Storage protection mechanism and inspection device

Abstract

The utility model relates to the field of water and electricity detection, and discloses a storage protection mechanism and an inspection device, the storage protection mechanism comprises a frame and a lifting part, the lifting part comprises a bottom assembly installed on the outer side of the frame, and a top assembly and an opening and closing part which are installed on the outer side of the bottom assembly; the opening and closing component comprises a main body assembly installed on the outer side of the frame and a power assembly installed on the outer side of the main body assembly. Through mutual cooperation of all the parts, when the unmanned aerial vehicle needs to take off, the top plate drives the unmanned aerial vehicle to ascend and the cabin door is opened, so that conditions are provided for take-off of the unmanned aerial vehicle, and after the unmanned aerial vehicle completes work, the top plate drives the unmanned aerial vehicle to descend and the cabin door is closed, so that the unmanned aerial vehicle is stored and protected; the unmanned aerial vehicle is prevented from being collided and damaged in the moving process of the inspection trolley.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of water and electricity detection, especially a storage protection mechanism and inspection device. BACKGROUND

[0002] At present, the inspection work of the water and electricity tunnel mainly depends on artificial inspection or traditional inspection equipment, the traditional detection equipment usually adopts unmanned aerial vehicle or inspection trolley to detect, however, when the unmanned aerial vehicle or the inspection trolley detects alone, the detection efficiency, precision and the like have limitations, therefore, it is required to design an inspection device which can realize the cooperative work of the unmanned aerial vehicle and the inspection trolley, and when the inspection device cooperates and enters the narrow tunnel, the unmanned aerial vehicle carrying the inspection trolley is prone to bumping, thereby leading to the damage of the unmanned aerial vehicle or the detection misalignment and the like. SUMMARY

[0003] Therefore, the technical problem to be solved by the utility model lies in: how to prevent the unmanned aerial vehicle from bumping when entering the narrow tunnel.

[0004] The above technical problem is solved by the following technical scheme: the utility model provides a storage protection mechanism, which comprises,

[0005] a frame;

[0006] a lifting component, which comprises a bottom assembly installed outside the frame and a top assembly installed outside the bottom assembly;

[0007] an opening and closing component, which comprises a main body assembly installed outside the frame and a power assembly installed outside the main body assembly.

[0008] In a preferred embodiment of the storage protection mechanism, the bottom assembly comprises a bottom plate fixedly connected outside the frame, a lifting motor adaptively installed outside the bottom plate, and a base fixedly connected outside the bottom plate, a lead screw fixedly connected to an output shaft of the lifting motor, a first sliding block slidingly connected outside the base, a nut fixedly connected outside the first sliding block, and a first hinged rod hinged outside the nut.

[0009] The lead screw is rotationally connected outside the base, and the nut is adaptively installed with the lead screw.

[0010] In a preferred embodiment of the storage protection mechanism, the top assembly comprises a top plate hinged outside the first hinged rod, a second sliding block slidingly connected outside the top plate, and a second hinged rod hinged outside the second sliding block, a tethering box fixedly connected outside the top plate, an unmanned aerial vehicle arranged outside the top plate, and a first laser radar adaptively installed outside the top plate.

[0011] The second hinged rod is hinged with the top plate and the first hinged rod respectively.

[0012] In a preferred embodiment of the storage protection mechanism, the main body assembly comprises a top cover fixedly connected to the outer side of the frame, a hatch slidably connected to the outer side of the top cover, and a connecting clamp block fixedly connected to the outer side of the hatch.

[0013] In a preferred embodiment of the storage protection mechanism, the power assembly comprises a first mounting plate fixedly connected to the outer side of the top cover, an opening and closing motor adaptively mounted to the outer side of the first mounting plate, and a first roller fixedly connected to the output shaft of the opening and closing motor, a second mounting plate fixedly connected to the outer side of the top cover, a second roller rotatably connected to the outer side of the second mounting plate, and a synchronous belt adaptively mounted to the outer sides of the first roller and the second roller.

[0014] The connecting clamp block is clamped to the outer side of the synchronous belt.

[0015] The storage protection mechanism has the advantages that through the cooperation of various components, the top plate drives the UAV to ascend and the hatch to open when the UAV needs to take off, providing conditions for the UAV to take off, and after the UAV completes the work, the top plate drives the UAV to descend and the hatch to close, thereby storing and protecting the UAV, so that the UAV is prevented from being damaged by knocking during movement of the inspection trolley.

[0016] The utility model discloses still provide a kind of inspection device.

[0017] The utility model wants to solve technical problem is in: how to realize the cooperation of UAV and inspection trolley.

[0018] In a preferred embodiment of the inspection device, the inspection device further comprises,

[0019] a box fixedly connected to the outer side of the frame, a moving mechanism mounted to the outer side of the box, and a front mechanism mounted to the outer side of the top cover, a detection mechanism mounted to the outer side of the box, and a tracking mechanism mounted to the outer side of the top cover.

[0020] The detection mechanism comprises an adjusting component mounted to the outer side of the box and an auxiliary component mounted to the outer side of the adjusting component.

[0021] In a preferred embodiment of the inspection device, the moving mechanism comprises a chassis fixedly connected to the outer side of the box and a drive wheel adaptively mounted to the outer side of the chassis.

[0022] In a preferred embodiment of the inspection device: the front mechanism includes a front mounting frame fixedly connected to the outside of the top cover, a first light source adaptively installed on the outside of the top cover, and a second laser radar adaptively installed on the outside of the front mounting frame.

[0023] In a preferred embodiment of the inspection device: the adjusting component includes a long plate fixedly connected to the outside of the box body, a first rotary motor adaptively installed on the outside of the long plate, and a cylinder fixedly connected to the outside of the long plate, a rotating frame fixedly connected to the output shaft of the first rotary motor, a hinged frame hinged to the outside of the rotating frame, and a first pitch motor adaptively installed on the outside of the rotating frame.

[0024] The output shaft of the first pitch motor is fixedly connected to the hinged frame, and the cylinder is sleeved on the outside of the output shaft of the first rotary motor.

[0025] The auxiliary component includes a second light source adaptively installed on the outside of the hinged frame, a third laser radar, a camera, and an infrared camera.

[0026] In a preferred embodiment of the inspection device: the tracking mechanism includes an upright plate fixedly connected to the outside of the top cover, a second rotary motor adaptively installed on the outside of the upright plate, and a transition plate fixedly connected to the output shaft of the second rotary motor, a second pitch motor adaptively installed on the outside of the transition plate, and a fourth laser radar fixedly connected to the output shaft of the second pitch motor.

[0027] The beneficial effects of the inspection device are: through the mutual cooperation of various components, the inspection trolley and the unmanned aerial vehicle can work cooperatively, thereby improving the detection efficiency and accuracy, realizing intelligent detection inside the tunnel, and the inspection device can be autonomously patrolled, reducing personnel intervention. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings of the embodiments of the utility model will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the utility model, not limit the utility model. Among them:

[0029] Figure 1 The overall structure of the utility model is shown in the schematic diagram;

[0030] Figure 2 The lifting component of the utility model is shown in the schematic diagram;

[0031] Figure 3 The front view of the opening and closing component of the utility model is shown.

[0032] Figure 4 The utility model discloses a side view of opening and closing part shows;

[0033] Figure 5 The utility model discloses a moving mechanism schematic view shows;

[0034] Figure 6 The utility model discloses a detection mechanism schematic view shows;

[0035] Figure 7 The utility model discloses a tracking mechanism schematic view shows. DETAILED DESCRIPTION

[0036] In order to make those skilled in the art better understand the utility model, the utility model is further explained in detail below in combination with specific embodiments and drawings.

[0037] The terms used in the utility model are those general terms currently widely used in the art in consideration of the functions regarding the utility model, but the terms can be changed according to the intention, precedent or new technology of those skilled in the art. In addition, specific terms can be selected by the applicant, and in this case, the detailed meaning thereof will be described in the detailed description of the utility model. Therefore, the terms used in the specification should not be understood as simple names, but based on the meaning of the terms and the overall description of the utility model.

[0038] Referring to Figures 1-7 , the embodiment provides a storage protection mechanism, comprising,

[0039] Frame 1;

[0040] Lifting part 2, lifting part 2 includes the bottom assembly 21 installed on the outer side of frame 1, and the top assembly 22 installed on the outer side of bottom assembly 21;

[0041] Opening and closing part 3, opening and closing part 3 includes the main body assembly 31 installed on the outer side of frame 1, and the power assembly 32 installed on the outer side of main body assembly 31.

[0042] Bottom assembly 21 includes the bottom plate 211 fixedly connected on the outer side of frame 1, the lifting motor 212 adaptively installed on the outer side of bottom plate 211, and the base 213 fixedly connected on the outer side of bottom plate 211, the lead screw 214 fixedly connected on the output shaft of lifting motor 212, the first sliding block 215 slidingly connected on the outer side of base 213, the nut 216 fixedly connected on the outer side of first sliding block 215, the first hinged rod 217 hinged on the outer side of nut 216;

[0043] Wherein, the lead screw 214 is rotatably connected on the outer side of base 213, and the nut 216 is adaptively installed with the lead screw 214.

[0044] The top assembly 22 comprises a top plate 221 hingedly connected outside the first hinged rod 217, a second sliding block 222 slidingly connected outside the top plate 221, and a second hinged rod 223 hingedly connected outside the second sliding block 222, a tethering box 224 fixedly connected outside the top plate 221, a drone 225 arranged outside the top plate 221, and a first laser radar 226 adaptively installed outside the top plate 221.

[0045] The second hinged rod 223 is hingedly connected with the top plate 221 and the first hinged rod 217, respectively.

[0046] When the drone 225 needs to be detected, the drone 225 needs to be lifted out of the inspection trolley, at which time the lifting motor 212 can be started to drive the lead screw 214 to rotate, and then the lead screw 214, the first sliding block 215 and the nut 216 are cooperated with each other to move the nut 216 to the direction of the lifting motor 212.

[0047] When the nut 216 moves, the top plate 221 drives the drone 225 to be lifted out of the inspection trolley through the cooperation of the first hinged rod 217, the second hinged rod 223, the second sliding block 222 and the top plate 221, so as to facilitate the take-off work of the drone 225.

[0048] After the drone 225 works and lands on the top plate 221, the lifting motor 212 can be started in reverse to make the top plate 221 drive the drone 225 to descend, so as to be stored in the inspection trolley, thereby preventing it from being bumped when the trolley moves.

[0049] In addition, the tethering box 224 is internally provided with a tethering rope connected with the drone 225, and the tethering rope is internally provided with a power line to continuously power the drone 225.

[0050] The tethering box 224 is internally provided with a motor, the drone 225 takes off to drag the tethering rope, the internal motor of the tethering box 224 is started and pay-off, and when the drone 225 lands, the internal motor of the tethering box 224 is started and take-up.

[0051] The first laser radar 226 is vertically arranged, and the field of view projects point clouds upward, which is used for scanning the drone 225, judging the position coordinates of the current drone 225 according to the returned point cloud depth information, and then feeding back the information to the main control system to control the motor torque of the tethering box 224.

[0052] The drone 225 is mainly used for detecting defects at high places of the hydropower tunnel, and approaching to observe the defects when all defects are found.

[0053] As an embodiment provided in the present application, Figures 1-4The main body assembly 31 comprises a top cover 311 fixedly connected to the outer side of the frame 1, a hatch 312 slidably connected to the outer side of the top cover 311, and a connecting clamp block 313 fixedly connected to the outer side of the hatch 312.

[0054] The power assembly 32 comprises a first mounting plate 321 fixedly connected to the outer side of the top cover 311, an opening and closing motor 322 adaptively mounted to the outer side of the first mounting plate 321, and a first roller 323 fixedly connected to the output shaft of the opening and closing motor 322, a second mounting plate 324 fixedly connected to the outer side of the top cover 311, a second roller 325 rotatably connected to the outer side of the second mounting plate 324, and a synchronous belt 326 adaptively mounted to the outer sides of the first roller 323 and the second roller 325.

[0055] The connecting clamp block 313 is clamped to the outer side of the synchronous belt 326.

[0056] As shown in the accompanying drawings, Figure 3 two connecting clamp blocks 313 are respectively clamped to the two sides of the synchronous belt 326.

[0057] During the take-off and landing of the unmanned aerial vehicle 225, the opening and closing motor 322 is started, and the synchronous belt 326 is driven to move by the first roller 323 and the second roller 325, and when the synchronous belt 326 moves, the connecting clamp block 313 clamped to the outer side can be driven to move.

[0058] When the connecting clamp block 313 moves, the two hatches 312 can be opened or closed, and when opened, the unmanned aerial vehicle 225 can take off, and when closed, the unmanned aerial vehicle 225 can be checked after landing to ensure that the top of the inspection trolley is closed, thereby protecting the unmanned aerial vehicle 225 from damage.

[0059] In summary, through the cooperation of various parts, when the unmanned aerial vehicle 225 needs to take off, the top plate 221 drives the unmanned aerial vehicle 225 to rise and the hatch 312 is opened, providing conditions for the unmanned aerial vehicle 225 to take off, and after the unmanned aerial vehicle 225 completes the work, the top plate 221 drives the unmanned aerial vehicle 225 to descend and the hatch 312 is closed, thereby protecting the unmanned aerial vehicle 225 from damage during the movement of the inspection trolley.

[0060] Referring to Figures 1-7 The embodiment provides an inspection device, which comprises a storage and protection mechanism, and further comprises,

[0061] a box body 4 fixedly connected to the outer side of the frame 1, a moving mechanism 5 mounted to the outer side of the box body 4, and a front mechanism 6 mounted to the outer side of the top cover 311, a detection mechanism 7 mounted to the outer side of the box body 4, and a tracking mechanism 8 mounted to the outer side of the top cover 311;

[0062] The detection mechanism 7 comprises an adjusting component 71 mounted on the outside of the box 4, and an auxiliary component 72 mounted on the outside of the adjusting component 71.

[0063] The moving mechanism 5 comprises a chassis 51 fixedly connected on the outside of the box 4, and a driving wheel 52 adaptively mounted on the outside of the chassis 51.

[0064] The front mechanism 6 comprises a front mounting bracket 61 fixedly connected on the outside of the top cover 311, a first illuminating light source 62 adaptively mounted on the outside of the top cover 311, and a second laser radar 63 adaptively mounted on the outside of the front mounting bracket 61.

[0065] As one of the embodiments provided in the present application, as Figure 1 The adjusting component 71 comprises a long plate 711 fixedly connected on the outside of the box 4, a first rotating motor 712 adaptively mounted on the outside of the long plate 711, and a cylinder 713 fixedly connected on the outside of the long plate 711, a rotating frame 714 fixedly connected on the output shaft of the first rotating motor 712, a hinged frame 715 hingedly connected on the outside of the rotating frame 714, and a first tilting motor 716 adaptively mounted on the outside of the rotating frame 714.

[0066] The output shaft of the first tilting motor 716 is fixedly connected with the hinged frame 715, and the cylinder 713 is sleeved on the outside of the output shaft of the first rotating motor 712.

[0067] The auxiliary component 72 comprises a second illuminating light source 721 adaptively mounted on the outside of the hinged frame 715, a third laser radar 722, a camera 723, and an infrared camera 724.

[0068] When the driving wheel 52 drives the inspection device to move, the second laser radar 63 can provide the inspection device with visual field information, and the first illuminating light source 62 provides light source.

[0069] The third laser radar 722 is used for scanning tunnel return point cloud information, the camera 723 is used for shooting tunnel image information, and in later modeling, the depth information of the third laser radar 722 point cloud is combined with the RGB information and texture information of the camera 723 to restore the real three-dimensional model and defect features of the pipeline. The infrared camera 724 can provide night vision image information in the case of insufficient light source, and generally does not work in normal inspection, mainly coping with the case that the light source fails or the defective light source is shielded.

[0070] The detection mechanism 7 has two degrees of freedom, and can realize tilting and rolling movements. The first tilting motor 716 can control the tilting angle of the holder by forward and reverse rotation, and the first rotating motor 712 can control the rolling angle of the holder by forward and reverse rotation.

[0071] As one of the embodiments provided in the present application, as Figure 7The tracking mechanism 8 comprises an upright plate 81 fixedly connected to the outside of the top cover 311, a second rotary motor 82 adaptively installed on the outside of the upright plate 81, a transition plate 83 fixedly connected to the output shaft of the second rotary motor 82, a second pitching motor 84 adaptively installed on the outside of the transition plate 83, and a fourth laser radar 85 fixedly connected to the output shaft of the second pitching motor 84.

[0072] The tracking mechanism 8 is used for tracking and positioning the unmanned aerial vehicle 225. Since the detection scene is a closed space, the unmanned aerial vehicle 225 cannot determine its own position, so the tracking mechanism 8 needs to be added for external assistance.

[0073] The tracking mechanism 8 has two degrees of freedom, and the overturning and pitching are realized by the second rotary motor 82 and the second pitching motor 84.

[0074] The fourth laser radar 85 is used for scanning the unmanned aerial vehicle 225, and the real-time position of the unmanned aerial vehicle 225 is calculated according to the returned point cloud. When the unmanned aerial vehicle 225 moves, the second rotary motor 82 and the second pitching motor 84 rotate at the same time to ensure that the point cloud center of the unmanned aerial vehicle 225 is always in the center of the field of view, so as to realize the following control.

[0075] Through the cooperation of various parts, the cooperative work of the inspection trolley and the unmanned aerial vehicle can be realized, so as to improve the detection efficiency and the detection precision, realize the intelligent detection inside the tunnel, and the inspection device can be automatically patrolled to reduce personnel intervention.

[0076] Finally, it should be pointed out that the above detailed description of the method and device is only an embodiment, and those skilled in the art can modify the embodiment in different ways without departing from the scope of the present application.

Claims

1. A storage and protection mechanism, characterized in that: include, Framework (1); The lifting component (2) includes a bottom assembly (21) mounted on the outside of the frame (1) and a top assembly (22) mounted on the outside of the bottom assembly (21); The opening and closing component (3) includes a main body assembly (31) mounted on the outside of the frame (1) and a power assembly (32) mounted on the outside of the main body assembly (31).

2. The storage and protection mechanism according to claim 1, characterized in that: The bottom assembly (21) includes a base plate (211) fixedly connected to the outside of the frame (1), a lifting motor (212) adapted to be installed on the outside of the base plate (211), a base (213) fixedly connected to the outside of the base plate (211), a lead screw (214) fixedly connected to the output shaft of the lifting motor (212), a first slider (215) slidably connected to the outside of the base (213), a nut (216) fixedly connected to the outside of the first slider (215), and a first hinge rod (217) hinged to the outside of the nut (216). The lead screw (214) is rotatably connected to the outside of the base (213), and the nut (216) is adapted to be installed with the lead screw (214).

3. The storage and protection mechanism according to claim 2, characterized in that: The top assembly (22) includes a top plate (221) hinged to the outside of the first hinge rod (217), a second slider (222) slidably connected to the outside of the top plate (221), a second hinge rod (223) hinged to the outside of the second slider (222), a tether box (224) fixedly connected to the outside of the top plate (221), a drone (225) disposed on the outside of the top plate (221), and a first lidar (226) adapted to be installed on the outside of the top plate (221). The second hinge rod (223) is hinged to the top plate (221) and the first hinge rod (217) respectively.

4. The storage and protection mechanism according to claim 3, characterized in that: The main component (31) includes a top cover (311) fixedly connected to the outside of the frame (1), a hatch (312) slidably connected to the outside of the top cover (311), and a connecting clip (313) fixedly connected to the outside of the hatch (312).

5. The storage and protection mechanism according to claim 4, characterized in that: The power assembly (32) includes a first mounting plate (321) fixedly connected to the outside of the top cover (311), an opening and closing motor (322) adapted to be installed on the outside of the first mounting plate (321), a first roller (323) fixedly connected to the output shaft of the opening and closing motor (322), a second mounting plate (324) fixedly connected to the outside of the top cover (311), a second roller (325) rotatably connected to the outside of the second mounting plate (324), and a synchronous belt (326) adapted to be installed on the outside of the first roller (323) and the second roller (325). The connecting clip (313) is clamped on the outside of the synchronous belt (326).

6. An inspection device, characterized in that: Including the storage and protection mechanism as described in any one of claims 4 or 5, further comprising, The box (4) is fixedly connected to the outside of the frame (1), the moving mechanism (5) is installed on the outside of the box (4), the front mechanism (6) is installed on the outside of the top cover (311), the detection mechanism (7) is installed on the outside of the box (4), and the tracking mechanism (8) is installed on the outside of the top cover (311). The detection mechanism (7) includes an adjustment component (71) installed on the outside of the housing (4) and an auxiliary component (72) installed on the outside of the adjustment component (71).

7. The inspection device according to claim 6, characterized in that: The moving mechanism (5) includes a chassis (51) fixedly connected to the outside of the housing (4) and a drive wheel (52) adapted to be installed on the outside of the chassis (51).

8. The inspection device according to claim 7, characterized in that: The front-mounted mechanism (6) includes a front-mounted mounting bracket (61) fixedly connected to the outside of the top cover (311), a first lighting source (62) adapted to be installed on the outside of the top cover (311), and a second lidar (63) adapted to be installed on the outside of the front-mounted mounting bracket (61).

9. The inspection device according to claim 8, characterized in that: The adjustment component (71) includes a long plate (711) fixedly connected to the outside of the housing (4), a first rotary motor (712) adapted to be installed on the outside of the long plate (711), a cylinder (713) fixedly connected to the outside of the long plate (711), a rotating frame (714) fixedly connected to the output shaft of the first rotary motor (712), a hinge frame (715) hinged to the outside of the rotating frame (714), and a first pitch motor (716) adapted to be installed on the outside of the rotating frame (714). The output shaft of the first pitch motor (716) is fixedly connected to the hinge frame (715), and the cylinder (713) is sleeved on the outside of the output shaft of the first rotary motor (712). The auxiliary component (72) includes a second lighting source (721), a third lidar (722), a camera (723), and an infrared camera (724) adapted to be installed on the outside of the hinge frame (715).

10. The inspection device according to claim 8 or 9, characterized in that: The tracking mechanism (8) includes an upright plate (81) fixedly connected to the outside of the top cover (311), a second rotary motor (82) adapted to be installed on the outside of the upright plate (81), a transition plate (83) fixedly connected to the output shaft of the second rotary motor (82), a second pitch motor (84) adapted to be installed on the outside of the transition plate (83), and a fourth lidar (85) fixedly connected to the output shaft of the second pitch motor (84).

Images