Bridge crack inspection unmanned aerial vehicle

Abstract

The utility model belongs to the technical field of bridge crack detection, and discloses a bridge crack inspection unmanned aerial vehicle which comprises an unmanned aerial vehicle body and a camera device, the unmanned aerial vehicle body is provided with an adjusting mechanism, the adjusting mechanism comprises a shell and a U-shaped adjusting plate, a worm rotationally connected with the shell is vertically arranged in the shell in a penetrating mode, and a first stepping motor is arranged on the outer side of the shell; the first stepping motor is in transmission connection with the worm, a rotating rod rotationally connected with the shell transversely penetrates into the shell, the two ends of the rotating rod penetrate out of the shell and are connected with parallel side plates on the two sides of the U-shaped adjusting plate, the rotating rod is provided with a worm wheel, the worm wheel is in meshing transmission with the worm, and a back plate of the U-shaped adjusting plate and the shell are spaced. Supporting plates are arranged on the two sides of the bottom of the shell and connected with the unmanned aerial vehicle body. Bridge pictures are shot through the camera device, advancing pictures are shot through the camera of the unmanned aerial vehicle body, and therefore flight safety is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to bridge crack detection technical field, especially relate to a bridge crack inspection unmanned plane. BACKGROUND

[0002] With the continuous development of unmanned plane technology, bridge crack detection has been upgraded from traditional manual contact detection to detection by using unmanned plane, and the inspection personnel operate the unmanned plane to fly to the bottom and side wall of the bridge, and use the camera of the unmanned plane to shoot the picture of the bridge, and observe the picture of the bridge in real time through the display screen of the remote controller of the unmanned plane, so as to inspect the bridge crack.

[0003] But the problems of shooting by using the self camera of the unmanned plane at least include:

[0004] The unmanned plane needs to move along the bottom or side of the bridge for shooting inspection, and the self camera of the unmanned plane needs to face the bridge during shooting, and the unmanned plane also needs to move, at this time, the picture of the moving direction of the unmanned plane cannot be shot, especially for the case that the staff cannot directly observe the position of the unmanned plane by standing under the bridge, the blind flight of the unmanned plane has certain flight safety hidden trouble, for example, collision, even leading to the unmanned plane out of control and falling, causing economic loss. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a bridge crack inspection unmanned plane, and aims at solving the technical problem of flight safety hidden trouble of blind flight of the unmanned plane during the inspection and shooting by using the unmanned plane.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the technical scheme of:

[0007] A bridge crack inspection unmanned plane, comprising an unmanned plane body and a camera device, the unmanned plane body is provided with an adjusting mechanism, the adjusting mechanism comprises a shell and a U-shaped adjusting plate, a worm is vertically arranged in the shell and rotationally connected with the shell, a first stepper motor is arranged on the outer side of the shell, the first stepper motor is in transmission connection with the worm, a rotating rod is transversely arranged in the shell and rotationally connected with the shell, the rotating rod is arranged on both sides of the shell, the two ends of the rotating rod are connected with the parallel side plates on both sides of the U-shaped adjusting plate, the rotating rod is provided with a worm wheel, the worm wheel is in meshing transmission with the worm, the back plate of the U-shaped adjusting plate is spaced from the shell, the camera device is arranged on the upper part of the back plate, support plates are arranged on both sides of the bottom of the shell, and the support plates are connected with the unmanned plane body.

[0008] Further, a turntable is arranged above the unmanned plane body, a rotating shaft is rotationally connected with the unmanned plane body at the bottom of the turntable, a second stepper motor is arranged at the bottom of the unmanned plane body, the output shaft of the second stepper motor is in transmission connection with the rotating shaft, the support plates are connected with the top surface of the turntable, and the shell is located in the center of the turntable.

[0009] Furthermore, it also includes a controller, which is connected to the first stepper motor, the second stepper motor and the camera device via signals. The controller has a display screen for displaying the images captured by the camera device.

[0010] The present invention has the following beneficial effects.

[0011] 1. This utility model sets up an adjustment mechanism and a camera mechanism on the upper part of the drone body. The camera mechanism is used to shoot the bridge, and the drone's own camera shoots the drone's movement, which fully ensures the drone's flight safety. In the adjustment mechanism, the first step motor is remotely controlled by the controller. The worm gear and worm wheel mesh and drive the U-shaped adjustment plate to move the camera device, thereby adjusting the shooting angle of the camera device. The controller has a display screen to display the shooting screen in real time.

[0012] 2. A turntable and a second stepper motor are installed on the drone body. The second stepper motor is remotely controlled by the controller. The turntable drives the shell to rotate, thereby driving the camera device to rotate horizontally. Especially when shooting the vertical side wall of a bridge, the camera is adjusted to face the vertical side wall of the bridge. The drone's own camera faces the direction of the drone's travel, that is, the length of the bridge, which helps to ensure flight safety and improves the convenience of detecting cracks in the side wall of the bridge. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural diagram of the bridge crack inspection drone of this utility model.

[0014] Figure 2 This is a side view structural diagram of the camera device, adjustment mechanism and drone body in this utility model.

[0015] Figure 3 yes Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0016] Figure 4 This is a schematic diagram of the structure of the UAV body with a turntable and a second stepper motor in this utility model.

[0017] In the diagram: 100, UAV body; 200, camera device; 300, adjustment mechanism; 310, U-shaped adjustment plate; 311, back plate; 312, side plate; 320, shell; 321, support plate; 322, rotating rod; 323, worm gear; 324, worm; 325, first stepper motor; 330, turntable; 331, rotating shaft; 332, second stepper motor. Detailed Implementation

[0018] Example 1

[0019] Reference Figures 1-3This utility model provides a bridge crack inspection drone, including a drone body 100, a camera device 200 and an adjustment mechanism 300. The camera device 200 is disposed on the adjustment mechanism 300, and the shooting angle of the camera device 200 is adjusted by the adjustment mechanism 300.

[0020] The adjustment mechanism 300 is located on the upper part of the UAV body 100. The adjustment mechanism 300 includes a U-shaped adjustment plate 310 and a housing 320 that are rotatably connected. Support plates 321 are provided on both sides of the bottom of the housing 320. The bottom of the support plates 321 is connected to the UAV body 100 by bolts or welding. The top of the housing 320 has an arched structure. A rotating rod 322 is inserted horizontally inside the housing 320. The two ends of the rotating rod 322 protrude from the two sides of the housing 320 respectively. The flat surfaces on both sides of the U-shaped adjustment plate 310... The side plate 312 is connected to both ends of the rotating rod 322. The camera device 200 is set on the upper part of the back plate 311 of the U-shaped adjustment plate 310. The rotating rod 322 inside the housing 320 is fitted with a worm gear 323. A worm 324 is vertically inserted inside the housing 320. The worm 324 meshes with the worm gear 323 for transmission. Both ends of the worm 324 are rotatably connected to the inner wall of the housing 320. A first stepper motor 325 is provided on the outer side of the bottom of the housing 320. The first stepper motor 325 is connected to one end of the worm 324 through a coupling.

[0021] In this embodiment, the first stepper motor 325 drives the worm gear 324 to rotate, and the worm gear 324 meshes with the worm wheel 323 to drive the rotating rod 322 to rotate, thereby driving the U-shaped adjustment plate 310 to rotate and adjust the shooting angle of the camera device 200.

[0022] The bridge crack inspection drone is also equipped with a controller with a display screen. The controller is connected to the camera device 200 and the first stepper motor 325. The images captured by the camera device 200 are displayed on the display screen. The controller controls the start and stop of the first stepper motor 325, which can realize remote control of the first stepper motor 325 and the camera device 200.

[0023] The controller has a 5.8GHz Wi-Fi receiving module for receiving images of the bridge captured by the camera device 200; a 2.4GHz radio frequency transmitting module for sending control commands to the first stepper motor 325; and an encryption unit that uses the AES-128 algorithm to encrypt the control commands. The controller communicates with the camera device 200 and the first stepper motor 325 via a dynamic frequency hopping protocol.

[0024] During the bridge crack inspection, the drone 100 is controlled by its own remote controller. When filming the bottom of the bridge, the back plate 311 of the U-shaped adjustment plate 310 can be rotated to the top of the arch of the shell 320, so that the camera 200 is facing upwards. The distance between the drone 100 and the bottom of the bridge is adjusted, and the drone 100's own camera is used to film the direction of the drone's movement. At the same time, the camera 200 is used to film the cracks at the bottom of the bridge, which facilitates the safe operation of the drone by the staff. The cracks at the bottom of the bridge are also inspected based on the images captured by the camera 200.

[0025] It should be noted that the first stepper motor 325 is powered by the drone body 100's own battery. The first stepper motor 325 can be a commercially available Nanotec SPM42CL3-01, paired with a TMC2209 driver (64 subdivisions).

[0026] Example 2

[0027] Reference Figure 4 Example 2 is a further improvement on Example 1, which enables the camera device 200 to rotate in the horizontal direction.

[0028] A turntable 330 is provided on the top of the drone body 100, and a rotating shaft 331 is provided at the bottom of the turntable 330. The rotating shaft 331 is rotatably connected to the drone body 100. A second stepper motor 332 is provided at the bottom of the drone body 100. The output shaft of the second stepper motor 332 is connected to the rotating shaft 331 for transmission. Support plates 321 on both sides of the bottom of the shell 320 are vertically arranged on the top of the turntable 330, so that the shell 320 is located in the center of the turntable 330.

[0029] In this embodiment, the second stepper motor 332 drives the turntable 330 to rotate in the horizontal direction, thereby adjusting the shooting direction of the camera device 200.

[0030] The controller is connected to the second stepper motor 332 via signal. The controller can remotely control the start and stop of the second stepper motor 332, thereby adjusting the shooting direction of the camera device 200.

[0031] During the inspection of the side walls of the bridge, firstly, the distance between the UAV 100 and the bridge is adjusted so that the orientation of the UAV's camera 200 is the same as the length of the bridge, facilitating UAV operation and ensuring flight safety. Next, the first stepper motor 325 is controlled to drive the back plate 311 of the U-shaped adjustment plate 310 to one side of the housing 320 via the worm gear 323 and worm 324, aligning the camera 200 with the UAV's camera. Then, the second stepper motor 332 drives the turntable 330 to rotate, which in turn rotates the camera 200 towards the bridge side walls via the housing 320 and the U-shaped adjustment plate 310. Finally, the UAV 100 is controlled to fly along the length of the bridge, capturing images of its direction of travel to ensure flight safety. The camera 200 captures images of the bridge side walls, which workers then use to inspect for cracks.

[0032] It should be noted that the second stepper motor 332 is powered by the drone body 100's own battery. The second stepper motor 332 can be a commercially available Sanyo Denki 103H5203-0440, paired with a DM542 driver (32 microsteps).

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bridge crack inspection drone, comprising a drone body (100) and a camera device (200), characterized in that, The UAV body (100) is provided with an adjustment mechanism (300), which includes a housing (320) and a U-shaped adjustment plate (310). A worm gear (324) is vertically inserted and rotatably connected to the housing (320). A first stepper motor (325) is provided on the outside of the housing (320). The first stepper motor (325) is drivenly connected to the worm gear (324). A rotating rod (322) is horizontally inserted and rotatably connected to the housing (320). Both ends of the rotating rod (322) protrude from the housing (310). 320), the two ends of the rotating rod (322) are connected to the parallel side plates (312) on both sides of the U-shaped adjustment plate (310). The rotating rod (322) is provided with a worm gear (323). The worm gear (323) meshes with the worm (324) for transmission. The back plate (311) of the U-shaped adjustment plate (310) is spaced apart from the housing (320). The camera device (200) is set on the upper part of the back plate (311). The bottom sides of the housing (320) are provided with support plates (321). The support plates (321) are connected to the UAV body (100).

2. The drone as described in claim 1, characterized in that, A turntable (330) is provided above the drone body (100). The bottom of the turntable (330) is provided with a rotating shaft (331) that is rotatably connected to the drone body (100). A second stepper motor (332) is provided at the bottom of the drone body (100). The output shaft of the second stepper motor (332) is connected to the rotating shaft (331) for transmission. The support plate (321) is connected to the top surface of the turntable (330). The housing (320) is located in the center of the turntable (330).

3. The drone as described in claim 2, characterized in that, It also includes a controller, which is connected to the first stepper motor (325), the second stepper motor (332) and the camera device (200) via signals. The controller has a display screen for displaying the images captured by the camera device (200).

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