Unmanned aerial vehicle for detecting interior of large pipe
By designing drones with push-up components and deformation groups, the problem of equipment damage during drone inspection inside large culverts was solved, and the effective clamping and bending of tree branches was achieved, ensuring the safety of the inspection equipment.
Patent Information
- Application Number
- CN202511379800.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-25
- Publication Date
- 2025-11-07
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
When existing drones are used for inspection inside large culverts, they are prone to crashing and damaging the inspection equipment due to malfunctions. Furthermore, metal components and objects such as tree branches inside the culverts can also damage the drone's inspection equipment.
A large-scale unmanned aerial vehicle (UAV) for internal pipe inspection was designed. It uses a conveyor belt and motor drive of the pusher component to clamp and rotate tree branches. Combined with the airbags and air pump of the deformation group, the UAV forces the tree branches to bend and transport them in segments through the staggered arrangement of the conveyor belt and airbags, preventing damage to the equipment when they fall.
This effectively prevents tree branches from directly impacting the detection equipment during their fall. By pressing and bending at multiple points, the structural integrity of the tree branches is damaged, preventing elastic branches from bouncing up and damaging the drone or detection equipment.
Smart Images
Figure CN120903027A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of unmanned aerial vehicle detection, and particularly relates to a large pipe internal detection unmanned aerial vehicle. BACKGROUND
[0002] Detecting inside a large pipe culvert is one of the problems faced by the pipe network operation industry at the present stage. Although unmanned aerial vehicles can enter the pipe interior for detection at the present stage, they are restricted by signal transmission distance and the complex scene inside the pipe culvert, and the existing unmanned aerial vehicles have great restrictions when detecting inside a box culvert.
[0003] Therefore, an improved optical fiber unmanned aerial vehicle is provided to realize detection and diagnosis of the space above the large pipe culvert. With the help of customized modules, the unmanned aerial vehicle is protected by using an outside protection device to ensure that the unmanned aerial vehicle can smoothly advance in the pipe culvert. The transmission optical fiber used is upgraded, and a power supply function is integrated outside the signal transmission to realize data integration and energy supply in multiple dimensions, so as to obtain more detailed pipe culvert data and realize detection and analysis of the pipe culvert condition.
[0004] The existing unmanned aerial vehicles have poor protection effect on detection equipment. When the unmanned aerial vehicle fails and falls, the detection equipment below is damaged. Because the height inside the pipe culvert is limited, and there are metal components, steel bars, iron wires, cables, wires, branches and vines inside the pipe culvert. When the unmanned aerial vehicle falls and encounters hard branches, the branches will directly hit the detection equipment, causing damage to the detection equipment. SUMMARY
[0005] The embodiment of the present application provides a large pipe internal detection unmanned aerial vehicle, which solves the problem that the detection equipment below is damaged when the unmanned aerial vehicle fails and falls in the prior art. Because the height inside the pipe culvert is limited, and there are metal components, steel bars, iron wires, cables, wires, branches and vines inside the pipe culvert. When the unmanned aerial vehicle falls and encounters hard branches, the branches will directly hit the detection equipment, causing damage to the detection equipment. The two conveying belts of the pushing assembly are symmetrically arranged, can clamp the branches inside the pipe culvert, and rotate the conveying belt by driving the motor. The clamped branches are conveyed outward to prevent them from directly hitting the detection equipment during the falling process.
[0006] The embodiment of the present application provides a large pipe internal detection unmanned aerial vehicle, which solves the problem that the detection equipment below is damaged when the unmanned aerial vehicle fails and falls in the prior art. Because the height inside the pipe culvert is limited, and there are metal components, steel bars, iron wires, cables, wires, branches and vines inside the pipe culvert. When the unmanned aerial vehicle falls and encounters hard branches, the branches will directly hit the detection equipment, causing damage to the detection equipment. The two conveying belts of the pushing assembly are symmetrically arranged, can clamp the branches inside the pipe culvert, and rotate the conveying belt by driving the motor. The clamped branches are conveyed outward to prevent them from directly hitting the detection equipment during the falling process. The detection assembly comprises a mounting plate and a protective cover; the protection assembly comprises an extension rod and a protection plate; and the pushing assembly comprises a conveying belt and a motor. The protection assembly and the pushing assembly are respectively two and one-to-one corresponding, and the two protection assemblies and the two pushing assemblies are symmetrically arranged. The lower side of the mounting plate is provided with a protective cover and a telescopic rod, and the output end of the telescopic rod is provided with a protective plate which is arranged obliquely; The telescopic rod is used to drive the protective plate to move and block the opening at the lower end of the protective cover; The conveying belt is arranged at the lower end of the protective plate, and the output end of the motor is fixed on the power roller of the conveying belt; The conveying belts in the two pushing assemblies are used to clamp branches; The motor is used to drive the conveying belt to rotate and convey the clamped branches out.
[0007] As an improvement, the unmanned aerial vehicle, the second detector and the photoelectric wire shaft are further included; The photoelectric wire shaft is fixed on the lower side of the unmanned aerial vehicle, the mounting plate is fixed on the lower side of the photoelectric wire shaft, and the second detector is fixed on the upper side of the unmanned aerial vehicle, and the second detector is used to detect the top side in the pipe culvert, and the unmanned aerial vehicle is used to drive the whole device to move in the pipe culvert; The detection assembly further includes a first detector, which is used to detect the bottom side in the pipe culvert, and the first detector is fixed on the inner top side of the protective cover; The photoelectric wire shaft is used to store and release the photoelectric composite cable, and the photoelectric composite cable in the photoelectric wire shaft is connected with the unmanned aerial vehicle; The first detector and the second detector are both camera detectors, and the first detector and the second detector are both connected with the photoelectric composite cable in the photoelectric wire shaft.
[0008] As an improvement, the two protective assemblies are respectively located on the two sides of the protective cover, the telescopic rod is fixed on one side of the protective cover, the telescopic rod is arranged obliquely, and the inclination angle of the telescopic rod is consistent with the inclination angle of the protective plate; The telescopic rod is an electric telescopic rod, and the protective plate is closely attached to the protective cover; The protective assembly further includes a vertical plate and a blocking plate; The vertical plate is fixed on the protective plate, the output end of the telescopic rod is fixed on the vertical plate, and the blocking plate has two ends and is fixed on the two ends of the protective plate.
[0009] As an improvement, when the telescopic rod drives the protective plate to move to the final position, the protective plate in the two protective assemblies and the blocking plate abut against each other.
[0010] As an improvement, the pushing assembly further includes a support plate, an electromagnet and a support rod; The support plate has two ends and is arranged on the two ends of the conveying belt, the support plate is rotationally connected to the lower end of the protective plate, the motor is fixed on one side of the support plate, and the electromagnet is fixed on the lower end of the support plate; The support rod has a plurality of support rods which are uniformly and spacedly fixed in the conveying belt, the support rod is a cylindrical body, and the axis direction of the support rod is parallel to the axis direction of the power roller in the conveying belt.
[0011] As an improvement, the conveying belt on the surface of the conveying belt is made of rubber material, and the Shore hardness is 60A-70A; In the initial state, the support rod is close to the side of the two conveyor belts that are close to each other.
[0012] As an improvement, the push component also includes deformation groups, the number of which is the same as the number of support rods, and they correspond one-to-one. The deformation assembly includes an air pump and an airbag. The air pump is fixed to one side of the support plate. The first airbag is ring-shaped. The second airbag is fixed to the support rod. The air pump is connected to the inside of the first airbag.
[0013] As an improvement, the support rods within the two push components are arranged in an interleaved manner.
[0014] As an improvement, the deformation group also includes airbag two; Airbag 2 has the same structure as airbag 1, and airbag 2 is sleeved and fixed on the support rod; There are multiple airbags one and airbag two in a single deformation group, and the airbags one and airbag two in a single deformation group are arranged alternately along the axis of the support rod. The push component also includes gas pipelines; The support rod contains two air supply lines, which correspond to airbag one and airbag two respectively. The two air supply lines are connected to airbag one and airbag two respectively. Each deformation unit has two air pumps, which are fixed on two support plates respectively, and the output ends of the two air pumps are connected to two air supply pipelines respectively.
[0015] As an improvement, the inflation pressure formula for either airbag 2 or airbag 1 is as follows:
[0016] Where P is the working pressure of each airbag II or airbag I; F is the bending force of a single airbag or a pair of branches of airbags, ranging from 30 to 100 N. A represents the contact area between a single airbag (either airbag 2 or airbag 1) and the tree branch. Bending stress calculation formula:
[0017] Where σ is the actual bending stress of the tree branch; M represents the bending moment. For the case of loading at the midpoint of the branch, the formula for calculating the bending moment is: L is the span between the clamping points of the branch; c is the distance from the center axis of the tree branch section to the edge; for a circular section... ; I is the moment of inertia of the tree branch section. ; d is the diameter of the circular cross-section of the tree branch; Cumulative damage determination formula: When cumulative damage: When the cumulative damage D reaches the damage threshold kS, the branch is damaged; wherein m is a material fatigue index; n is the number of bending cycles; S is the fatigue limit stress of the branch; k is a damage threshold, and is 1.0; when the cumulative damage D reaches the damage threshold kS, the branch is damaged. When the cumulative damage D reaches the damage threshold kS, the branch is damaged.
[0018] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: Firstly, the two conveying belts of the pushing assembly are symmetrically arranged and can clamp the branches in the pipe culvert. The conveying belts are driven to rotate by the motor. The clamped branches are conveyed outward to prevent them from directly impacting the detection equipment during the falling process. Secondly, the air bag of the deformation group is arranged on the support rod, and the air pump can control the inflation of the air bag. When the conveying belt clamps the branches, the air bag is inflated to form wave-shaped protrusions and grooves on the surface of the conveying belt. The protrusions of the two pushing assemblies correspond to the grooves, and the branches are pressed and bent at multiple points. The branches are forced to be bent into multiple segments during the conveying process, which destroys the structural integrity of the branches. The branches with high elasticity are broken after being bent multiple times and lose the resilience, thereby avoiding the branches from bouncing up and impacting the unmanned aerial vehicle or the detection equipment after being sent out. The staggered support rods increase the irregularity of the surface of the conveying belt, and the wave deformation of the air bag is matched to make the branches bear multiple directional stresses during bending. Thirdly, the air bag one and the air bag two are arranged along the axis of the support rod in a staggered manner and are controlled by two independent air pumps and gas pipelines. The direction of the branches can be detected by the detector one. If the branches are not vertical, the air bag one and the air bag two at different positions are inflated. The air bag one forms longitudinal wave peaks and troughs, and the air bag two forms transverse deformation. The branches are forced to be repeatedly bent in a “Z” shape, and simultaneously bear longitudinal tension and transverse shear force. When the branches are parallel to the conveying belt, the air bag one and the air bag two are inflated to generate transverse waves and apply shear force to destroy the fiber structure. The air bag one and the air bag two of a single deformation group can be independently inflated to form high-frequency bending points and break the branches. BRIEF DESCRIPTION OF DRAWINGS
[0019] Figure 1 is a perspective view of a large pipe internal detection unmanned aerial vehicle according to the present application Figure One ; Figure 2 is a perspective view of a large pipe internal detection unmanned aerial vehicle according to the present application Figure Two ; Figure 3 is a perspective view of a large pipe internal detection unmanned aerial vehicle according to the present application Figure Three ; Figure 4 is a perspective view of a large pipe internal detection unmanned aerial vehicle according to the present application Figure Four ; Figure 5 It is a pushing assembly installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application; Figure 6 It is a two pushing assembly fitting schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application; Figure 7 It is a conveying belt installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application Figure One ; Figure 8 It is a conveying belt installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application Figure Two ; Figure 9 It is a support rod installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application; Figure 10 It is a gas bag installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application; Figure 11 It is a two pushing assembly mutual fitting state schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application; Figure 12 It is a gas bag two installation schematic diagram of a large pipe internal detection unmanned aerial vehicle of the present application.
[0020] In the figure: 100, unmanned aerial vehicle; 200, detection assembly; 210, mounting plate; 220, protective cover; 230, detector one; 300, protective assembly; 310, telescopic rod; 320, protective plate; 330, vertical plate; 340, plugging plate; 400, detector two; 500, pushing assembly; 510, conveying belt; 520, support plate; 530, motor; 540, electromagnet; 550, support rod; 551, gas conveying pipeline; 560, gas pump; 570, gas bag one; 580, gas bag two; 600, photoelectric wire shaft. DETAILED DESCRIPTION
[0021] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings, in which preferred embodiments of the present application are shown; however, the present application can be realized in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present application to those skilled in the art.
[0022] It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.
[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application; the use herein of the terms "and / or" includes a set of one or more associated listed items.
[0024] Embodiment one: as shown, the unmanned aerial vehicle for large tube internal detection of the application, including unmanned aerial vehicle 100, detection assembly 200, protection assembly 300, detector two 400, push assembly 500 and photoelectric spool 600; Figures 1-9 Detection assembly 200 includes mounting plate 210, shield 220 and detector one 230; Protection assembly 300 includes telescopic rod 310, protection plate 320; Push assembly 500 includes conveyor belt 510 and motor 530; Protection assembly 300 and push assembly 500 are two, and one-to-one correspondence, two protection assembly 300 and two push assembly 500 are symmetrically arranged; The lower side of mounting plate 210 is provided with shield 220 and telescopic rod 310; the output end of telescopic rod 310 is provided with protection plate 320, which is inclinedly arranged; Two protection assemblies 300 are located on both sides of shield 220, telescopic rod 310 is fixed on one side of shield 220, telescopic rod 310 is inclinedly arranged, and the inclination angle of telescopic rod 310 is consistent with the inclination angle of protection plate 320; Telescopic rod 310 is used to drive protection plate 320 to move and block the opening at the lower end of shield 220; Protection plate 320 is close to shield 220; Specifically, when unmanned aerial vehicle 100 is affected to fall, protection plate 320 is moved by telescopic rod 310 to block the lower side of shield 220, and detector one 230 inside shield 220 is protected. Conveyor belt 510 is arranged at the lower end of protection plate 320, and the output end of motor 530 is fixed on the power roller of conveyor belt 510;
[0025] Conveyor belt 510 in two push assemblies 500 is used to clamp branches; Motor 530 is used to drive conveyor belt 510 to rotate and convey the clamped branches out.
[0026] Specifically, during the falling of the unmanned aerial vehicle 100, the branches inside the pipe culvert will affect the safety of the device. During the approach of the two conveying belts 510, the clamped branches are gradually rubbed out of the protective cover 220, and the two conveying belts 510 are driven to rotate in opposite directions by the motor 530, so that the clamped branches are conveyed out, avoiding the influence of the branches on the detector 230.
[0027] The photoelectric spool 600 is fixed on the lower side of the unmanned aerial vehicle 100, the mounting plate 210 is fixed on the lower side of the photoelectric spool 600, and the detector two 400 is fixed on the upper side of the unmanned aerial vehicle 100. The detector two 400 is used to detect the top side inside the pipe culvert, and the unmanned aerial vehicle 100 is used to drive the whole device to move inside the pipe culvert. The photoelectric spool 600 is used to store and release the photoelectric composite cable, and the photoelectric composite cable in the photoelectric spool 600 is connected with the unmanned aerial vehicle 100. The detector one 230 and the detector two 400 are both camera detectors, and the detector one 230 and the detector two 400 are connected with the photoelectric composite cable in the photoelectric spool 600, which is used for power transmission and data transmission of the detector one 230 and the detector two 400. Specifically, the photoelectric composite cable stored in the photoelectric spool 600 can not only transmit detection data signals, but also supply power, solving the energy problem of the unmanned aerial vehicle 100 in the long-distance pipe culvert.
[0028] The detector one 230 is used to detect the bottom side inside the pipe culvert, and the detector one 230 is fixed on the top side inside the protective cover 220.
[0029] The protection assembly 300 further comprises a vertical plate 330 and a sealing plate 340. The vertical plate 330 is fixed on the protection plate 320, and the output end of the telescopic rod 310 is fixed on the vertical plate 330. The sealing plate 340 has two and is fixed on both ends of the protection plate 320.
[0030] When the telescopic rod 310 drives the protection plate 320 to move to the final position, the protection plate 320 and the sealing plate 340 in the two protection assemblies 300 are rubbed against each other.
[0031] Specifically, the protection plate 320 and the sealing plate 340 can completely seal the lower side of the protective cover 220, thereby performing protection operation on the internally installed detector one 230.
[0032] The pushing assembly 500 further comprises a support plate 520, an electromagnet 540 and a support rod 550. The support plate 520 has two and is arranged at both ends of the conveying belt 510. The support plate 520 is rotatably connected to the lower end of the protection plate 320. The motor 530 is fixed on one side of the support plate 520, and the electromagnet 540 is fixed on the lower end of the support plate 520. There are multiple support rods 550, which are evenly spaced and fixed inside the conveyor belt 510. The support rods 550 are cylindrical, and the axial direction of the support rods 550 is parallel to the axial direction of the power roller inside the conveyor belt 510. The conveyor belt 510 has a surface made of rubber with a Shore hardness of 60A-70A. Specifically, the conveyor belt 510 needs to "grip the branches". If the rubber is too hard, the contact area will be small, reducing friction and affecting the conveying effect.
[0033] In the initial state, the support rod 550 is close to the side of the two conveyor belts 510 that are close to each other.
[0034] Specifically, when the two conveyor belts 510 approach each other, the electromagnet 540 is energized to fix the position between the two conveyor belts 510, thereby preventing the conveyor belts 510 from being stretched open by large branches, which would prevent them from being clamped and conveyed; and the support rod 550 provides support for the side of the two conveyor belts 510 that are close to each other, preventing large-scale inward deformation when conveying branches.
[0035] Detector 1 230, telescopic rod 310, detector 2 400, conveyor belt 510, electromagnet 540, optical fiber spool 600 and the optical fiber composite cable stored in optical fiber spool 600 are all existing technologies and will not be described in detail here.
[0036] The telescopic pole 310 and electromagnet 540 are connected to the optoelectronic composite cable stored in the optoelectronic wire spool 600 for power transmission and data transmission of the telescopic pole 310 and electromagnet 540. The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: The two conveyor belts 510 of the pushing component 500 are symmetrically arranged and can clamp branches inside the culvert. Driven by a motor 530, the motor 530 drives the conveyor belts 510 to rotate. This conveys the clamped branches outward to prevent them from hitting the detection equipment directly during their fall.
[0037] Example 2: In Example 1, only the clamped branches can be transported out via the conveyor belt 510. However, after the clamped branches are transported out, the more elastic branches will bounce back quickly, impacting and damaging the equipment. Therefore, the solution in Example 1 is improved, such as... Figures 10-11 As shown: The push component 500 also includes deformation groups, the number of which is the same as the number of support rods 550, and they correspond one-to-one. The deformation assembly includes air pump 560 and airbag 570; The air pump 560 is fixed on one side of the support plate 520. The airbag 570 is ring-shaped and is sleeved and fixed on the support rod 550. The air pump 560 is connected to the inside of the airbag 570.
[0038] The support rods 550 in the two pushing assemblies 500 are staggered with each other.
[0039] The air pump 560 is connected with the photoelectric composite cable stored in the photoelectric wire shaft 600, for power supply and data transmission of the air pump 560.
[0040] Specifically, after detecting that the branches are clamped inside, the air bags 570 are inflated, and the air bags 570 at different positions are inflated to make the conveying belts 510 have different protrusions, so that the surface is wavy, the protrusions of the two conveying belts 510 correspond to the grooves, the clamped branches are pressed, and the branches are dispersed into multiple segments during conveying; the branches with relatively large elasticity are bent to be divided into multiple segments, so that the clamped part loses elasticity, and the branches are prevented from bouncing up quickly after being conveyed out and damaging the equipment.
[0041] The technical solutions in the embodiments of the present application have at least the following technical effects or advantages: The air bags 570 of the deformation group are sleeved on the support rods 550, and the air pump 560 can control the inflation of the air bags 570. When the conveying belts 510 clamp the branches, the air bags 570 are inflated to make the surface of the conveying belts 510 form wavy protrusions and grooves, the protrusions of the two pushing assemblies 500 correspond to the grooves, and the branches are pressed at multiple points and bent; the branches are forced to be bent into multiple segments during conveying, the structural integrity of the branches is damaged, the branches with relatively large elasticity are broken after being bent multiple times and lose the elastic force, and the branches are prevented from bouncing up quickly after being conveyed out and colliding with the unmanned aerial vehicle 100 or the detection equipment; the staggered support rods 550 increase the irregularity of the surface of the conveying belts 510, and the wavy deformation of the air bags 570 makes the branches bear multiple directional stresses when being bent.
[0042] In the third embodiment, multiple air bags 570 are arranged to bend the clamped branches during conveying to reduce the elasticity of the branches. However, when the branches are not vertical, the branches are parallel to the length direction of the conveying belts 510, the inclination angle of the branches is small, the wavy protrusions in the vertical direction have poor bending effect on the branches, the branches have poor elasticity, and the elastic force of the branches can damage the unmanned aerial vehicle 100 after being pushed out. Therefore, the scheme of the second embodiment is improved as shown in the following table: Figure 12 The deformation group further includes air bags 580; The air bags 580 have the same structure as the air bags 570, and the air bags 580 are sleeved and fixed on the support rods 550; The air bags 570 and the air bags 580 in a single deformation group are multiple, and the air bags 570 and the air bags 580 in a single deformation group are staggered along the axis direction of the support rods 550; The pushing assembly 500 further includes a gas conveying pipeline 551; The support rod 550 has gas conveying pipes 551, and the two gas conveying pipes 551 correspond to the air bag one 570 and the air bag two 580 respectively, and the two gas conveying pipes 551 are in communication with the air bag one 570 and the air bag two 580 respectively. The single deformation group has two air pumps 560, and the two air pumps 560 are fixed on the two support plates 520 respectively, and the output ends of the two air pumps 560 are in communication with the two gas conveying pipes 551 respectively.
[0043] Specifically, the surface hardness of the conveying belt 510 is lower than 60A, which is too soft, and is easy to deform when contacting the branches, resulting in insufficient friction. On the contrary, the hardness is higher than 70A, which is too hard, reducing the contact area and affecting the conveying effect. The hardness of 60A-70A provides sufficient rigidity to ensure that the conveying belt is fully attached to the surface of the branches, improving the clamping stability. When the air bag one 570 and the air bag two 580 are inflated, the surface of the conveying belt forms a wavy protrusion. The medium-hardness rubber is easy to deform locally under the pressure of the air bag one 570 and the air bag two 580, efficiently transferring the bending force to the branches and ensuring stress concentration.
[0044] The surface of the conveying belt 510 is repeatedly deformed during the process of clamping and releasing the branches. The high-resilience rubber returns to its original state instantly after the air bag one 570 and the air bag two 580 are depressurized, supporting continuous conveying. If the resilience is low, the rubber is easy to deform plastically, resulting in the wave protrusion that cannot reset, affecting the next clamping.
[0045] Specifically, when it is detected that the clamped branches are not vertical, the air bag one 570 and the air bag two 580 at different positions of the single support rod 550 are inflated to make the air bag one 570 and the air bag two 580 form a wavy shape along the direction of the transverse branches; the clamped branches are forced to repeatedly bend in a "Z" shape path, and the air bag one 570 and the air bag two 580 form transverse wave crests and troughs, so that the branches simultaneously bear longitudinal tension and transverse shear force in the rotary conveying; and the state of each air bag one 570 and air bag two 580 can be changed constantly, so that it repeatedly changes between inflation and retraction, pressing the branches.
[0046] The technical solutions in the embodiments of the present application have at least the following technical effects or advantages: Airbag one 570 and airbag two 580 are staggered along the axis of the support rod 550, and are controlled by two independent air pumps 560 and air supply pipeline 551. The direction of the branches can be detected by detector one 230, such as non-vertical branches, and the inflation of airbag one 570 and airbag two 580 at different positions is controlled: airbag one 570 forms longitudinal peaks and troughs, and airbag two 580 forms transverse deformation; the branches are forced to repeatedly bend in a "Z" shaped path, while bearing longitudinal tension and transverse shear force; when the branches are parallel to the conveyor belt 510, the inflation of airbag one 570 and airbag two 580 produces transverse waves, which exert shear force to damage the fiber structure; the airbag one 570 and airbag two 580 of a single deformation group can be inflated independently to form high-frequency bending points, causing the branches to break.
[0047] Airbag two 580 or airbag one 570 inflation pressure formula:
[0048] Where P is the working pressure of each airbag two 580 or airbag one 570 (unit: Pa); F is the bending force of a single airbag two 580 or airbag one 570 on the branches (unit: N), with a value range of 30-100 N; A is the contact area of a single airbag two 580 or airbag one 570 with the branches (unit: m²); Bending stress calculation formula:
[0049] Where σ is the actual bending stress of the branches (unit: Pa); M is the bending moment, and for the case of loading at the midpoint of the branches, the bending moment calculation formula is (unit: N·m), and L is the span of the branches between the clamping points (unit: m); c is the distance from the center axis of the cross section of the branches to the edge, and for a circular cross section (unit: m); I is the moment of inertia of the cross section of the branches, (unit: m 4 ); d is the diameter of the circular cross section of the branches (unit: m); Cumulative damage judgment formula: when the cumulative damage is , the branches are damaged; Where m is the material fatigue index, and for wood, m≈5-12; n is the number of bending cycles; S is the fatigue limit stress of the branches (unit: Pa); k is the damage threshold, with a value of 1.0, and when the cumulative damage , the branches are damaged.
[0050] Specific case: A large unmanned aerial vehicle (UAV) 100 for internal pipe inspection falls uncontrollably due to strong air flow disturbance while inspecting a 1.8 m diameter rainwater pipe culvert. During the fall, the UAV 100 encounters a dry and aged push assembly 500 holding a willow branch. The branch has a diameter d = 0.01 m (1 cm), a span L = 0.10 m, and a fragile material with a bending strength S = 10 × 106 Pa (10 MPa). After the UAV 100 detects the branch, the push assembly 500 activates: Air bag one 570 and air bag two 580 inflate, causing the conveyor belt 510 surface to form a wavy deformation, forcing the branch to repeatedly bend.
[0051] Bending times n = 5, air bag one 570 and air bag two 580 inflation causes 5 bending cycles.
[0052] The bending force F = 100 N applied by air bag one 570 and air bag two 580.
[0053] Wood fatigue index m = 8, cumulative damage threshold k = 0.7.
[0054] The branch is circular in cross-section, and the moment of inertia formula is:
[0055] Calculate the neutral axis distance from the edge c:
[0056] Calculate the actual bending stress σ Bending stress formula:
[0057] Calculate the σ / S ratio
[0058] Calculate the cumulative damage D Cumulative damage model:
[0059] Damage determination:
[0060] Cumulative damage D > k, the branch breaks or plastically deforms, losing elasticity.
[0061] After the branch is forced to bend 5 times by air bag one 570 and air bag two 580, the cumulative damage exceeds the standard (D k), the elasticity disappears, avoiding rebounding and hitting the UAV 100 or inspection equipment.
[0062] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. 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. A large-sized tube internal inspection unmanned aerial vehicle, characterized by comprising: It comprises a detection assembly (200), a protection assembly (300) and a pushing assembly (500); The detection assembly (200) comprises a mounting plate (210) and a protection cover (220); the protection assembly (300) comprises a telescopic rod (310) and a protection plate (320); and the pushing assembly (500) comprises a conveying belt (510) and a motor (530); The protection assembly (300) and the pushing assembly (500) are two respectively and one-to-one corresponding, and the two protection assemblies (300) and the two pushing assemblies (500) are symmetrically arranged; The protection cover (220) and the telescopic rod (310) are arranged on the lower side of the mounting plate (210); the protection plate (320) is arranged on the output end of the telescopic rod (310); and the protection plate (320) is arranged obliquely; The telescopic rod (310) is used for driving the protection plate (320) to move and block the opening at the lower end of the protection cover (220); The conveying belt (510) is arranged at the lower end of the protection plate (320), and the output end of the motor (530) is fixed on the power roller of the conveying belt (510); The conveying belts (510) in the two pushing assemblies (500) are used for clamping branches; The motor (530) is used for driving the conveying belt (510) to rotate and conveying the clamped branches out.
2. The drone for inspecting the inside of a large pipe according to claim 1, wherein It further comprises a unmanned aerial vehicle (100), a detector two (400) and an optical wire shaft (600); The optical wire shaft (600) is fixed on the lower side of the unmanned aerial vehicle (100), the mounting plate (210) is fixed on the lower side of the optical wire shaft (600), the detector two (400) is fixed on the upper side of the unmanned aerial vehicle (100), the detector two (400) is used for detecting the top side in the pipe culvert, and the unmanned aerial vehicle (100) is used for driving the whole device to move in the pipe culvert; The detection assembly (200) further comprises a detector one (230), the detector one (230) is used for detecting the bottom side in the pipe culvert, and the detector one (230) is fixed on the inner top side of the protection cover (220); The optical wire shaft (600) is used for storing and releasing an optical and electrical composite cable, and the optical and electrical composite cable in the optical wire shaft (600) is connected with the unmanned aerial vehicle (100); The detector one (230) and the detector two (400) are both camera detectors, and the detector one (230) and the detector two (400) are both connected with the optical and electrical composite cable in the optical wire shaft (600).
3. The drone for inspecting the inside of a large pipe according to claim 2, wherein The two protection assemblies (300) are respectively located on the two sides of the protection cover (220), the telescopic rod (310) is fixed on one side of the protection cover (220), the telescopic rod (310) is arranged obliquely, and the oblique angle of the telescopic rod (310) is consistent with the oblique angle of the protection plate (320); The telescopic rod (310) is an electric telescopic rod, and the protection plate (320) is close to the protection cover (220); The protection assembly (300) further comprises a vertical plate (330) and a blocking plate (340); The vertical plate (330) is fixed on the protection plate (320), the output end of the telescopic rod (310) is fixed on the vertical plate (330), and the blocking plate (340) has two and is fixed on the two ends of the protection plate (320).
4. The drone for inspecting the inside of a large pipe according to claim 3, wherein When the telescopic rod (310) drives the protective plate (320) to move to the final position, the protective plate (320) in the two protective assemblies (300) is in mutual abutment with the blocking plate (340).
5. The drone for inspecting the inside of a large pipe according to claim 3, wherein The pushing assembly (500) further comprises a support plate (520), an electromagnet (540) and a support rod (550); The support plate (520) is provided at two ends of the conveying belt (510) and is rotationally connected to the lower end of the protective plate (320); the motor (530) is fixed on one side of the support plate (520); and the electromagnet (540) is fixed to the lower end of the support plate (520). The support rod (550) is in the form of a cylinder and has an axis direction parallel to the axis direction of the power roller in the conveying belt (510).
6. A drone for inspecting the inside of a large pipe according to claim 5, wherein The conveying belt on the surface of the conveying belt (510) is made of rubber and has a Shore hardness of 60A-70A. In the initial state, the support rod (550) is close to the side of the two conveying belts (510) that are close to each other.
7. The drone for inspecting the inside of a large pipe according to claim 5, wherein The pushing assembly (500) further comprises a deformation group, the number of the deformation group is consistent with the number of the support rod (550) and corresponds to the support rod (550) one by one. The deformation group comprises a gas pump (560) and a gas bag I (570). The gas pump (560) is fixed on one side of the support plate (520); the gas bag I (570) is in the form of a ring and is fixed on the support rod (550); and the gas pump (560) is in communication with the gas bag I (570).
8. The drone for inspecting the inside of a large pipe according to claim 7, wherein The support rods (550) in the two pushing assemblies (500) are arranged in a staggered manner.
9. The drone for inspecting the inside of a large pipe according to claim 7, wherein The deformation group further comprises a gas bag II (580). The gas bag II (580) has the same structure as the gas bag I (570) and is fixed on the support rod (550). The gas bag I (570) and the gas bag II (580) in a single deformation group are arranged in a staggered manner along the axis direction of the support rod (550). The pushing assembly (500) further comprises a gas conveying pipeline (551). The support rod (550) is provided with the gas conveying pipeline (551), the gas conveying pipeline (551) has two, and each is in communication with the gas bag I (570) and the gas bag II (580). The gas pump (560) in a single deformation group has two and is fixed on the two support plates (520), and the output ends of the two gas pumps (560) are in communication with the two gas conveying pipelines (551).
10. The drone for inspecting the inside of a large pipe according to claim 9, wherein The expansion pressure formula of the gas bag II (580) or the gas bag I (570): where P is the working pressure of each airbag two (580) or airbag one (570); F is the bending force of a single gas bag II (580) or a single gas bag I (570) on the branch, and the value range is 30-100 N; A is the contact area of a single gas bag II (580) or a single gas bag I (570) with the branch; The bending stress calculation formula is: where σ is the actual bending stress of the branch. M is the bending moment, and the formula for calculating the bending moment is L is the span of the branch between the clamping points. c is the distance from the center axis of the branch cross section to the edge, for a circular cross section ; I is the moment of inertia of the tree cross section, ; d is the diameter of the circular cross section of the branch; Accumulated damage determination formula: When the accumulated damage is , the tree branch is damaged; Wherein, m is the material fatigue index; n is the bending cycle number; S is the fatigue limit stress of the branch; k is a damage threshold, which is 1.0, and when the cumulative damage is greater than k, the tree branch is damaged.