and has the function of quick disassembly and assembly, ensuring the disassembly and assembly strength while having the ability of rapid assembly. At the same time, matching installation grooves can be opened according to the surface of the drone body to realize the combination arrangement of the gimbal camera at any angle and position, and has all-round and multi-angle shooting functions.

[0054] Specifically, please refer to Figure 1-Figure 12 The drone equipped with a patrol gimbal camera specifically includes:

[0055] A frame 1 is connected to a body 2 at the center, and combination grooves 23 are provided on the upper and lower surfaces of the body 2. A dustproof plate 3 and a pan-tilt seat 4 are plugged and combined inside the combination groove 23. The pan-tilt seat 4 is penetrated at the center of the dustproof plate 3. Symmetrical elastic lock boxes 6 are fixed at both ends of the outer wall of the pan-tilt seat 4. One end of the elastic lock box 6 passes through the dustproof plate 3 and is plugged and locked inside the surface of the body 2. A pan-tilt frame 5 is connected to one side at the center of the bottom surface of the pan-tilt seat 4. An unfolding drive unit 7 is provided on both sides of the bottom of the dustproof plate 3. The unfolding drive unit 7 drives the dustproof plate 3 to cover the outside of the pan-tilt frame 5. A closed sealing cover 8 is fitted and slidably on the outside of the combination groove 23 on the top surface of the body 2, and both ends of the closed sealing cover 8 are fitted and slid inside the body 2.

[0056] The present invention provides an unmanned aerial vehicle equipped with an inspection gimbal camera. The combination grooves 23 opened on the upper and lower surfaces of the body 2 are plugged into and combined with the dustproof plate 3 and the gimbal seat 4, so that the gimbal camera and the inspection unmanned aerial vehicle can be quickly installed and disassembled. The gimbal seat 4 is used to limit the dustproof plate 3 while locking and fixing the dustproof plate 3, the gimbal seat 4 and the inspection unmanned aerial vehicle to ensure the installation strength of the gimbal camera. The opening of the double-position combination groove 23 can realize a double-angle combination, thereby improving the shooting angle accuracy of the gimbal camera during the inspection process.

[0057] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0058] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] Example 1

[0061] Please refer to Figure 1-Figure 12 A drone equipped with an inspection gimbal camera, wherein the four corners of the frame 1 are connected with symmetrical cross bars 11, one end of the cross bar 11 away from the frame 1 is connected with a wing 12, and symmetrical support frames 13 are obliquely connected to both sides of the middle of the bottom surface of the frame 1.

[0062] The wings 12 are connected to both sides with embedded and locked battery packs 21, the nose end of the body 2 is provided with a system control group 22, the middle of the inner wall of the combination slot 23 is provided with annular equidistantly distributed embedding slots 24, and the bottom and top surfaces of the body 2 are provided with two symmetrical groups of locking holes 25.

[0063] The position where the top surface of the dustproof plate 3 is connected to the combination groove 23 is fixed with an insertion ring 31, and the inner wall of the top surface of the insertion ring 31 is hinged with annular equidistantly distributed locking strips 32, and a chimeric block 321 is fixed to the middle of the top outer wall of the locking strip 32, and a locking hook 322 is fixed to the inner wall of the top of the locking strip 32. The position where the insertion ring 31 and the locking strip 32 are hinged is provided with a first spring spring 33, and the locking strip 32 is elastically hinged to the inner wall of the insertion ring 31 through the first spring spring 33. The plug-in ring 31 is inserted into the combination groove 23, the locking strip 32 is passed through the combination groove 23 and elastically fits the inner wall of the combination groove 23, the engaging block 321 is embedded in the inner wall of the engaging groove 24, and vertical lateral guard plates 34 are fixed on both sides of the bottom surface of the dustproof plate 3. Symmetrical opening and closing guard plates 35 are hinged on both sides of the bottom surface of the dustproof plate 3 adjacent to the lateral guard plates 34, and the outer wall ends of the opening and closing guard plates 35 are spliced ​​and closed with the outer wall ends of the lateral guard plates 34.

[0064] The unfolding drive unit 7 includes a second motor 71, which is fixed at the position where the lateral guard plate 34 and the opening and closing guard plate 35 are hinged. The output end of the second motor 71 is connected to a driving gear 72, and a driven gear 73 meshing with the driving gear 72 is provided directly above the driving gear 72. The driven gear 73 is fitted on the outer walls at both ends of the hinged lateral guard plate 34 of the opening and closing guard plate 35.

[0065] By adding the lateral guard plate 34 and the opening and closing guard plate 35 at the bottom of the dustproof plate 3, the inspection UAV can protect the gimbal camera lens before taking off and landing to prevent dust from adhering to the lens and improve the shooting clarity. By arranging the unfolding drive unit 7 at the position where the lateral guard plate 34 connects the opening and closing guard plate 35, the opening and closing guard plate 35 can be controlled by remote control, thereby improving the protection effect of the gimbal camera during the operation of the inspection UAV.

[0066] Example 2

[0067] The drone provided in Example 1 and equipped with a patrol gimbal camera is further optimized. Specifically, Figure 1-Figure 12 A combination plug rod 41 is fixed at the center of the top surface of the pan-tilt seat 4, and a vertical slide groove 42 with equal spacing is provided on the outer wall of the top of the combination plug rod 41. A horizontal card groove 43 is provided at the bottom end of the vertical slide groove 42. The combination plug rod 41 is inserted at the center of the insertion ring 31, and the vertical slide groove 42 slides on the outside of the lock hook 322. The combination plug rod 41 rotates the lock hook 322 to slide inside the horizontal card groove 43. A central driving hole 44 is provided at the center of the bottom surface of the combination plug rod 41, and a micro push rod 45 is fixed inside the central driving hole 44. The output end of the micro push rod 45 is connected to a lens cover 46, and a lens fitting opening 47 is provided on the bottom surface of the lens cover 46.

[0068] The inspection camera 51 is rotatably connected to the bottom center of the pan-tilt frame 5 , and a micro motor 52 is fixed to one end of the pan-tilt frame 5 where the inspection camera 51 is connected, and the output end of the micro motor 52 is drivingly connected to the inspection camera 51 .

[0069] A rebound cavity 61 is opened inside the elastic lock box 6, and a locking rod 62 is passed through the center of the rebound cavity 61. The bottom end of the locking rod 62 is connected to a pull rod 63, and both ends of the locking rod 62 and the pull rod 63 pass through the upper and lower outer walls of the elastic lock box 6. One end of the locking rod 62 connected to the pull rod 63 is fixed with a limiting plate 64, and the limiting plate 64 slides within the rebound cavity 61. A locking spring 66 is provided at the bottom of the inner side of the rebound cavity 61, and the locking spring 66 is sleeved on the outside of the pull rod 63. A pull ring 65 is passed through the end of the pull rod 63 located on the outside of the elastic lock box 6, and the top of the locking rod 62 passes through the dustproof plate 3 and is embedded in the locking hole 25.

[0070] A micro push rod 45 connected to the lens cover 46 is arranged at the center of the bottom surface of the gimbal seat 4, which can cover and seal the lens of the gimbal camera, further improving the dust-proof effect of the lens. The micro push rod 45 has a remote control function and can be retracted and extended when the gimbal camera is in use or stationary, and automatically completes separation and covering.

[0071] Example 3

[0072] The drone provided in Example 1 or 2 and equipped with a patrol gimbal camera is further optimized. Specifically, Figure 1-Figure 12 As shown, the closed sealing cover 8 includes a sealing strip 81, and the sealing strip 81 is symmetrically fixed on both sides of the outside of the combination groove 23. A sealing plate 82 is sealed and slidably attached to the inner side of the sealing strip 81, and the bottom of the sealing plate 82 covers the outside of the combination groove 23. Symmetrical resistance-increasing grooves 83 are opened on the sides of both ends of the sealing plate 82, and a hinge rod 84 is provided on one side of the inside of the resistance-increasing groove 83. A rebound sheet 85 is hinged on the outside of the hinge rod 84, and a rubber block 87 is fixed on the outer wall of the rebound sheet 85 close to the outer side of the sealing plate 82. The rubber block 87 is attached to the inner wall of the sealing strip 81, and a second spring 86 is fitted on one end of the hinge rod 84, and the other end of the second spring 86 is fixed to the outer wall of the rebound sheet 85.

[0073] A closed sealing cover 8 is provided on the outer side of the combined groove 23 in the middle of the top surface of the body 2, which can cover and seal the upper combined groove 23 when it is not in use, thereby increasing the waterproof and dustproof effect inside the body 2, and the resistance-increasing grooves 83 on the inner sides of both ends of the closed sealing cover 8 can increase the friction between the two ends of the closed sealing cover 8 and the body 2 when the closed sealing cover 8 is connected to the body 2, which is beneficial to increase the connection strength between the closed sealing cover 8 and the body 2.

[0074] See also Figure 1-Figure 12An embodiment of the present invention provides a method for inspecting an unmanned aerial vehicle equipped with an inspection pan-tilt camera, and the method comprises the following steps:

[0075] S1: Prepare the inspection drone, determine the inspection shooting position, and install the dustproof plate 3 and the gimbal seat 4 according to the shooting position;

[0076] S2: according to the determined shooting position, the plug-in ring 31 and the lock bar 32 of the dustproof plate 3 are plugged into the combination slot 23, and the dustproof plate 3 itself must be ensured to be in the positive standard position (the dustproof plate 3 is attached to and parallel to the body 2);

[0077] S3: Take out the pan-tilt seat 4, insert the combined insertion rod 41 into the insertion ring 31, insert the insertion ring 31 into the deep insertion ring 31, rotate the pan-tilt seat 4, so that the pan-tilt seat 4 and the dustproof plate 3 are in a positive parallel position, at this time, the elastic lock box 6 will be locked with the body 2, and the installation of the dustproof plate 3 and the pan-tilt seat 4 is completed;

[0078] S4: Connect the gimbal imaging device and the operating terminal, connect the inspection camera 51 with the gimbal, connect the gimbal with the system control group 22 in the body 2, complete the remote control of the drone and the operation control of the gimbal;

[0079] S5: Start the drone. After the drone flies, remotely control the second motor 71 to start, open the opening and closing protection plate 35, start the micro push rod 45 to separate the lens cover 46 at the lens end of the inspection camera 51, start the micro motor 52 to adjust the shooting position of the inspection camera 51 to the required angle, control the drone to fly to the shooting route, and then start the flight shooting;

[0080] S6: The information collected during the shooting process will be transmitted to the control management platform, and the control management platform will detect the collected information;

[0081] S7: After the shooting is completed, the inspection camera 51 is turned off, the micro motor 52 is started to rotate the micro camera so that the lens is facing upward, the micro push rod 45 is started to close the lens cover 46 and the lens, the second motor 71 is started to close the opening and closing protective plate 35, and the UAV returns and lands.

[0082] The use process of the drone provided by the present invention with a patrol gimbal camera mounted thereon is as follows:

[0083] Inspection and shooting of targets under the drone:

[0084] Take out the dustproof plate 3 and use the plug-in ring 31 to install the dustproof plate 3 inside the combination groove 23 at the bottom of the body 2. During the installation process, the locking bar 32 hinged on the top of the plug-in ring 31 will be pushed by the engaging block 321 and elastically rotate toward the center of the plug-in ring 31. As the engaging block 321 slides into the combination groove 23, the engaging block 321 will move to the engaging groove 24 inside the combination groove 23, completing the assembly of the dustproof plate 3.

[0085] Take out the pan-tilt seat 4, and insert the combined insertion rod 41 at the top of the pan-tilt seat 4 into the inside of the insertion ring 31. As the combined insertion rod 41 is inserted, the outer wall of the top of the combined insertion rod 41 will apply a thrust to the inner wall of the lock bar 32, completely fixing the lock bar 32 and ensuring that the engaging block 321 is stably engaged in the engaging slot 24. As the combined insertion rod 41 is inserted deep into the insertion ring 31, the vertical sliding groove 42 at the top of the combined insertion rod 41 will slide to the outside of the locking hook 322, completing the embedding of the locking hook 322. When the combined insertion rod 41 is completely After inserting into the plug-in ring 31, rotate the pan-tilt seat 4 to make the vertical slide groove 42 slide, and let the locking hook 322 embed into the horizontal slot 43, so that the one-way locking of the pan-tilt seat 4 can be completed. When the rotation of the pan-tilt seat 4 is completed, the locking rod 62 inside the elastic lock box 6 at both ends of the pan-tilt seat 4 will be inserted into the locking hole 25 (when the pan-tilt seat 4 is inserted into the plug-in ring 31, as the pan-tilt seat 4 is inserted, the locking rod 62 will abut against the surface of the dustproof plate 3, and when the pan-tilt seat 4 rotates, it can cooperate to be inserted into the locking hole 25).

[0086] At this point, the combined installation of the pan-tilt camera can be completed, the inspection camera 51 is connected to the pan-tilt, the pan-tilt is connected to the drone internal system control group 22, the drone remote control and the inspection camera 51 shooting and control status are checked, and the drone shooting can be started.

[0087] Before starting the drone, it is necessary to start the second motor 71 through remote control. The start of the second motor 71 will drive the driving gear 72 to rotate. The rotation of the driving gear 72 will drive the driven gear 73 meshing with it to rotate. The rotation of the driven gear 73 will drive the opening and closing protective plate 35 to rotate, and close the opening and closing protective plate 35, thereby preventing dust from adhering to the surface of the inspection camera 51 during the drone's take-off. After the drone takes off, the opening and closing protective plate 35 is opened by starting the second motor 71, and the micro push rod 45 is started to retract to separate the lens cover 46 from the lens of the inspection camera 51. The micro motor 52 is started to drive the inspection camera 51 to rotate, and the required angle is adjusted to take pictures and inspect the inspection area.

[0088] When the inspection shooting is completed, adjust the inspection camera 51 lens upward according to the above steps, push the lens cover 46 to close the lens, seal the lens, start the second motor 71 to drive the opening and closing protective plate 35 to close, and drive the drone to return and land to complete the shooting.

[0089] When it is necessary to shoot at two angles, two sets of gimbal seats 4 can be installed through two drones, and the gimbal seats 4 can be located inside the combination grooves 23 at the top and bottom of the body 2, so as to achieve simultaneous shooting at two angles. When two drones are not available, after completing the inspection of one set of angles, the returning drone can pull the pull ring 65, driving the pull rod 63 and the locking rod 62 to move downward through the limit plate 64. The movement of the locking rod 62 will disengage from the locking hole 25 and the dustproof plate 3, and the downward movement of the limit plate 64 will compress the locking spring 66.

[0090] When the locking rod 62 is disengaged from the dustproof plate 3, the pan-tilt seat 4 and the dustproof plate 3 can be separated from the body 2 by rotating the pan-tilt seat 4. At this time, the dustproof plate 3 and the pan-tilt seat 4 can be installed above the body 2 to inspect and shoot the upper angle.

[0091] When installing the inspection camera 51 on the top, the closed sealing cover 8 can be separated from the body 2 by sliding the sealing plate 82, and then the plug-in ring 31 of the dustproof plate 3 can be inserted into the combination groove 23. At this time, the dustproof plate 3 will just abut against the top surface of the sealing strip 81 to complete the fitting of the dustproof plate 3, and then the pan-tilt seat 4 can be installed.

[0092] When the upper angle shooting is completed, the rubber block 87 at one end of the closed sealing plate 82 is pressed into the resistance increasing groove 83, and the sealing plate 82 is pushed to complete the closing of the combined groove 23 between the closed sealing cover 8 and the top of the body 2. When the sealing plate 82 is engaged with the sealing strip 81, the rubber block 87 will fit against the inner wall of the sealing strip 81 under the elastic force of the second spring 86, ensuring the high-strength fixation of the sealing plate 82 and the body 2.

[0093] It should be noted that the combination slot 23 and the drone body 2 in the present invention can be opened at various positions of the drone body 2 as needed, so that the dustproof plate 3 and the gimbal seat 4 can be installed at any angle for human-machine angle shooting. At the same time, the dustproof plate 3 and the gimbal seat 4 can also be installed inside multiple combination slots 23 of a single drone.

[0094] 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.

[0095] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A drone equipped with an inspection PTZ camera, characterized in that: include: A frame (1) is connected to a body (2) at the center, and the body (2) is provided with a combination groove (23) on the upper and lower surfaces, and a dustproof plate (3) and a pan-tilt seat (4) are plugged and combined inside the combination groove (23), and the pan-tilt seat (4) is arranged at the center of the dustproof plate (3). Symmetrical elastic lock boxes (6) are fixed at both ends of the outer wall of the pan-tilt seat (4), and one end of the elastic lock box (6) passes through the dustproof plate (3) and is plugged and locked inside the surface of the body (2). A pan-tilt frame (5) is connected to one side at the center of the bottom surface of the pan-tilt seat (4), and an unfolding drive unit (7) is provided on both sides of the bottom of the dustproof plate (3). The unfolding drive unit (7) drives the dustproof plate (3) to cover the outside of the pan-tilt frame (5), and a closed sealing cover (8) is fitted and slidably attached to the outside of the combination groove (23) on the top surface of the body (2), and the two ends of the closed sealing cover (8) are fitted and slid inside the body (2).

2. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 1, characterized in that: Symmetrical cross bars (11) are connected at the four corners of the frame (1); one end of the cross bar (11) away from the frame (1) is connected to a wing (12); and symmetrical support frames (13) are obliquely connected on both sides of the middle of the bottom surface of the frame (1).

3. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 2, characterized in that: Both sides of the wing (12) are connected with an embedded and locked battery pack (21), the nose end of the body (2) is provided with a system control group (22), the middle part of the inner wall of the combination slot (23) is provided with an annular equidistantly distributed embedded card slot (24), and the bottom and top surfaces of the body (2) are provided with two symmetrical groups of locking holes (25).

4. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 3, characterized in that: A plug-in ring (31) is fixed at the position where the top surface of the dustproof plate (3) is connected to the combination groove (23); the inner wall of the top surface of the plug-in ring (31) is hinged with annular locking strips (32) distributed at equal intervals; a chimeric block (321) is fixed at the middle of the top outer wall of the locking strip (32); a locking hook (322) is fixed to the inner wall of the top end of the locking strip (32); a first spring (33) is provided at the position where the plug-in ring (31) and the locking strip (32) are hinged; the locking strip (32) is elastically hinged to the inner wall of the plug-in ring (31) through the first spring (33); The plug-in ring (31) is inserted into the combination groove (23), the locking strip (32) is inserted into the combination groove (23) and elastically fits the inner wall of the combination groove (23), the engaging block (321) is embedded in the inner wall of the engaging groove (24), vertical lateral guard plates (34) are fixed on both sides of the bottom surface of the dustproof plate (3), and symmetrical opening and closing guard plates (35) are hinged on both sides of the bottom surface of the dustproof plate (3) adjacent to the lateral guard plates (34), and the outer wall ends of the opening and closing guard plates (35) are spliced ​​and closed with the outer wall ends of the lateral guard plates (34).

5. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 4, characterized in that: A combination plug rod (41) is fixed at the center of the top surface of the pan-tilt seat (4), and the outer wall of the top end of the combination plug rod (41) is provided with annular vertical slide grooves (42) distributed at equal intervals, and the bottom end of the vertical slide groove (42) is provided with a transverse card slot (43). The combination plug rod (41) is inserted at the center of the insertion ring (31), and the vertical slide groove (42) slides on the outside of the lock hook (322). The combination plug rod (41) rotates the lock hook (322) to slide inside the transverse card slot (43). A central driving hole (44) is provided at the center of the bottom surface of the combination plug rod (41), and a micro push rod (45) is fixed inside the central driving hole (44). The output end of the micro push rod (45) is connected to a lens cover (46), and the bottom surface of the lens cover (46) is provided with a lens fitting opening (47).

6. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 1, characterized in that: A patrol camera (51) is rotatably connected at the bottom center of the pan-tilt frame (5), a micro motor (52) is fixed at one end of the pan-tilt frame (5) where the patrol camera (51) is connected, and an output end of the micro motor (52) is drivingly connected to the patrol camera (51).

7. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 3, characterized in that: The elastic lock box (6) is provided with a rebound chamber (61), a locking rod (62) is passed through the center of the rebound chamber (61), the bottom end of the locking rod (62) is connected to a pull rod (63), both ends of the locking rod (62) and the pull rod (63) pass through the upper and lower outer walls of the elastic lock box (6), one end of the locking rod (62) connected to the pull rod (63) is fixed with a limiting plate (64), the limiting plate (64) slides within the rebound chamber (61), a locking spring (66) is provided at the bottom of the inner side of the rebound chamber (61), the locking spring (66) is sleeved on the outside of the pull rod (63), a pull ring (65) is passed through the end of the pull rod (63) located on the outside of the elastic lock box (6), the top of the locking rod (62) passes through the dustproof plate (3) and is embedded in the locking hole (25).

8. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 4, characterized in that: The unfolding driving unit (7) comprises a second motor (71), the second motor (71) being fixed at a position where the lateral guard plate (34) and the opening and closing guard plate (35) are hinged, the output end of the second motor (71) being connected to a driving gear (72), a driven gear (73) meshing with the driving gear (72) being provided directly above the driving gear (72), the driven gear (73) being sleeved on the outer walls at both ends of the opening and closing guard plate (35) hinged to the lateral guard plate (34).

9. The unmanned aerial vehicle equipped with an inspection PTZ camera according to claim 3, characterized in that: The closed sealing cover (8) comprises a sealing clip (81), wherein the sealing clip (81) is symmetrically fixed on both sides of the outside of the combination groove (23), a sealing plate (82) is fitted and slidably sealed on the inner side of the sealing clip (81), the bottom of the sealing plate (82) covers the outside of the combination groove (23), symmetrical resistance-increasing grooves (83) are opened on the sides of both ends of the sealing plate (82), a hinge rod (84) is provided on one side of the inside of the resistance-increasing groove (83), a springback sheet (85) is hingedly connected to the outside of the hinge rod (84), a rubber block (87) is fixed on one side of the outer wall of the springback sheet (85) close to the outer side of the sealing plate (82), and the rubber block (87) is fitted on the inner wall of the sealing clip (81), a second spring (86) is fitted on one end of the hinge rod (84), and the other end of the second spring (86) is fixed to the outer wall of the springback sheet (85).

10. The inspection method of a drone equipped with an inspection PTZ camera according to claims 1-9, characterized in that: The inspection method of a drone equipped with an inspection gimbal camera comprises the following steps: S1: Prepare the inspection drone, determine the inspection shooting position, and install the dust cover (3) and the gimbal seat (4) according to the shooting position; S2: according to the determined shooting position, the plug-in ring (31) and the lock bar (32) of the dustproof plate (3) are plugged into the combination groove (23), and it is necessary to ensure that the dustproof plate (3) itself is in the positive standard position (the dustproof plate (3) is attached to and parallel to the body (2)); S3: Take out the pan-tilt seat (4), insert the combined insertion rod (41) into the insertion ring (31), insert the insertion ring (31) deep into the insertion ring (31), rotate the pan-tilt seat (4), so that the pan-tilt seat (4) and the dustproof plate (3) are in a positive parallel position, at which time the elastic lock box (6) will be locked with the machine body (2), and the installation of the dustproof plate (3) and the pan-tilt seat (4) is completed; S4: Connect the gimbal imaging device and the operating terminal, connect the inspection camera (51) with the gimbal, connect the gimbal with the system control group (22) in the body (2), complete the remote control of the drone and the operation control of the gimbal at the same time; S5: Start the drone. After the drone is in flight, remotely control the second motor (71) to start, open the opening and closing protection plate (35), start the micro push rod (45) to separate the lens cover (46) at the lens end of the inspection camera (51), start the micro motor (52) to adjust the shooting position of the inspection camera (51) to a required angle, control the drone to fly to the shooting route, and then start the flight shooting; S6: The information collected during the shooting process will be transmitted to the control management platform, and the control management platform will detect the collected information; S7: After the shooting is completed, the inspection camera (51) is turned off, the micro motor (52) is started to rotate the micro camera to the position where the lens is facing upward, the micro push rod (45) is started to close the lens cover (46) and the lens, the second motor (71) is started to close the opening and closing protection plate (35), and the UAV returns to land.

Images