An unmanned aerial vehicle road and bridge crack inspection device

Abstract

The utility model provides a kind of unmanned aerial vehicle road bridge crack inspection device, including unmanned aerial vehicle body, the walking mechanism of several settings in unmanned aerial vehicle body below, walking mechanism includes the connecting frame of setting in the bottom surface of unmanned aerial vehicle body, the connecting rod of setting on connecting frame, the walking unit of setting in the lower end of connecting rod, walking unit includes the shell with inner chamber, rotating shaft is horizontally worn on shell, rotating shaft is provided with gyro wheel on both ends, driving assembly for driving rotating shaft rotation is provided on shell. For the limitation that traditional bridge detection unmanned aerial vehicle can only aerial operation, cannot realize bridge deck close-range monitoring, this unmanned aerial vehicle road bridge crack inspection device is let unmanned aerial vehicle stablely adhere bridge deck to complete mobile operation by setting walking mechanism, need not keep aerial safety height, can be directly close to bridge deck pavement layer, expansion joint and other key parts, accurately capture subtle crack, surface loose and other aerial imaging difficult to identify close-range detection defects.

Description

Technical Field

[0001] This utility model relates to the technical field of bridge crack inspection devices, and in particular to a drone-based road and bridge crack inspection device. Background Technology

[0002] As a core component of transportation infrastructure, the structural safety of roads and bridges directly affects traffic safety and service life. Currently, the inspection of cracks in roads and bridges mainly relies on two types of equipment: one is inspection drones, which fly and photograph high-altitude areas such as the bottom and sides of the bridge, but cannot move close to the bridge surface, resulting in insufficient accuracy in identifying minute cracks; the other is ground inspection robots, which can walk on the bridge surface and inspect at close range, but are limited by terrain (such as bridge expansion joints and guardrails), cannot cross obstacles, and cannot cover high-altitude areas such as the bottom and sides of the bridge.

[0003] A Chinese patent with authorization announcement number CN212243827U discloses a drone for imaging and detecting cracks on the underside of bridges. The drone includes a camera and an electrical control box. The electrical control box contains a signal receiver, a central processing unit (CPU), and a wireless transmitter. The camera's output is electrically connected to the signal receiver's input, the CPU's output to the CPU's input, the CPU's output to the wireless transmitter's input, and the wireless transmitter's output to a display terminal. The drone acquires images via the camera, transmits the acquired images to the CPU for processing via the signal receiver, and then transmits the processed images to the display terminal via the wireless transmitter. This imaging detection replaces manual observation and inspection, improving work efficiency and convenience.

[0004] The existing technical solutions mentioned above have the following drawbacks: Although the bridge bottom surface crack imaging detection drone can flexibly shuttle through the complex space under the bridge and complete the high-definition image acquisition and crack imaging detection of the bridge bottom surface through aerial flight attitude, it has obvious functional limitations. When flying in the air, the drone needs to maintain a safe height with the bridge surface to avoid collision. This fixed distance will cause the imaging to fail to capture micro-defects such as fine cracks on the bridge surface and loose pavement layers. Utility Model Content

[0005] The present invention aims to address the aforementioned shortcomings in the existing technology by providing a drone-based road and bridge crack inspection device, which solves the problem of lacking close-range detection capabilities in the existing technology.

[0006] The above-mentioned utility model objective is achieved through the following technical solution: a drone road and bridge crack inspection device, comprising a drone body and several walking mechanisms disposed below the drone body. The walking mechanism includes a connecting frame disposed on the bottom surface of the drone body, several connecting rods disposed on the connecting frame, and a walking unit disposed at the lower end of the connecting rods. The walking unit includes a shell with an inner cavity, a rotating shaft horizontally passing through the shell, rollers disposed at both ends of the rotating shaft, and a driving component for driving the rotating shaft to rotate disposed on the shell.

[0007] The present invention is further configured such that: a plurality of inner retaining springs are sleeved on the rotating shaft by means of slotting, and the inner retaining springs abut against the outer side wall of the outer shell.

[0008] The present invention is further configured such that: a wheel mounting shaft is coaxially provided at the end of the rotating shaft, the wheel mounting shaft is a polygonal shaft, the roller is provided with a wheel mounting hole for insertion into the wheel mounting shaft, and an external retaining spring is sleeved on the wheel mounting shaft to hold the roller in place by means of a slot.

[0009] The present invention is further configured such that: the driving component includes a self-locking motor, the self-locking motor is disposed on the top surface of the housing, the output shaft of the self-locking motor extends through the housing into the inner cavity and is coaxially disposed with a driving gear, and a driven gear meshing with the driving gear is coaxially disposed on the rotating shaft.

[0010] The present invention is further configured such that: a hollow upper ring is provided on the top cavity wall of the inner cavity, and an upper bearing fitted on the output shaft of the self-locking motor is inserted into the upper ring; a hollow side ring is provided on the side cavity wall of the inner cavity, and a side bearing fitted on the rotating shaft is inserted into the side ring.

[0011] The present invention is further configured such that: a fixed frame is provided on the front end of the drone body, a fixed cylinder is provided at the end of the fixed frame away from the drone body, a drive shaft is horizontally inserted through the fixed cylinder, a drive motor for driving the drive shaft to rotate is provided on the fixed cylinder, and a camera is provided at the end of the drive shaft away from the drive motor.

[0012] The present invention is further configured such that: a plurality of bearing grooves are provided inside the fixed cylinder, and a stabilizing bearing fitted on the drive shaft is interference-fitted into the bearing groove.

[0013] The present invention is further configured such that: the drive shaft is fitted with a right retaining spring that abuts against the right-side stabilizing bearing through a slot; the fixed cylinder has a plurality of ball grooves on its end face away from the drive motor, and steel balls are rolled in each of the ball grooves; the drive shaft is provided with a left retaining plate, and a ball track is provided on the end face of the left retaining plate facing the fixed cylinder; a plurality of steel balls are embedded in the ball track and form a rolling friction pair with the ball track.

[0014] The present invention is further configured such that: a spline hole is provided on the end face of the drive shaft, and the output shaft of the drive motor is splinedly connected to the drive shaft through the spline hole.

[0015] The present invention is further configured such that: the drive shaft extends out of the fixed cylinder and has an external thread on its axial surface, and the camera has a threaded hole that is threadedly connected to the drive shaft.

[0016] In summary, the beneficial technical effects of this utility model are as follows: (1) In view of the limitations of traditional bridge inspection drones that can only operate in the air and cannot achieve close-range monitoring of the bridge surface, this drone road bridge crack inspection device is equipped with a walking mechanism, which allows the drone to stably fit the bridge surface to complete the mobile operation without maintaining a safe height in the air. It can directly approach key parts such as the bridge surface pavement layer and expansion joints, and accurately capture close-range inspection defects such as minute cracks and loose surface that are difficult to identify in aerial imaging. (2) The UAV imaging device for multi-dimensional monitoring of this bridge can accurately capture bridge cracks by rotating and adjusting the camera's downward angle during aerial inspection; and can finely adjust the camera's upward or horizontal angle during bridge deck inspection to focus on close-range detection defects in key areas such as bridge deck expansion joints and drainage outlets. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the UAV road and bridge crack inspection device of this utility model; Figure 2 This is a schematic diagram of the walking mechanism in this utility model; Figure 3 This is a schematic diagram of the walking unit in this utility model; Figure 4 This is an exploded structural diagram of the walking unit in this utility model; Figure 5 This is an exploded structural diagram of the fixing frame, fixing cylinder and camera in this utility model; Figure 6 This is a cross-sectional view of the fixed cylinder in this utility model.

[0018] In the above attached figures: 1. UAV body; 2. Walking mechanism; 3. Connecting frame; 4. Connecting rod; 5. Walking unit; 6. Outer shell; 7. Inner cavity; 8. Rotating shaft; 9. Inner retaining ring; 10. Wheel mounting shaft; 11. Roller; 12. Wheel mounting hole; 13. Outer retaining ring; 14. Self-locking motor; 15. Driving gear; 16. Driven gear; 17. Upper ring; 18. Upper bearing; 19. Side ring; 20. Side bearing; 21. Fixing frame; 22. Fixing cylinder; 23. Drive shaft; 24. Bearing groove; 25. Stabilizing bearing; 26. Spline hole; 27. Drive motor; 28. Right retaining ring; 29. ​​Left retaining plate; 30. Ball groove; 31. Steel ball; 32. Ball track; 33. Camera; 34. Threaded hole. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this utility model clearer and easier to understand, the present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0020] like Figure 1 As shown, this utility model proposes a drone road and bridge crack inspection device, including a drone body 1, and a pair of walking mechanisms 2 are provided on the bottom surface of the drone body 1.

[0021] like Figure 1 and 2 As shown, the walking mechanism 2 includes a connecting frame 3, a connecting rod 4, and a walking unit 5. The connecting frame 3 is screwed to the bottom surface of the UAV body 1. In this embodiment, there are two connecting rods 4. The upper end of the connecting rod 4 is fixedly connected to the connecting frame 3, and the lower end of the connecting rod 4 is provided with the walking unit 5.

[0022] like Figure 3 and 4 As shown, the walking unit 5 includes a housing 6 with an inner cavity 7. The opening of the inner cavity 7 faces downward. A rotating shaft 8 is horizontally inserted through the housing 6. Two inner retaining springs 9 are sleeved on the rotating shaft 8 by means of slots. The inner retaining springs 9 abut against the outer side wall of the housing 6 and play the role of restricting the axial movement of the rotating shaft 8.

[0023] like Figure 3 and 4 As shown, both ends of the rotating shaft 8 are coaxially fixed with mounting shafts 10. The mounting shafts 10 are polygonal shafts; in this embodiment, they are regular hexagonal shafts. Rollers 11 are provided at both ends of the rotating shaft 8. Each roller 11 has a mounting hole 12 for insertion into the mounting shaft 10. The mounting hole 12 is a polygonal hole; in this embodiment, it is a regular hexagonal hole. An external retaining spring 13 is fitted onto the mounting shaft 10 through a slot. The external retaining spring 13 abuts against the side wall of the roller 11 away from the rotating shaft 8, and serves to prevent the roller 11 from separating from the mounting shaft 10.

[0024] like Figure 3 As shown, the outer casing 6 is provided with a drive assembly for driving the rotating shaft 8 to rotate. The drive assembly includes a self-locking motor 14, a driving gear 15, and a driven gear 16. The self-locking motor 14 is fixedly installed on the top surface of the outer casing 6. The output shaft of the self-locking motor 14 passes through the outer casing 6 and extends into the inner cavity 7. After the output shaft of the self-locking motor 14 extends into the inner cavity 7, it is coaxially connected to the driving gear 15 by a key connection. The driven gear 16 is coaxially set on the rotating shaft 8 by a key connection. The driven gear 16 meshes with the driving gear 15. Both the driving gear 15 and the driven gear 16 are bevel gears.

[0025] like Figure 3 As shown, a hollow upper ring 17 is fixedly connected to the top wall of the inner cavity 7. An upper bearing 18 is interference-fitted inside the upper ring 17 and is mounted on the output shaft of the self-locking motor 14. Hollow side rings 19 are fixedly connected to the two opposite side walls of the inner cavity 7. Side bearings 20 are interference-fitted inside the side rings 19 and are mounted on the rotating shaft 8.

[0026] In this embodiment, the detailed working process of the walking mechanism 2 is as follows: the self-locking motor 14 drives the driving gear 15 to rotate. Since the driven gear 16 meshes with the driving gear 15, the driven gear 16 and the rotating shaft 8 coaxial with the driven gear 16 rotate accordingly, thereby driving the rollers 11 installed at both ends of the rotating shaft 8 to rotate.

[0027] Addressing the limitations of traditional bridge inspection drones, which can only operate in the air and cannot perform close-range monitoring of bridge surfaces, this drone-based road and bridge crack inspection device incorporates a walking mechanism 2. This allows the drone to stably adhere to the bridge surface to complete mobile operations without maintaining a safe altitude. It can directly approach key areas such as the bridge pavement layer and expansion joints, accurately capturing close-range defects that are difficult to detect in aerial imaging, such as minute cracks and loose surfaces.

[0028] like Figure 5 and 6 As shown, a mounting bracket 21 is screwed to the front end of the UAV body 1. A cylindrical mounting tube 22 is fixedly connected to the end of the mounting bracket 21 away from the UAV body 1. A drive shaft 23 is horizontally inserted through the center of the mounting tube 22. Bearing grooves 24 are formed on both the left and right ends of the mounting tube 22. A stabilizing bearing 25 is interference-fitted into the bearing groove 24. The two stabilizing bearings 25 are fitted onto the drive shaft 23 and support the rotation of the drive shaft 23. A spline hole 26 is formed on the end face of the drive shaft 23. A drive motor 27 is screwed to the end face of the mounting tube 22. The output shaft of the drive motor 27 is a splined shaft, and the output shaft of the drive motor 27 is splinedly connected to the drive shaft 23 through the spline hole 26.

[0029] like Figure 5and 6 As shown, the drive shaft 23 is fitted with a right retaining spring 28 through a slot, which abuts against the right-side stabilizing bearing 25. A left retaining plate 29 is fixedly connected to the drive shaft 23, and the left retaining plate 29 cooperates with the right retaining spring 28 to limit the axial runout of the drive shaft 23. Several ball grooves 30 are equidistantly circumferentially formed on the end face of the fixed cylinder 22 facing away from the drive motor 27. The cross-section of each ball groove 30 is semi-circular, and a steel ball 31 is rolled in each ball groove 30. An annular ball track 32 is formed on the end face of the left retaining plate 29 facing the fixed cylinder 22. The cross-section of the ball track 32 is semi-circular, and several steel balls 31 are embedded in the ball track 32, forming a rolling friction pair with the ball track 32. Therefore, there is rolling friction between the left retaining plate 29 and the fixed cylinder 22.

[0030] like Figure 5 and 6 As shown, the drive shaft 23 has an external thread on its axial surface extending out of the fixed cylinder 22. A camera 33 is provided at the end of the drive shaft 23 away from the drive motor 27. The camera 33 has a threaded hole 34 that is threadedly connected to the drive shaft 23, so the camera 33 can rotate with the drive shaft 23.

[0031] When the UAV imaging device for multi-dimensional monitoring of this bridge is working, the drive motor 27 drives the drive shaft 23 connected to it by a spline to rotate. Since the camera 33 is directly mounted on the drive shaft 23, the camera 33 will rotate around the central axis of the drive shaft 23, thereby achieving the purpose of adjusting the shooting angle of the camera 33.

[0032] This multi-dimensional monitoring drone imaging device for bridges can accurately capture bridge cracks by rotating and adjusting the camera's 33-degree downward angle during aerial inspections; when inspecting on the bridge deck, it can fine-tune the camera's 33-degree upward or horizontal angle to focus on close-range detection defects in key areas such as bridge expansion joints and drainage outlets.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A drone-based road and bridge crack inspection device, characterized in that: The device includes a drone body (1) and several walking mechanisms (2) located below the drone body (1). The walking mechanism (2) includes a connecting frame (3) located on the bottom surface of the drone body (1), several connecting rods (4) located on the connecting frame (3), and a walking unit (5) located at the lower end of the connecting rods (4). The walking unit (5) includes a shell (6) with an inner cavity (7). A rotating shaft (8) is horizontally inserted through the shell (6). Rollers (11) are provided at both ends of the rotating shaft (8). A drive assembly for driving the rotating shaft (8) to rotate is provided on the shell (6).

2. The UAV road and bridge crack inspection device according to claim 1, characterized in that: The rotating shaft (8) is fitted with several inner retaining springs (9) through a slotted manner, and the inner retaining springs (9) abut against the outer side wall of the outer shell (6).

3. The UAV road and bridge crack inspection device according to claim 1, characterized in that: The end of the rotating shaft (8) is coaxially provided with a wheel mounting shaft (10). The wheel mounting shaft (10) is a polygonal shaft. The roller (11) is provided with a wheel mounting hole (12) that is inserted into the wheel mounting shaft (10). The wheel mounting shaft (10) is provided with an external retaining spring (13) that holds the roller (11) by means of a slot.

4. The UAV road and bridge crack inspection device according to claim 1, characterized in that: The drive assembly includes a self-locking motor (14), which is located on the top surface of the housing (6). The output shaft of the self-locking motor (14) extends through the housing (6) into the inner cavity (7) and is coaxially mounted with a drive gear (15). A driven gear (16) that meshes with the drive gear (15) is coaxially mounted on the rotating shaft (8).

5. The UAV road and bridge crack inspection device according to claim 4, characterized in that: A hollow upper ring (17) is provided on the top cavity wall of the inner cavity (7). An upper bearing (18) fitted on the output shaft of the self-locking motor (14) is interference-fitted inside the upper ring (17). A hollow side ring (19) is provided on the side cavity wall of the inner cavity (7). A side bearing (20) fitted on the rotating shaft (8) is interference-fitted inside the side ring (19).

6. The UAV road and bridge crack inspection device according to claim 1, characterized in that: A mounting frame (21) is provided on the front end of the drone body (1). A mounting cylinder (22) is provided at the end of the mounting frame (21) away from the drone body (1). A drive shaft (23) is horizontally inserted in the mounting cylinder (22). A drive motor (27) is provided on the mounting cylinder (22) to drive the drive shaft (23) to rotate. A camera (33) is provided at the end of the drive shaft (23) away from the drive motor (27).

7. The UAV road and bridge crack inspection device according to claim 6, characterized in that: The fixed cylinder (22) has several bearing grooves (24) inside, and a stabilizing bearing (25) fitted on the drive shaft (23) is interference-fitted into the bearing grooves (24).

8. The UAV road and bridge crack inspection device according to claim 7, characterized in that: The drive shaft (23) is fitted with a right retaining ring (28) that abuts against the right-side stabilizing bearing (25) by means of a slot. The fixed cylinder (22) has a plurality of ball grooves (30) on the end face away from the drive motor (27). Steel balls (31) are rolled in each of the ball grooves (30). The drive shaft (23) is provided with a left retaining plate (29). The end face of the left retaining plate (29) facing the fixed cylinder (22) has a ball track (32). A plurality of steel balls (31) are embedded in the ball track (32) and form a rolling friction pair with the ball track (32).

9. A UAV road and bridge crack inspection device according to claim 6, characterized in that: The drive shaft (23) has a spline hole (26) on its end face, and the output shaft of the drive motor (27) is splinedly connected to the drive shaft (23) through the spline hole (26).

10. A UAV road and bridge crack inspection device according to claim 6, characterized in that: The drive shaft (23) has an external thread on the axial surface extending out of the fixed cylinder (22), and the camera (33) has a threaded hole (34) that is threadedly connected to the drive shaft (23).

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