Unmanned aerial vehicle for acquiring defect graph of offshore wind turbine

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle for acquiring defect graphs of offshore wind turbines, which comprises an unmanned aerial vehicle body, a hanging bracket, a driving mechanism, a rotating shaft, a mounting seat, a camera and a limiting mechanism, the hanging bracket is fixed at the bottom of the unmanned aerial vehicle body, the driving mechanism is mounted on the hanging bracket, and the rotating shaft is rotatably connected with a hanging bracket plate; the axis of the rotating shaft extends in the first direction, the camera is provided with two opposite side faces in the first direction, the camera is detachably installed on the installation base, the limiting mechanism is installed on the installation base and abuts against the two side faces of the camera, the driving mechanism is in transmission connection with the rotating shaft, an installation groove is concavely formed in the periphery of the rotating shaft, and the installation base is detachably fixed in the installation groove. The driving mechanism can drive the rotating shaft to drive the mounting base and the camera to rotate around the axis of the rotating shaft. According to the unmanned aerial vehicle for acquiring the defect graph of the offshore wind turbine, the angle adjustment of the camera can be realized, the defect detection range of the offshore wind turbine is expanded, and the graph shooting and acquisition are facilitated.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV for collecting images of defects in offshore wind turbines. Background Technology

[0002] Unmanned aerial vehicles (UAVs), also known as drones, are unmanned aircraft controlled by radio remote control equipment and onboard program control devices. Drones are actually a general term for unmanned aerial vehicles. With the rapid development of technology and the opening up and popularization of civilian use of drones, they have been widely used in fields such as geological exploration, inspection, and video shooting. Drones mainly rely on mounting multispectral cameras to take real-time pictures of the external environment. The camera needs to be fixed in position by a matching drone bracket before it can take pictures. Therefore, a bracket needs to be installed on the drone to fix the position of the camera.

[0003] The prior art CN220221156U discloses a drone mounting device for offshore wind turbine inspection, including a drone body, a mounting frame, a camera, and a fixing mechanism. The mounting frame is fixedly connected to the bottom of the drone body, the camera is set inside the mounting frame, and connecting slots are opened on both sides of the camera. The fixing mechanism is set at the bottom of the mounting frame. The fixing mechanism includes a structural block, a movable plate, a spring, a connecting rod, a fixing plate, a connecting block, and a movable rod. The structural block is fixedly connected to both sides of the bottom of the mounting frame, and the movable plate is slidably connected inside the structural block.

[0004] Existing drone-mounted devices for offshore wind turbine inspection have limitations in practical use, such as the inability to adjust the camera angle, which hinders image acquisition. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a drone for collecting images of defects in offshore wind turbines, which can adjust the camera angle to facilitate the collection of images of defects in offshore wind turbines.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A drone for acquiring images of defects in offshore wind turbines is provided, comprising a drone body, a hanger, a drive mechanism, a rotating shaft, a mounting base, a camera, and a limiting mechanism. The hanger is fixed to the bottom of the drone body, the drive mechanism is mounted on the hanger, the rotating shaft is rotatably connected to the hanger, the axis of the rotating shaft extends along a first direction, the camera has two opposite sides along the first direction, the camera is detachably mounted on the mounting base, the limiting mechanism is mounted on the mounting base and abuts against the two sides of the camera, the drive mechanism is drively connected to the rotating shaft, the outer periphery of the rotating shaft is recessed with a mounting groove, the mounting base is detachably fixed in the mounting groove, and the drive mechanism can drive the rotating shaft to rotate the mounting base and the camera around the axis of the rotating shaft.

[0008] As a further solution for the UAV used for image acquisition of defects in offshore wind turbines, the mounting base is composed of a connecting plate and a mounting plate forming an L-shaped structure. The connecting plate is inserted into the mounting groove and locked with screws, and the camera is detachably mounted on the mounting plate.

[0009] As a further embodiment of the UAV for collecting images of defects in offshore wind turbines, the mounting groove extends through the shaft on both sides along the second direction, and the mounting groove is open on one side along the third direction. The bottom of the mounting groove is provided with a plurality of first threaded holes spaced apart along the first direction. The connecting plate is provided with connecting holes corresponding to the first threaded holes one by one. The screw passes through the connecting holes and screws into the first threaded holes to fix the mounting base and the shaft. The first direction, the second direction and the third direction are perpendicular to each other.

[0010] As a further embodiment of the UAV for image acquisition of offshore wind turbine defects, a locking component is also included. The mounting plate has a slot on the side facing the camera. The slot extends through the mounting plate at the end away from the connecting plate to form an opening. The camera includes a camera body and a snap-fit ​​protrusion. The snap-fit ​​protrusion protrudes from the bottom surface of the camera body and can be inserted into the slot through the opening to engage with the slot. The locking component is mounted on the mounting plate adjacent to the opening, and the locking component abuts against the end of the snap-fit ​​protrusion away from the connecting plate.

[0011] As a further embodiment of the UAV for image acquisition of offshore wind turbine defects, the locking component includes two abutment pins. The mounting plate has two second threaded holes on the side away from the connecting plate along the third direction. The second threaded holes are adjacent to the opening of the slot along the third direction. The pin of the abutment pin is screwed and fixed to the second threaded hole. The pin head of the abutment pin extends to the opening and abuts against the locking protrusion.

[0012] As a further solution for the UAV used for image acquisition of defects in offshore wind turbines, the limiting mechanism includes two sets of limiting parts, which are spaced apart on the mounting base along the first direction, and the two sets of limiting parts can abut against the two sides of the camera along the first direction.

[0013] As a further embodiment of the UAV for image acquisition of offshore wind turbine defects, each set of limiting parts includes a support plate, a T-screw, and a tightening nut. The support plate is fixed to the mounting plate, and the support plate has a third threaded hole extending through it along the first direction. The rod body of the T-screw is screwed into the third threaded hole, and the tightening nut is screwed into the rod body to abut against the side of the support plate facing the camera and the screw head of the T-screw abuts against the side of the camera.

[0014] As a further embodiment of the UAV for image acquisition of offshore wind turbine defects, the drive mechanism includes a motor and bearing housings. The hanger is an inverted U-shaped structure consisting of a top plate and two side plates. The top plate is connected to the bottom of the UAV body. The motor is fixed to the outside of one of the side plates along the first direction of the hanger. A bearing housing is installed on the inner side of each of the two side plates. One end of the rotating shaft along the first direction passes through one of the bearing housings and the side plate and is connected to the output shaft of the motor. The other end is connected to the other bearing housing.

[0015] As a further embodiment of the UAV for acquiring images of defects in offshore wind turbines, it also includes an encoder and a coupling. The encoder and the motor are respectively mounted on the outside of one of the side plates. The end of the shaft away from the motor passes through the bearing housing and the side plate and is connected to the encoder through the coupling.

[0016] As a further embodiment of the UAV for collecting images of defects in offshore wind turbines, the side plate is provided with a clearance groove through the first direction, the clearance groove extends to the bottom end of the side plate to form an opening, and the two ends of the rotating shaft along the first direction can be inserted into the clearance groove through the opening.

[0017] Beneficial effects: This utility model improves the ease of installation of the mounting base by opening a mounting groove on the rotating shaft and installing the mounting base in the mounting groove. The camera can be stably fixed on the mounting base by snap-fit ​​and limiting mechanism. When the drive mechanism drives the rotating shaft to rotate, it can drive the mounting base and camera to rotate together, thereby realizing the angle adjustment of the camera, improving the detection range of offshore wind turbine defects, and making it more conducive to the image capture and acquisition of offshore wind turbine defects. Attached Figure Description

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the structure of the UAV used for image acquisition of offshore wind turbine defects according to an embodiment of the present invention;

[0020] Figure 2 This is a structural schematic diagram of the UAV (excluding the UAV body, protective cover, and ventilation panel) used for image acquisition of defects in offshore wind turbines according to an embodiment of this utility model.

[0021] Figure 3 This is a schematic diagram of the assembly structure of the drive mechanism, hanger, and rotating shaft described in an embodiment of this utility model;

[0022] Figure 4 This is a schematic diagram of the assembly structure of the camera, mounting base, and limiting mechanism described in an embodiment of the present utility model.

[0023] In the picture:

[0024] 1. UAV body; 2. Hanger; 21. Top plate; 22. Side plate; 221. Clearance groove; 3. Drive mechanism; 31. Motor; 32. Bearing housing; 33. Encoder; 34. Motor frame; 35. Protective cover; 36. Ventilation plate; 4. Shaft; 41. Mounting groove; 42. First threaded hole; 5. Mounting base; 51. Connecting plate; 511. Connecting hole; 52. Mounting plate; 521. Slot; 522. Second threaded hole; 6. Camera; 61. Camera body; 62. Snap-fit ​​protrusion; 7. Abutment pin; 8. Limiting part; 81. Support plate; 82. T-screw; 821. Rod body; 822. Screw head; 83. Tightening nut. Detailed Implementation

[0025] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationships shown in the accompanying drawings. They are used solely for ease of description and simplification of operation, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are merely used for distinction in description and have no special meaning.

[0029] like Figures 1 to 4 As shown, the UAV for acquiring images of offshore wind turbine defects in this embodiment includes a UAV body 1, a hanger 2, a drive mechanism 3, a rotating shaft 4, a mounting base 5, a camera 6, and a limiting mechanism. The hanger 2 is fixed to the bottom of the UAV body 1. The drive mechanism 3 is mounted on the hanger 2. The rotating shaft 4 is rotatably connected to the hanger 2. The axis of the rotating shaft 4 extends along a first direction (X direction in the figure). The camera 6 has two opposing sides along the first direction. The limiting mechanism is mounted on the mounting base 5 and abuts against the two sides of the camera 6. The drive mechanism 3 is drively connected to the rotating shaft 4. A mounting groove 41 is recessed on the outer periphery of the rotating shaft 4. The mounting base 5 is detachably fixed in the mounting groove 41. The camera 6 is detachably mounted on the mounting base 5. The drive mechanism 3 can drive the rotating shaft 4 to rotate the mounting base 5 and the camera 6 around the axis of the rotating shaft 4.

[0030] In this embodiment, by opening a mounting groove 41 on the rotating shaft 4 and installing the mounting base 5 in the mounting groove 41, the installation convenience of the mounting base 5 can be improved. The camera 6 can be stably fixed on the mounting base 5 through snap-fit ​​and limiting mechanism. When the driving mechanism 3 drives the rotating shaft 4 to rotate, the camera 6 will not wobble relative to the mounting base 5. The driving mechanism 3 can drive the rotating shaft 4 to drive the mounting base 5 and the camera 6 to rotate together, thereby realizing the angle adjustment of the camera 6, improving the detection range of offshore wind turbine defects, and making it more conducive to the image capture and acquisition of offshore wind turbine defects.

[0031] Furthermore, the mounting base 5 includes a vertically connected connecting plate 51 and a mounting plate 52, i.e., the mounting base 5 has an L-shaped structure. The connecting plate 51 is inserted into the mounting groove 41 and locked with screws, and the camera 6 is detachably mounted on the mounting plate 52. The two sides of the connecting plate 51 along the first direction contact the two side walls of the mounting groove 41. The mounting groove 41 can provide positioning for the installation of the connecting plate 51. The connecting plate 51 is inserted into the mounting groove 41, and the connecting hole 511 on the connecting plate 51 is aligned with the first threaded hole 42 on the mounting groove 41. The screw is passed through the connecting hole 511 and screwed into the corresponding first threaded hole 42 to fix the mounting base 5 on the rotating shaft 4. When disassembling the camera 6, the mounting base 5 can be removed first, and then the camera 6 can be removed from the mounting base 5, which facilitates the disassembly, assembly, and replacement of the camera 6.

[0032] For example, such as Figure 3 and Figure 4 As shown, the mounting groove 41 extends through both sides of the rotating shaft 4 along the second direction (Z direction in the figure), and the mounting groove 41 is open on one side along the third direction (Y direction in the figure). The bottom of the mounting groove 41 is provided with a plurality of first threaded holes 42 spaced apart along the first direction. The connecting plate 51 is provided with connecting holes 511 corresponding to the first threaded holes 42. Screws pass through the connecting holes 511 and screw into the first threaded holes 42 to fix the mounting base 5 and the rotating shaft 4. The mounting groove 41 with this structure design is more convenient for the installation of the mounting base 5 and has high connection stability. The first direction, the second direction and the third direction are perpendicular to each other.

[0033] When the rotating shaft 4 rotates to other states, the second direction and the third direction will change accordingly. In this embodiment, the second direction and the third direction are as follows: Figure 1 The current state of the rotating shaft 4 of the UAV was used as the basis for collecting images of defects in offshore wind turbines.

[0034] The UAV for acquiring images of offshore wind turbine defects in this embodiment also includes a locking component. To improve the ease of installation of the camera 6, a slot 521 is provided on the side of the mounting plate 52 facing the camera 6. The slot 521 extends through the mounting plate 52 at one end away from the connecting plate 51 in a third direction to form an opening. The camera 6 includes a camera body 61 and a snap-fit ​​protrusion 62. The snap-fit ​​protrusion 62 protrudes from the bottom surface of the camera body 61. The snap-fit ​​protrusion 62 can be inserted into the slot 521 through the opening and snap-fit ​​with the slot 521. The locking component is installed on the mounting plate 52 adjacent to the opening. The locking component extends to the opening and abuts against the end of the snap-fit ​​protrusion 62 away from the connecting plate 51.

[0035] In this embodiment, the camera body 61 has a front and a back along a third direction. When the snap-fit ​​protrusion 62 is inserted into the slot 521 through the opening to achieve snap-fit, the back of the camera body 61 faces the connecting plate 51. The locking member is installed on the mounting plate 52 so that the locking member abuts against the end of the snap-fit ​​protrusion 62 away from the connecting plate 51, thereby limiting the camera 6 along the first direction.

[0036] For example, along the first direction, the length of the slot 521 is the same as the length of the snap-fit ​​protrusion 62. After the snap-fit ​​protrusion 62 snaps into the slot 521, the end of the snap-fit ​​protrusion 62 away from the connecting plate 51 is flush with the end face of the fixing plate.

[0037] like Figure 2 and Figure 4 As shown, the locking component includes two abutment pins 7. The mounting plate 52 has two second threaded holes 522 on the side away from the connecting plate 51 along the third direction. The second threaded holes 522 are adjacent to the opening of the slot 521 along the third direction. The pin of the abutment pin 7 is screwed and fixed to the second threaded hole 522. The pin head of the abutment pin 7 extends to the opening and abuts against the locking protrusion 62.

[0038] In this embodiment, after the pin of the abutment pin 7 is screwed and fixed to the second threaded hole 522, the pin head of the abutment pin 7 (T-shaped structure, the pin head diameter is larger than the pin rod) simultaneously abuts against the end of the snap-fit ​​protrusion 62 away from the connecting plate 51 in the first direction, thereby limiting the camera 6 in the first direction.

[0039] Specifically, in this embodiment, the snap-fit ​​protrusion 62 has an inverted T-shaped structure, and correspondingly, the slot 521 has an inverted T-shaped structure. Two second threaded holes 522 are symmetrically arranged on the side of the mounting plate 52 away from the connecting plate 51 along the first direction and adjacent to both sides of the slot 521 opening along the third direction. After the snap-fit ​​protrusion 62 is inserted into the slot 521 through the opening, the pin of the abutment pin 7 is screwed into the corresponding second threaded hole 522, causing the pin head of the abutment pin 7 (which has a T-shaped structure and a pin head larger than the pin rod) to abut against the end face of the snap-fit ​​protrusion 62 along the first direction, preventing the snap-fit ​​protrusion 62 from slipping out of the slot 521. Because there is an assembly gap between the snap-fit ​​protrusion 62 and the slot wall of the slot 521, the limiting mechanism can abut against both sides of the camera body 61 along the first direction to achieve limiting, preventing the camera body 61 from shaking due to the assembly gap and affecting image quality.

[0040] In this embodiment, there is a gap between the camera 6 and the connecting plate 51 to facilitate cable routing.

[0041] Furthermore, the limiting mechanism includes two sets of limiting parts 8, which are spaced apart on the mounting base 5 along the first direction. The two sets of limiting parts 8 can abut against the two sides of the camera 6 along the first direction, resulting in high installation stability of the camera 6.

[0042] like Figure 4 As shown, each set of limiting parts 8 includes a support plate 81, a T-shaped screw 82, and a tightening nut 83. The support plate 81 is fixed on the mounting plate 52. The support plate 81 has a third threaded hole through it along the first direction. The rod body 821 of the T-shaped screw 82 is screwed into the third threaded hole. The tightening nut 83 is screwed into the rod body 821 to abut against the side of the support plate 81 facing the camera 6 and the screw head 822 of the T-shaped screw 82 abuts against the side of the camera body 61.

[0043] The support plate 81 provides support for the installation of the T-screw 82. The support plate 81 is fixed on the mounting plate 52 and spaced apart from the side of the camera body 61. After the rod body 821 of the T-screw 82 is screwed to the preload nut 83, it passes through the third threaded hole from the side of the support plate 81 toward the camera body 61. Then the preload nut 83 is tightened until the screw head 822 of the T-screw 82 abuts against the side of the camera body 61, and the preload nut 83 abuts against the side of the support plate 81 toward the camera body 61. The two sets of limiting parts 8 work together to limit the camera 6 in the first direction.

[0044] In this embodiment, the snap-fit ​​protrusion 62 and the slot 521 cooperate with each other and are locked together by the locking member. Combined with the limiting function of the limiting mechanism, the camera 6 can be stably installed on the mounting base 5, avoiding the camera 6 from shaking and affecting the image quality when the drive mechanism 3 drives the rotating shaft 4 to rotate the mounting base 5 and the camera 6.

[0045] When disassembling or replacing camera 6, tighten the pre-tightening nut 83 in the reverse direction, then rotate the T-screw 82 to separate the screw head 822 from the side of camera body 61. Then, unscrew the abutment pin 7 to allow the locking protrusion 62 to slide out of the opening of the slot 521 until the two are separated. Disassembly and assembly are convenient. Since only the screw head 822 of the T-screw 82 abuts against camera body 61 and the abutment pin 7 abuts against locking protrusion 62, the entire disassembly process will not damage camera 6.

[0046] Furthermore, the drive mechanism 3 in this embodiment includes a motor 31 and a bearing seat 32. The hanger 2 is an inverted U-shaped structure composed of a top plate 21 and two side plates 22. The top plate 21 is connected to the bottom of the UAV body 1. The motor 31 is fixed on the outside of one side plate 22 along the first direction of the hanger 2. A bearing seat 32 is installed on the inside of each of the two side plates 22. One end of the rotating shaft 4 along the first direction passes through a bearing seat 32 and a side plate 22 and is connected to the output shaft of the motor 31. The other end is connected to another bearing seat 32.

[0047] By installing a bearing seat 32 on the inner side of each of the two side plates 22, and having the two ends of the rotating shaft 4 pass through a bearing seat 32 and rotate in cooperation with a side plate 22, the setting of the bearing seat 32 can improve the smoothness of the rotation of the rotating shaft 4 and reduce the energy consumption of the motor 31 when the motor 31 drives the rotating shaft 4 to rotate.

[0048] Furthermore, the drive mechanism 3 also includes an encoder 33 and a coupling (not shown in the figure). The encoder 33 and the motor 31 are respectively mounted on the outside of one of the side plates 22. The end of the rotating shaft 4 away from the motor 31 passes through the bearing housing 32 and the side plate 22 and is connected to the encoder 33 through the coupling. The encoder 33 is connected to the rotating shaft 4 through the coupling, which can synchronously detect the rotation angle of the rotating shaft 4 and feed the rotation angle detection data back to the controller. Combined with the controller, the rotation angle of the rotating shaft 4 is controlled, thereby realizing the angle adjustment of the camera 6.

[0049] To facilitate the assembly of the rotating shaft 4 and the bearing housing 32 onto the side plate 22, this embodiment provides a clearance groove 221 through the side plate 22 along the first direction. Figure 3 As shown, the clearance groove 221 extends to the bottom of the side plate 22 to form a notch, and the two ends of the rotating shaft 4 along the first direction can be inserted into the clearance groove 221 through the notch. When installing the rotating shaft 4 and the bearing seat 32, the rotating shaft 4 can be inserted into the clearance groove 221 through the notch, and move upward along the clearance groove 221 to the top of the clearance groove 221. After the position is adjusted, the bearing seat 32 is fixed to the inside of the side plate 22 by screws or other fasteners.

[0050] In this embodiment, the drive mechanism 3 also includes a motor frame 34, and the motor 31 is fixed on the side plate 22 through the motor frame 34.

[0051] Furthermore, such as Figure 1 and Figure 2 As shown, the drive mechanism 3 in this embodiment also includes a protective cover 35 and a ventilation plate 36. The protective cover 35 covers the outside of the motor 31 and is fixed on the side plate 22, providing impact protection for the motor 31 and improving the service life of the motor 31. The side of the protective cover 35 away from the side plate 22 along the first direction is a ventilation opening, and the ventilation plate 36 is installed at the ventilation opening to facilitate heat dissipation during the operation of the motor 31. The side of the protective cover 35 is provided with a cable mounting hole (not shown in the figure) to facilitate the passage of the cable connected to the motor 31.

[0052] The workflow of the UAV for collecting images of defects in offshore wind turbines in this embodiment is as follows: The UAV body 1 operates by means of an external controller (remote controller) and the camera 6 operates by means of the external controller (remote controller). The camera 6 moves as the UAV body 1 flies, so it can capture images of the defect locations of the offshore wind turbines that need to be collected and transmit the data back to the external information receiving terminal. The staff analyzes the defects by means of the returned information. Furthermore, by controlling the motor 31, the rotating shaft 4 can be rotated, which in turn can rotate the mounting base 5, which in turn can rotate the camera 6 to adjust the angle. When the rotating shaft 4 rotates, the encoder 33 detects the rotation angle and provides data feedback.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An unmanned aerial vehicle for offshore wind turbine defect pattern acquisition, characterized in that, The utility model provides an unmanned aerial vehicle, it includes unmanned aerial vehicle body, hanger, drive mechanism, pivot, mounting seat, camera and limiting mechanism, the hanger is fixed in the bottom of unmanned aerial vehicle body, drive mechanism is installed on the hanger, pivot is rotatably connected with the hanger, the axis of pivot extends along the first direction, camera has two opposite side surfaces along the first direction, camera is detachably installed on mounting seat, limiting mechanism is installed on mounting seat and is in abutment with the two side surfaces of camera, drive mechanism is drivingly connected with pivot, the outer periphery of pivot is recessed with an installation groove, mounting seat is detachably fixed in the installation groove, drive mechanism can drive pivot to drive mounting seat and camera rotate around the axis of pivot.

2. Offshore wind turbine defect graphic acquisition drone according to claim 1, characterized in that, The mounting seat is connected by connecting plate and mounting plate to form L-shaped structure, the connecting plate is inserted into the installation groove and locked by screw, the camera is detachably installed on the mounting plate.

3. Offshore wind turbine defect graphic acquisition drone according to claim 2, characterized in that, The installation groove penetrates the pivot along the two sides of the second direction, and the installation groove is open along one side of the third direction, the groove bottom of the installation groove is spaced apart along the first direction and provided with a plurality of first threaded holes, the connecting plate is provided with a connecting hole corresponding to the first threaded hole, the screw is screwed through the connecting hole and the first threaded hole to fix the mounting seat and the pivot, the first direction, the second direction and the third direction are perpendicular to each other.

4. Offshore wind turbine defect graphic acquisition drone according to claim 3, characterized in that, It also includes a locking member, the mounting plate is provided with a clamping groove on the side facing the camera, the clamping groove penetrates the mounting plate to form an opening away from the connecting plate along the third direction, the camera includes a camera body and a clamping protrusion, the clamping protrusion is protruded from the bottom surface of the camera body, the clamping protrusion can be inserted into the clamping groove through the opening and clamped with the clamping groove, the locking member is installed on the mounting plate adjacent to the opening, the locking member extends to the opening and abuts against the end of the clamping protrusion away from the connecting plate.

5. Offshore wind turbine defect graphic acquisition drone according to claim 4, characterized in that, The locking member includes two abutting pins, the mounting plate is provided with two second threaded holes on the side away from the connecting plate along the third direction, the second threaded holes are adjacent to the opening of the clamping groove along the third direction, the pin of the abutting pin is screwed and fixed with the second threaded hole, the head of the abutting pin extends to the opening and abuts against the clamping protrusion.

6. The offshore wind turbine defect graphic acquisition drone of claim 2, wherein, The limiting mechanism includes two groups of limiting parts, the two groups of limiting parts are spaced apart on the mounting seat along the first direction, and the two groups of limiting parts can abut against the two side surfaces of the camera along the first direction.

7. Offshore wind turbine defect graphic acquisition drone according to claim 6, characterized in that, Each group of limiting parts includes a support plate, a T-shaped screw and a locking nut, the support plate is fixed on the mounting plate, the support plate is provided with a third threaded hole penetrating along the first direction, the rod body of the T-shaped screw is screwed with the third threaded hole, and the locking nut is screwed with the rod body to abut against the side of the camera facing the camera and the side surface of the camera.

8. Offshore wind turbine defect graphic acquisition drone according to any of claims 1 to 7, characterized in that, The driving mechanism comprises a motor and a bearing seat, the hanger is a reverse U-shaped structure composed of a top plate and two side plates, the top plate is connected with the bottom of the UAV body, the motor is fixed outside one of the side plates along the first direction, one bearing seat is installed on the inner side of each of the two side plates, one end of the rotating shaft along the first direction penetrates through one bearing seat and the side plate and is connected with the output shaft of the motor, and the other end is connected with the other bearing seat.

9. Offshore wind turbine defect graphic acquisition drone according to claim 8, characterized in that, An encoder and a shaft coupling are further included, the encoder and the motor are installed outside one of the side plates respectively, one end of the rotating shaft away from the motor penetrates through the bearing seat and the side plate and is connected with the encoder through the shaft coupling.

10. The offshore wind turbine defect graphic acquisition drone of claim 8, wherein, The side plate is provided with a avoiding slot along the first direction, the avoiding slot extends to the bottom end of the side plate to form an opening, and both ends of the rotating shaft along the first direction can be inserted into the avoiding slot through the opening.

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