Multi-source heterogeneous sensing buffer mechanism of complex airspace unmanned inspector

Abstract

The application relates to the technical field of unmanned aerial vehicle inspection equipment, and discloses a multi-source heterogeneous sensing buffer mechanism of a complex airspace unmanned inspection device, which comprises an unmanned inspection device body, a scanning mechanism, a buffer bearing frame and a connecting buffer mechanism. The unmanned inspection device body comprises a protective shell, an inspection assembly positioning plate and a multi-source sensing and control module integrated on the positioning plate. The scanning mechanism is installed at the lower center position of the unmanned inspection device body and is a core component for realizing airspace signal collection, comprising an inspection and collection camera and a universal shaft. The connecting buffer mechanism is connected between the unmanned inspection device body and the buffer bearing frame and comprises a top elastic cover body, a connecting base and a multi-stage buffer structure. The multi-stage buffer structure is sequentially arranged between the top elastic cover body and the connecting base and comprises, in sequence along the impact force conduction direction, an elastic rubber pad, a buffer elastic piece, a shaped energy absorption plate and a multi-stage elastic piece. The components cooperatively function to realize layered offset and decomposition of the impact force.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) inspection equipment technology, and in particular to a multi-source heterogeneous sensing buffer mechanism for unmanned aerial vehicle (UAV) inspection devices in complex airspace. Background Technology

[0002] With the widespread application of unmanned inspection technology in fields such as power, security, and surveying, the demand for inspection in complex airspaces (such as high-voltage transmission line airspace, mountainous airspace with complex terrain, and urban dense building airspace) is increasing. In complex airspace environments, unmanned inspection vehicles not only need to have accurate airspace signal acquisition capabilities, but also need to cope with problems such as ground impact during takeoff and landing, and vibrations caused by airflow disturbances during flight. Traditional unmanned inspection devices often use a single buffer structure (such as a simple spring or rubber pad), which has limited buffering and energy absorption effect and is easily damaged by impact or vibration. Internal sensing components (such as cameras and positioning modules) are also easily damaged. At the same time, the sensing components of some inspection devices have a fixed installation structure, which cannot flexibly adjust the acquisition angle, resulting in insufficient signal acquisition coverage and limited data accuracy in complex airspace.

[0003] To address the aforementioned issues, this invention proposes a multi-source heterogeneous sensing buffer mechanism for unmanned aerial vehicle (UAV) in complex airspace. By optimizing the installation and drive structure of the sensing components, the flexibility and comprehensiveness of airspace signal acquisition are improved. Simultaneously, a multi-level buffer structure is designed to efficiently offset and decompose impact forces, ensuring the stability and component safety of the UAV during complex airspace operations and takeoff and landing processes. Utility Model Content

[0004] To address the aforementioned issues, this application provides a multi-source heterogeneous sensing buffer mechanism for unmanned airspace inspection vehicles.

[0005] The multi-source heterogeneous sensing buffer mechanism for the complex airspace unmanned inspection device provided in this application adopts the following technical solution: A multi-source heterogeneous sensing buffer mechanism for a complex airspace unmanned inspection vehicle includes: an unmanned inspection vehicle body; a scanning mechanism installed at the center below the unmanned inspection vehicle body, the scanning mechanism including: an inspection and acquisition camera and a universal joint, the universal joint being drivenly connected to the inspection and acquisition camera to adjust the position of the inspection and acquisition camera for airspace signal acquisition; at least two buffer support frames symmetrically arranged along the vertical centerline of the unmanned inspection vehicle body; a connecting buffer mechanism connecting the unmanned inspection vehicle body and the buffer support frames; the connecting buffer mechanism including: a top elastic cover fixedly connected to the top of the unmanned inspection vehicle body; a connecting base fixedly connected to the bottom of the buffer support frame; and a multi-level buffer structure sequentially arranged between the top elastic cover and the connecting base.

[0006] Furthermore, the multi-level buffer structure includes: an elastic rubber pad embedded in the connecting base and adapted to its size; a buffer elastic element located above the elastic rubber pad and internally wrapped with a disc spring; a molded energy-absorbing plate whose lower surface abuts against the buffer elastic element; and a multi-level elastic element provided with at least two nested cylindrical helical springs and adjacent cylindrical helical springs with opposite suspension directions.

[0007] Furthermore, the top end of the multi-stage elastic element abuts against the inner wall of the top elastic cover, and the bottom end abuts against the upper surface of the connecting base.

[0008] Furthermore, the buffer elastic element is a disc spring assembly, which is composed of at least three disc springs stacked axially. The top end of the disc spring assembly abuts against the molded energy-absorbing plate, and the bottom end abuts against the upper surface of the connecting base.

[0009] Furthermore, the unmanned inspection device body includes: a protective shell forming the outer contour of the unmanned inspection device, and an inspection component positioning plate fixed inside the protective shell; the inspection component positioning plate integrates and installs a positioning module, a power supply module, a voltage testing module, a wireless transmission module, a display module, and a navigation control module.

[0010] Furthermore, the navigation control module is connected to the positioning module and the universal joint signal respectively, and is used to control the universal joint to adjust the position of the inspection and acquisition camera according to the positioning data.

[0011] In summary, this application includes the following beneficial technical effects: By using the universal joint of the scanning mechanism in conjunction with the inspection and acquisition camera, and combining the precise control of the navigation control module and the positioning module, multi-dimensional and blind-spot-free airspace signal acquisition can be achieved in complex airspace, meeting the perception needs of different inspection scenarios.

[0012] The multi-level buffer structure of the connecting buffer mechanism works together to offset and decompose the impact force during takeoff and landing in layers. Compared with the traditional single buffer structure, the impact energy absorption efficiency is improved, effectively ensuring the safety of the internal components of the unmanned inspection vehicle.

[0013] The multi-stage elastic components use nested springs with opposite rotation to counteract torsional torque and prevent skewing; the molded energy-absorbing plate is slidably connected to the inner wall of the top elastic cover to prevent lateral displacement and ensure that the equipment is structurally stable and does not misalign during impact. Attached Figure Description

[0014] Figure 1 This is a front view of the multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device of this utility model.

[0015] Figure 2This is a top view of the multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device of this utility model.

[0016] Figure 3 This is a schematic diagram of the multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device of this utility model.

[0017] Figure 4 This is a schematic diagram of the connection buffer mechanism of this utility model.

[0018] Explanation of reference numerals in the attached drawings: 1. Buffer support frame; 2. Unmanned inspection device body; 3. Scanning mechanism; 4. Power mechanism; 5. Connecting buffer mechanism; 11. Support frame; 12. Buffer pad; 21. Protective shell; 22. Inspection component positioning plate; 23. Positioning module; 24. Power module; 25. Voltage testing module; 26. Wireless transmission module; 27. Display module; 28. Navigation control module; 31. Inspection acquisition camera; 32. Universal joint; 51. Connecting base; 52. Top elastic cover; 53. Elastic rubber pad; 54. Buffer elastic element; 55. Molded energy-absorbing plate; 56. Multi-level elastic element. Detailed Implementation

[0019] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail. It is worth noting that multi-source heterogeneous sensing refers to the coordinated sensing of position, signal and status in complex airspace environments through multi-dimensional data acquisition by a positioning module (location information), a patrol acquisition camera (visible light and infrared signals), and a voltage testing module (equipment status information).

[0020] This application discloses a multi-source heterogeneous sensing buffer mechanism for a complex airspace unmanned inspection device. (Refer to...) Figure 1 It includes the unmanned inspection unit 2, scanning mechanism 3, buffer support frame 1 and connecting buffer mechanism 5; the power mechanism 4 is the flight wing.

[0021] The unmanned inspection unit 2 includes a protective shell 21, an inspection component positioning plate 22, and a multi-source sensing and control module integrated on the positioning plate. The protective shell 21 is made of lightweight, high-strength alloy material (aviation aluminum alloy), forming the external outline of the unmanned inspection unit. It can withstand the impact of airflow, dust, and minor collisions in complex airspace, providing physical protection for the internal components. The inspection component positioning plate 22 is a rigid plate made of insulating and flame-retardant material. It is fixed inside the protective shell 21 with bolts and serves as the mounting carrier for the positioning module 23, power module 24, voltage testing module 25, wireless transmission module 26, display module 27, and navigation control module 28, ensuring that the layout of each module is neat and the connection is stable. The multi-source module positioning module 23 adopts dual-mode positioning of Beidou and GPS to acquire the spatial position data of the unmanned inspection vehicle in real time, providing a basis for inspection path planning and collection angle adjustment; the power module 24 is a lithium battery pack, which is electrically connected to the positioning module 23, voltage test module 25, wireless transmission module 26, display module 27, navigation control module 28 and scanning mechanism 3 respectively, providing a continuous and stable power supply; the voltage test module 25 is connected in series with the power module 24 to monitor the output voltage of the power module 24 in real time. When the voltage is lower than the preset threshold, a low battery warning is sent to the ground terminal through the wireless transmission module 26; the wireless transmission module 26... Supporting 4G / 5G and Bluetooth dual-mode transmission, it can transmit positioning data and airspace signal data acquired by the inspection and acquisition camera 31 to the ground terminal, while simultaneously receiving control commands from the ground terminal; the display module 27 is a miniature OLED display screen integrated into the outer wall of the protective housing 21, which can display the device's working status (battery level, positioning information, acquisition mode) in real time; the navigation control module 28, as the core control unit, is connected to the positioning module 23 and the universal joint 32 respectively, and can automatically calculate the optimal acquisition angle of the inspection and acquisition camera 31 based on the position data acquired by the positioning module 23, and send drive commands to the universal joint 32 to achieve precise adjustment of the acquisition angle.

[0022] The scanning mechanism 3 is installed at the center below the unmanned inspection vehicle body 2 and is the core component for realizing airspace signal acquisition. It includes an inspection acquisition camera 31 and a universal joint 32. The inspection acquisition camera 31 adopts a high-definition industrial camera, supports visible light and infrared dual-mode shooting, and can acquire multi-source signals such as object contours and temperature fields in complex airspace to meet the needs of different inspection scenarios. The universal joint 32 is a precision electric universal joint, which is connected to the inspection acquisition camera 31 through a coupling. It can achieve 360° horizontal rotation and ±90° vertical pitch under the drive of the navigation control module 28, so as to flexibly adjust the acquisition position of the inspection acquisition camera 31 to ensure that there are no blind spots in airspace signal acquisition.

[0023] At least two buffer support frames 1 are symmetrically arranged along the vertical center line of the unmanned inspection device body 2 (preferably two, located on both sides below the unmanned inspection device body 2), used for support and initial buffering during equipment take-off and landing; made of carbon fiber composite material, which has both lightweight and high strength characteristics, can reduce the overall weight of the equipment, while bearing the impact load during take-off and landing; the top of the buffer support frame 1 is connected to the unmanned inspection device body 2 through the connecting buffer mechanism 5, and the bottom can be equipped with a buffer pad 12 (nitrile rubber pad) as needed to further improve the anti-slip and buffering effect during take-off and landing.

[0024] like Figure 4As shown, the connecting buffer mechanism 5 connects the unmanned inspection vehicle body 2 and the buffer support frame 1, and is a key structure for realizing multi-level buffer energy absorption. It includes a top elastic cover 52, a connecting base 51, and a multi-level buffer structure. The top elastic cover 52 is a hemispherical elastic shell (made of polyurethane elastic material), and its top end is fixedly connected to the bottom of the unmanned inspection vehicle body 2 by bolts. The interior forms a cavity to accommodate the multi-level buffer structure, which can deform to a certain extent when subjected to impact, thus initially offsetting the impact force. The connecting base 51 is a disc-shaped structure made of metal, and its bottom end is welded and fixed to the top end of the buffer support frame 1. A groove is opened at the top end for embedding the bottom component of the multi-level buffer structure. The multi-level buffer structure is arranged sequentially on the top elastic cover 52. Between the protective cover 52 and the connecting base 51, along the direction of impact force transmission, there are sequentially included an elastic rubber pad 53, a buffer elastic element 54, a molded energy-absorbing plate 55, and a multi-stage elastic element 56. The top of the buffer elastic element 54 (disc spring assembly) is in close contact with the lower surface of the molded energy-absorbing plate 55, and the upper surface of the molded energy-absorbing plate 55 is in close contact with the bottom of the multi-stage elastic element 56. When the impact force is transmitted to the buffer elastic element 54, the disc spring assembly transmits the force to the molded energy-absorbing plate 55 through axial compression, driving the molded energy-absorbing plate 55 to slide upward along the inner wall of the top elastic cover 52, thereby squeezing the multi-stage elastic element 52, realizing the continuous layered effect of elastic energy absorption, deformation energy absorption, and spring energy absorption, and avoiding the failure of a single component due to overload.

[0025] In the above embodiments, the further elastic rubber pad 53 is made of high-elasticity nitrile rubber and is embedded in the groove at the top of the connecting base 51. Its size is adapted to the groove, allowing it to undergo elastic deformation upon impact, absorbing some of the impact energy, while preventing wear caused by direct contact between metal components. The buffer elastic element 54 is a rubber pad with an internally wrapped disc spring, located above the elastic rubber pad 53. The rubber material provides cushioning and noise reduction, and the internal disc spring further enhances impact resistance, preventing excessive deformation of the elastic rubber pad 53. The molded energy-absorbing plate 55 is made of honeycomb aluminum alloy sheet, with its lower surface abutting against the buffer elastic element 54 and its upper surface abutting against the multi-stage elastic element 56. The honeycomb structure can undergo controllable deformation upon impact, through… The deformation absorbs a large amount of impact energy, and its edge slides (with clearance fit) with the inner wall of the top elastic cover 52, allowing it to slide up and down along the inner wall to ensure stability during the deformation process and prevent lateral displacement. The multi-stage elastic element 56 is provided with at least two nested cylindrical helical springs (preferably two stages), with the helix directions of adjacent cylindrical helical springs being opposite (one stage is right-handed, and the other is left-handed), which can effectively counteract the torsional torque generated when the spring is working and prevent the multi-stage elastic element 56 from tilting. The top end of the multi-stage elastic element 56 abuts against the inner wall of the top elastic cover 52, and the bottom end abuts against the upper surface of the connecting base 51. When subjected to impact, it can absorb energy through spring compression, and at the same time, in conjunction with the deformation of the plastic energy-absorbing plate 55, it can achieve the layered release of impact energy.

[0026] In actual use, when the unmanned inspection vehicle operates in complex airspace, the inspection and acquisition camera 31 of the scanning mechanism 3, under the coordinated action of the navigation control module 28 and the universal joint 32, can flexibly adjust the acquisition angle to achieve multi-dimensional, blind-spot-free acquisition of airspace signals. The acquired data is transmitted to the ground terminal in real time through the wireless transmission module 26. When the unmanned inspection vehicle takes off and lands, the buffer support frame 1 first contacts the ground, and the impact force is sequentially transmitted to the connecting base 51 of the connecting buffer mechanism 5, the multi-level buffer structure, and the top elastic cover 52. The connecting base 51 transmits the impact force to the elastic rubber pad 53, which undergoes elastic deformation and initially absorbs part of the impact energy. The remaining impact force is transmitted to the buffer elastic pad, which... The internal disc springs and rubber material work together to further absorb energy while preventing the impact force from being directly transmitted to the molded energy-absorbing plate 55. Under the action of the impact force, the molded energy-absorbing plate 55 undergoes controllable deformation of its honeycomb structure, absorbing a large amount of impact energy through deformation, while sliding along the inner wall of the top elastic cover 52 to ensure stable force. The multi-stage elastic element 56 is compressed under the action of the impact force, absorbing the remaining impact energy through the elastic potential energy of the spring, and the adjacent springs rotate in opposite directions to cancel the torsional torque, preventing structural tilting. The top elastic cover 52 finally transmits a small amount of remaining impact force to the unmanned inspection device body 2. At this time, the impact force has been greatly weakened by the multi-stage buffer structure, ensuring that the internal positioning module 23, power module 24 and other components are not damaged by the impact.

[0027] In the above embodiment, the protective shell 21 of the unmanned inspection device body 2 is made of 7075 aluminum alloy with a thickness of 3mm; the inspection component positioning plate 22 is made of epoxy resin board and is fixed to the inside of the protective shell 21 by M3 bolts; the positioning module 23 is a Beidou and GPS dual-mode module (model: UBLOX NEO-7M), the power module 24 is an 11.1V 5000mAh lithium battery pack, the voltage test module 25 is a voltage sensor (model: ACS712), the wireless transmission module 26 is a 4G module (model: EC20), the display module 27 is a 1.5-inch OLED screen, and the navigation control module 28 is an STM32F407 microcontroller; the inspection acquisition camera 31 of the scanning mechanism 3 is a high-definition infrared camera (model: FLIR Boson), and the universal joint 32 is an electric universal joint (model: DS3231), which is fixed to the inspection acquisition camera 31 by a coupling; The buffer support frame 1 is made of carbon fiber composite material, with a length of 200mm, a width of 50mm, and a thickness of 10mm; the top elastic cover 52 of the connecting buffer mechanism 5 is made of polyurethane elastic material, and the connecting base 51 is made of 6061 aluminum alloy; the disc spring inside the buffer elastic pad 54 is of model GB / T1972-2005; the honeycomb aperture of the molded energy-absorbing plate 55 is 5mm, and the thickness is 20mm; the multi-stage elastic element 56 is a two-stage nested cylindrical helical spring, with the first-stage spring specification being Φ30×Φ15×20 (right-handed) and the second-stage spring specification being Φ25×Φ10×20 (left-handed).

[0028] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other. Finally: 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, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0029] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-source heterogeneous sensing buffer mechanism for unmanned inspection vehicles in complex airspace, characterized in that, include: The unmanned inspection device body; The scanning mechanism is installed at the center below the body of the unmanned inspection device and includes an inspection and acquisition camera and a universal joint. The universal joint is connected to the inspection and acquisition camera for driving the inspection and acquisition camera to adjust its position for airspace signal acquisition. At least two buffer support frames are symmetrically arranged along the vertical center line of the unmanned inspection device body; A connecting buffer mechanism is connected between the unmanned inspection device body and the buffer support frame; The connecting buffer mechanism includes: a top elastic cover fixedly connected to the unmanned inspection device body at its top end; and a connecting base fixedly connected to the buffer support frame at its bottom end. A multi-level buffer structure is sequentially arranged between the top elastic cover and the connecting base.

2. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 1, characterized in that, The multi-level buffer structure includes: An elastic rubber pad is embedded in the connecting base and is adapted to its size; A buffer elastic element is located above the elastic rubber pad and internally encloses a disc spring; The lower surface of the molded energy-absorbing plate abuts against the buffer elastic element. The multi-stage elastic element is provided with at least two nested cylindrical helical springs, with the suspension directions of adjacent cylindrical helical springs being opposite.

3. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 2, characterized in that, The top end of the multi-stage elastic element abuts against the inner wall of the top elastic cover, and the bottom end abuts against the upper surface of the connecting base.

4. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 2, characterized in that, The shaped energy-absorbing plate is made of honeycomb aluminum alloy sheet, and the edge of the shaped energy-absorbing plate is slidably connected to the inner wall of the top elastic cover.

5. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 2, characterized in that, The buffer elastic element is a disc spring assembly, which is composed of at least three disc springs stacked axially. The top end of the disc spring assembly abuts against the plastic energy-absorbing plate, and the bottom end abuts against the upper surface of the connecting base.

6. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 1, characterized in that, The unmanned inspection device body includes: The protective shell forms the external outline of the drone inspection device; The inspection component positioning plate is fixed inside the protective housing; The inspection component positioning plate integrates a positioning module, a power supply module, a voltage testing module, a wireless transmission module, a display module, and a navigation control module.

7. The multi-source heterogeneous sensing buffer mechanism of the complex airspace unmanned inspection device according to claim 6, characterized in that, The navigation control module is connected to the positioning module and the universal joint signal respectively, and is used to control the universal joint to adjust the position of the inspection and acquisition camera according to the positioning data.

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