Bridge inspection unmanned aerial vehicle microwave radar mounting structure

Abstract

The utility model provides a kind of microwave radar mounting structure of bridge inspection unmanned aerial vehicle, it is related to unmanned aerial vehicle microwave radar installation technical field, the present application is in view of the problem that the surface non-planar of unmanned aerial vehicle causes poor microwave radar installation adhesion, uneven stress of bolt, by installing first frame and second frame again cooperation horizontal limiting assembly and elastic limiting assembly, microwave radar and the adhesion (arm surface is plane) of unmanned aerial vehicle frame body, stable connection are achieved, the clearance problem generated due to uneven installation surface is avoided, simultaneously make each connecting part stress more uniform, effectively prevent bolt wire slip, fracture and so on occur.

Description

Technical Field

[0001] This utility model relates to the field of microwave radar installation technology for unmanned aerial vehicles (UAVs), and more specifically, to a microwave radar installation structure for a bridge inspection UAV. Background Technology

[0002] Currently, quadcopter drones equipped with microwave radar are generally used for bridge inspections. In terms of inspection efficiency, they can quickly reach all parts of the bridge, including towering bridge towers, complex cable structures, and the hidden bridge base, overcoming the limitations of manual inspections which are difficult to reach or time-consuming, greatly shortening the inspection cycle and improving work efficiency. Regarding detection accuracy, microwave radar is unaffected by environmental factors such as light and weather, and can accurately perform a series of tasks, including cable tension testing, static load testing, dynamic load testing, and bridge health monitoring, even under adverse conditions such as rain, fog, and darkness. (Specifically, cable tension is tested using the frequency method based on the micro-vibration of the cables; static performance of the bridge is evaluated by continuously testing the deflection at measuring points during the static load test and extracting static deflection under different loading conditions; and the bridge...) Dynamic deflection time history curve analysis of multiple targets in dynamic load tests can extract the dynamic characteristics and dynamic response of bridge structures, thereby enabling the evaluation of bridge dynamic performance and dynamic response; by testing the dynamic deflection of bridge structures, the influence lines of bridge structures can be extracted, enabling rapid evaluation of the load-bearing capacity of bridge structures; by installing millimeter-wave radar on bridge structures, real-time online health monitoring of bridge structures can be carried out, etc.; by analyzing reflected waves, accurate location and degree information can be provided, providing a reliable basis for bridge maintenance; from a safety perspective, using drones equipped with microwave radar for inspection can keep personnel away from dangerous working environments such as high altitudes and water surfaces on bridges, reducing personal safety risks during inspections, and can continuously monitor the structural status of bridges under different working conditions, promptly detect potential hazards, and ensure the safe operation of bridges.

[0003] The following problems exist when installing drones and microwave radar: (1) Most of the drone surfaces are not flat. Direct installation by fixing bolts will make it difficult for the drone surface to fit completely with the microwave radar mounting surface, resulting in a large gap between the two during installation. At the same time, the non-flat mounting surface will cause uneven stress on the bolts during tightening. Some bolts will bear excessive pressure, which may lead to stripping, breakage, etc. (2) Currently, microwave radar is generally fixedly installed under the UAV to monitor the displacement changes of the entire bridge. Specifically, it monitors the displacement changes of the side spans when vehicles pass by. In addition, it can monitor the cable force changes of cable-stayed bridges and suspension bridges. However, when performing the monitoring of displacement changes of various cross sections of the bridge bottom and the in-depth analysis of local displacement changes, if the microwave radar is installed under the UAV, the bridge itself is likely to block the radar signal, which can easily lead to blind spots. This is not conducive to the inspection of displacement changes of various cross sections of the beam bottom. Microwave radar cannot be conveniently installed in different areas of the UAV as needed. In conclusion, the installation process of microwave radar on UAVs needs further optimization. Utility Model Content

[0004] The purpose of this invention is to solve the problems mentioned in the background art, and to propose a microwave radar installation structure for a bridge inspection drone.

[0005] The technical solution adopted by this utility model to solve its technical problem is: A microwave radar mounting structure for a bridge inspection drone includes a drone body and a microwave radar body. The drone body includes four arms and an I-beam. Two I-beams are symmetrically welded to the two sides of the machine arm, and threaded holes are symmetrically opened on the I-beams; The first frame and the second frame respectively have fitting parts that fit against the upper surface and the lower surface of the UAV body. Both the first frame and the second frame include horizontally symmetrically distributed fixing parts that fit against the surface of the I-beam. The fixing parts are provided with through holes that correspond one-to-one with the threaded holes, and corrosion-resistant bolts that mate with the threaded holes are installed in the through holes. The placement slots are respectively opened on the first frame and the second frame; The limiting groove is formed inside the placement groove and is connected to the placement groove; The elastic limiting component is set inside the limiting groove; The first frame / second frame and the microwave radar body are connected by a horizontal limiting component; The hemisphere is connected to the horizontal limiting component on the microwave radar body via a connecting roller, and the hemisphere moves along the placement groove and cooperates with the elastic limiting component.

[0006] Furthermore, the elastic limiting component includes a pull roller, a limiting rod, a spring, and a pull rod. Two pull rollers, which are horizontally positioned within two limiting grooves, slide in contact with the first frame and the second frame respectively, with one end of the pull rollers extending to the outside. The limiting rod is connected to one end of the pull roller and moves along the limiting groove. The limiting rod has an arc part that matches the hemisphere. A spring located in the limiting groove is sleeved on the pull roller, with one end of the spring connected to the inner wall of the limiting groove and the other end of the spring connected to the limiting rod. The pull rod is connected to the outer end of the pull roller.

[0007] Furthermore, the horizontal limiting component includes a rectangular frame and a rectangular block. Two rectangular frames are welded to the first frame and the second frame respectively, and the center of the rectangular frame and the center of the placement slot are on the same straight line; The microwave radar body is equipped with rectangular blocks that cooperate with the rectangular frame, and the hemisphere is connected to the center of the rectangular blocks through connecting rollers.

[0008] Furthermore, when the rectangular block is in contact with the surface of the first frame / second frame, the hemisphere just contacts the bottom of the placement slot.

[0009] Furthermore, a spring washer is added between the corrosion-resistant bolt and the fixing part.

[0010] Furthermore, both the first and second frames are made of carbon fiber.

[0011] Compared with the prior art, the beneficial effects of this utility model are: This application addresses the problem of poor fit and uneven bolt stress caused by the non-planar surface of the UAV. By installing a first frame and a second frame, along with a horizontal limiting component and an elastic limiting component, a close fit and stable connection between the microwave radar and the UAV frame (the arm surface is flat) is achieved. This avoids the gap problem caused by the uneven installation surface, and at the same time makes the stress on each connection part more even, effectively preventing bolt stripping, breakage and other situations. Furthermore, addressing the issue of fixed installation locations for microwave radar, which makes it difficult to flexibly adapt to the inspection of different parts of the bridge, this design allows for convenient installation of the microwave radar on a frame above or below the drone, depending on the inspection requirements. When detecting displacement changes across the entire bridge, displacement changes in the side spans when vehicles pass, and cable force changes in cable-stayed and suspension bridges, installation below allows for precise detection of these areas. When detecting displacement changes at various cross-sections of the bridge's underside and performing in-depth analysis of local displacement changes, installation above avoids the bridge structure's obstruction of the radar signal, eliminating blind spots and greatly improving the comprehensiveness and flexibility of inspecting different parts of the bridge. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of a threaded hole; Figure 3 This is a schematic diagram showing the installation and assembly of the microwave radar body and the first frame. Figure label: 1. UAV body; 101. Arm; 2. I-beam; 21. Threaded hole; 22. Corrosion-resistant bolt; 3. First frame; 31. Fixing part; 32. Fitting part; 33. Placement groove; 34. Limiting groove; 35. Pull-out roller; 36. Limiting rod; 361. Curved part; 37. Spring; 38. Pull rod; 39. Rectangular frame; 4. Microwave radar body; 41. Rectangular block; 42. Connecting roller; 43. Hemisphere. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. The present utility model will be further described with reference to the accompanying drawings and embodiments: like Figures 1 to 3 As shown, a microwave radar mounting structure for a bridge inspection drone includes a drone body 1 and a microwave radar body 4. The drone body 1 includes four arms 101 and an I-beam 2. Two I-beams 2 are symmetrically welded to the two sides of the machine arm 101, and threaded holes 21 are symmetrically opened on the I-beams 2; The first frame 3 and the second frame are respectively formed with fitting parts 32 that fit against the upper surface and the lower surface of the UAV body 1. The first frame 3 and the second frame (the second frame is not shown in the figure) both include horizontally symmetrically distributed fixing parts 31 that fit against the surface of the I-beam 2. The fixing parts 31 are provided with through holes that correspond one-to-one with the threaded holes 21 (the through holes are shown in the figure but are not numbered). Corrosion-resistant bolts 22 that mate with the threaded holes 21 are provided in the through holes. The placement slots 33 are respectively opened on the first frame 3 and the second frame; The limiting groove 34 is formed in the placement groove 33 and is connected to the placement groove 33; The elastic limiting component is disposed within the limiting groove 34; The first frame 3, the second frame, and the microwave radar body 4 are connected by a horizontal limiting component; The hemisphere 43 is connected to the horizontal limiting component on the microwave radar body 4 via the connecting roller 42, and the hemisphere 43 moves along the placement groove 33 and cooperates with the elastic limiting component.

[0014] Specific implementation of this utility model solution, such as Figure 1 and Figure 3As shown, the elastic limiting assembly includes a pull roller 35, a limiting rod 36, a spring 37, and a pull rod 38. Two pull rollers 35, which are horizontally positioned within the two limiting grooves 34, slide in cooperation with the first frame 3 and the second frame respectively, and one end of the pull rollers 35 extends to the outside. The limiting rod 36 is connected to one end of the pull roller 35 and moves along the limiting groove 34. An arc portion 361 that matches the hemisphere 43 is formed on the limiting rod 36. A spring 37 located in the limiting groove 34 is sleeved on the pull roller 35, and one end of the spring 37 is connected to the inner wall of the limiting groove 34, while the other end of the spring 37 is connected to the limiting rod 36. The pull rod 38 is connected to the outer end of the pull roller 35.

[0015] Specific implementation of this utility model solution, such as Figure 1 and Figure 3 As shown, the horizontal limiting component includes a rectangular frame 39 and a rectangular block 41. Two rectangular frames 39 are respectively welded to the first frame 3 and the second frame, and the center of the rectangular frame 39 and the center of the placement slot 33 are on the same straight line; The microwave radar body 4 is provided with a rectangular block 41 that cooperates with the rectangular frame 39. The hemisphere 43 is connected to the center of the rectangular block 41 through the connecting roller 42. Specifically, when the rectangular block 41 is in contact with the surface of the first frame 3 / second frame, the hemisphere 43 just contacts the bottom of the placement groove 33.

[0016] To reduce the probability of the corrosion-resistant bolts 22 loosening after the first frame 3 and the second frame are installed, the above embodiment is further optimized by adding a spring washer 37 between the corrosion-resistant bolts 22 and the fixing part 31. The spring washer 37 is not shown in the figure.

[0017] In order to extend the service life of the first frame 3 and the second frame, the above embodiment is further optimized by using carbon fiber material for both the first frame 3 and the second frame.

[0018] The working process of this utility model: First, the installation position of the microwave radar body 4 is selected according to the bridge inspection requirements: if it is necessary to detect the displacement changes of the entire bridge, the displacement changes of the side spans when vehicles pass, and the cable force changes of cable-stayed bridges and suspension bridges, the microwave radar body 4 is installed on the second frame below the UAV body 1; if it is necessary to detect the displacement changes of each section of the bridge bottom surface and to perform in-depth analysis of local displacement changes, the microwave radar body 4 is installed on the first frame 3 above the UAV body 1.

[0019] During installation, first align the rectangular block 41 with the rectangular frame 39 and insert it (the two sizes should be compatible). At this point, the hemisphere 43 will enter the placement groove 33 and contact the curved portion 361 on the limiting rod 36, thus pushing the limiting rod 36 inward along the limiting groove 34, compressing the spring 37. When the hemisphere 43 disengages from the limiting rod 36, the spring 37 returns to its original shape, and the hemisphere 43 contacts the bottom of the placement groove 33. Simultaneously, the limiting rod 36 moves outward, forming contact with the bottom plane of the hemisphere 43 (as per the instruction manual). Figure 3 As shown in the figure, this not only limits the vertical position of the microwave radar body 4, but also limits its horizontal position due to the presence of rectangular frame 39 and rectangular block 41, so that bridge inspection tasks can be carried out.

[0020] If the installation position of the microwave radar body 4 needs to be changed later, simply fly the drone to a position convenient for manual operation, then pull the lever 38 outward to compress the spring 37. Once the limiting lever 36 has fully moved into the limiting groove 34, the microwave radar body 4 can be removed for secondary repositioning. It is important to note that the center of gravity of the drone body 1 should be determined in advance to ensure that the installation of the microwave radar body 4 will not cause the center of gravity of the drone body 1 to shift, thereby ensuring that the stability of the subsequent drone flight inspection is not affected. Then, the microwave radar can be used to perform comprehensive automatic detection of parameters such as cable tension, deflection at measuring points, and bridge structure.

[0021] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The descriptions of the above embodiments and specifications are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A microwave radar mounting structure for a bridge inspection drone, comprising a drone body (1) and a microwave radar body (4), wherein the drone body (1) comprises four arms (101), characterized in that, It also includes I-beams (2). Two I-beams (2) are symmetrically welded to the machine arms (101) on both sides, and threaded holes (21) are symmetrically opened on the I-beams (2). The first frame (3) and the second frame have fitting parts (32) that fit against the upper surface of the UAV body (1) and the lower surface of the UAV body (1), respectively. Both the first frame (3) and the second frame include a fixing part (31) that is horizontally symmetrically distributed and fits against the surface of the I-beam (2). The fixing part (31) is provided with a through hole that corresponds to the threaded hole (21) and a corrosion-resistant bolt (22) that matches the threaded hole (21) is provided in the through hole. Placement slots (33) are respectively opened on the first frame (3) and the second frame; The limiting groove (34) is formed in the placement groove (33) and is connected to the placement groove (33); The elastic limiting component is disposed in the limiting groove (34); The first frame (3) / the second frame and the microwave radar body (4) are connected by a horizontal limiting component; The hemisphere (43) is connected to the horizontal limiting component on the microwave radar body (4) via the connecting roller (42), and the hemisphere (43) moves along the placement groove (33) and cooperates with the elastic limiting component.

2. The microwave radar mounting structure for a bridge inspection drone according to claim 1, characterized in that, The elastic limiting assembly includes a pull roller (35), a limiting rod (36), a spring (37), and a pull rod (38). Two pull rollers (35) that are horizontally positioned within two limiting grooves (34) slide in cooperation with the first frame (3) and the second frame respectively, and one end of the pull rollers (35) extends to the outside; The limiting rod (36) is connected to one end of the pull roller (35) and moves along the limiting groove (34). An arc portion (361) is formed on the limiting rod (36) to cooperate with the hemisphere (43). A spring (37) located in the limiting groove (34) is sleeved on the pull roller (35), and one end of the spring (37) is connected to the inner wall of the limiting groove (34), and the other end of the spring (37) is connected to the limiting rod (36). The pull rod (38) is connected to the outer end of the pull roller (35).

3. The microwave radar mounting structure for a bridge inspection drone according to claim 1, characterized in that, The horizontal limiting component includes a rectangular frame (39) and a rectangular block (41). Two rectangular frames (39) are welded to the first frame (3) and the second frame respectively, and the center of the rectangular frame (39) and the center of the placement slot (33) are on the same straight line; The microwave radar body (4) is provided with a rectangular block (41) that matches the rectangular frame (39), and the hemisphere (43) is connected to the center of the rectangular block (41) through the connecting roller (42).

4. The microwave radar mounting structure for a bridge inspection drone according to claim 3, characterized in that, When the rectangular block (41) is in contact with the surface of the first frame (3) / the second frame, the hemisphere (43) just contacts the bottom of the placement slot (33).

5. The microwave radar mounting structure for a bridge inspection drone according to claim 1, characterized in that, A spring washer is added between the corrosion-resistant bolt (22) and the fixing part (31).

6. The microwave radar mounting structure for a bridge inspection drone according to claim 1, characterized in that, Both the first frame (3) and the second frame are made of carbon fiber.

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