CN106628212B - The unmanned plane device and its installation method of high-altitude installation sensor - Google Patents
The unmanned plane device and its installation method of high-altitude installation sensor Download PDFInfo
- Publication number
- CN106628212B CN106628212B CN201610859466.6A CN201610859466A CN106628212B CN 106628212 B CN106628212 B CN 106628212B CN 201610859466 A CN201610859466 A CN 201610859466A CN 106628212 B CN106628212 B CN 106628212B
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- sensor
- unmanned plane
- installation
- module
- bending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Toys (AREA)
Abstract
Invention provides the unmanned plane device and its installation method of a kind of high-altitude installation sensor, and the unmanned plane device includes unmanned plane and installing mechanism.Installing mechanism includes shrinkable and stretching, extension left foot frame and right crus of diaphragm frame, and an arm for holding sensor is installed on a wherein foot prop.The arm for holding sensor can complete to shrink and stretching, by the effect of safety switch and permanent magnet, it can be achieved that sensor and arm separating and being bonded with face to be installed.
Description
Technical field
The present invention relates to unmanned plane field, in particular to the unmanned plane device of a kind of high-altitude installation sensor and its installation side
Method.
Background technique
For building trade relation belonging to the industry of people's life's safety, safety is most important, for earthquake flood
Etc. building after natural calamities, need test data verifying safety, need that acquisition information is installed in building different location
Sensor is calculated by wirelessly transmitting data to system by data processing, and the security performance and index of fabrication are assessed.
The installation of moment sensor is mostly using artificial climbing, or sets out special equipment and installed, and danger coefficient compares
Height, cost is also relatively high, and many special dimensions can not operate building such as with curtain wall, unsafe bridge, high tower etc..
Although existing unmanned plane mounting means, the equipment of existing UAV flight is bigger, in irregular shape, for
The stability of unmanned plane during flying has an impact, relatively high to the regulating power requirement of winged control, for the requirement of system wind resistance regulating power
It is bigger, it is not easy to practice of construction operation.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, a kind of high-altitude installation sensor is provided
Method carries installing mechanism using unmanned plane, reaches installation site by flying hand manipulation unmanned plane, controls installing mechanism, remotely
It is remotely controlled installing mechanism work, completes attachment.The mounting device of autotomying of autonomous Design reduces during flight mounts to winged hand
Interference is passed by holder camera, figure and implements to check target object position, adjusts the mobile range of unmanned plane, can also be real
When observe peripheral obstacle position, play the purpose to keep in obscurity.
To achieve the above object, invention provides the following technical solutions:
A kind of unmanned plane device of high-altitude installation sensor, including unmanned plane and installing mechanism.
Further, unmanned plane be four axis unmanned planes, be provided on the body of unmanned plane center GPS module, receiver and
Paddle is arranged on four axis in battery, is adjusted by flying control and receiver to the state of flight of unmanned plane.
Further, installing mechanism includes shrinkable and stretching, extension left foot frame and right crus of diaphragm frame, is pacified on a foot prop wherein
Fill an arm for holding sensor.
Further, the arm for holding sensor can complete contraction and stretching, pass through safety switch, electromagnet
And the effect of permanent magnet is, it can be achieved that separating and being bonded with face to be installed for sensor and arm.
The present invention also provides a kind of methods of high-altitude installation sensor, are filled using the unmanned plane of above-mentioned high-altitude installation sensor
It sets, which comprises
(1), when the state of ground, the installing mechanism for holding sensor is in folded state, and installing mechanism is folded in nothing
Man-machine position of centre of gravity；
(2), after taking off, staff operates unmanned plane to designated place；
(3), when starting to work, left and right foot prop is first opened to 180 ° of posture, after flying control section unmanned plane to steady posture,
Make to bend module work again, smoothly opens bending module；
(4), after the gentle opening of bending module, make sensor beyond paddle, prepare Installation posture；
(5), by controller manual fine-tuning, behind centering direction, translation attachment touches safety switch, and electromagnet disconnects, and passes
Sensor separation, installs；
(6), then, unmanned plane since sensor leaves rear weight imbalance, need fly control automatic adjustment movement, vacate safety
Distance, control unmanned plane decline, whole installation process terminate.
Detailed description of the invention
Fig. 1 is flying robot's posture schematic diagram before of the invention take off.
Fig. 2 is attachment posture schematic diagram of the invention.
Fig. 3 is each block diagram of the invention.
(note: shown structure in attached drawing simply to illustrate that inventive features signal, be not intended to according to shown in attached drawing
Structure.
Specific embodiment
It is tied according to the method for the invention high-altitude installation sensor by independently looking after and guiding the weight location of different components
Fly control section paddle velocity of rotation during resultant motion to reach during high-altitude flight, rotating mechanism pair dynamically balanced control
Flight stability influences to reduce.Wherein, the bending mechanism of autonomous Design, calculates driving torque, and velocity of rotation is chosen component and carried out
Installation test, by multiple actual verification confirming mechanism design parameter.
It is as shown in Figure 1 take off before flying robot's posture including left bending worm screw module 5 bend 10 He of module
Sensor 11.Wherein, left foot frame 6 and right crus of diaphragm frame 3 shown in figure land, and bending system is shunk, and 11 position of sensor is located at weight
Heart position, dynamic balancing meet takeoff condition, and unmanned plane can take off vertically, and fly control adjust automatically posture after taking off.
Attachment posture as shown in Figure 2, including GPS module 1, paddle 2, right crus of diaphragm frame 3, right bending worm screw module 4 is left curved
Roll over worm screw module 5, left foot frame 6, electromagnet 7, safety switch 8, permanent magnet 9, bending module 10.
Specifically, flying robot includes four axis flight unmanned planes, GPS seat 12 is provided on the body of unmanned plane center,
GPS module 1 is installed on GPS, paddle 2 is set on four axis.At center, underpart or so is respectively arranged what a pair was used to support
Foot prop, including left foot frame 6 and right crus of diaphragm frame 3.Wherein, left and right foot prop uses T-shaped structure, convenient for dropping to bottom surface in unmanned plane
The effect of Shi Fahui undercarriage, the T-shaped structure that wherein both sides are symmetrically installed can play firm supporting role.
Further, the bar portion of each foot prop includes bending worm screw module, and as shown in Figure 2 or Figure 3, left foot frame 6 is in its bar
The end in portion has left bending worm screw module 5, and right crus of diaphragm frame 3 has right bending worm screw module 4 in the end of its bar portion.By above-mentioned
Left bending worm screw module 5 and right bending worm screw module 4, left foot frame 6 and right crus of diaphragm frame 3 are fixed under the center body of unmanned plane
Portion.Preferably, left bending worm screw module 5 and right bending worm screw module 4 and unmanned plane center body can connect by the way that fastener is fixed
It connects.Also, due to the joint effect of left bending worm screw module 5 and right bending worm screw module 4, so that left foot frame 6 and right crus of diaphragm frame 3 can
To generate contraction and stretching.
Wherein, another bending module is set in the end of a wherein foot prop, as shown in Figure 2 or Figure 3, in left foot frame 6
One bending module 10 of end setting, for holding contraction and the stretching of the arm of sensor 11.Preferably, bending module 10 with
The end of left foot frame 6 can be fixedly connected by fastener.
Further, the arm for holding sensor 11 is connect by the bending module 10 with the end of left foot frame 6, wherein curved
The effect for rolling over module 10 is identical as above-mentioned left bending worm screw module 5 and the right bending effect of worm screw module 4.In bending module 10
Under the effect of joint, the arm for holding sensor 11 can produce contraction and stretching.
Wherein, the end for holding the arm of sensor 11 includes the platform of a L shape, for placing sensor 11.Specifically,
The platform of L shape includes an electromagnet 7, for adsorbing sensor 11.The outside of sensor 11 includes multiple permanent magnets 9 and one
Safety switch 8, for being adsorbed with building.Preferably, permanent magnet 9 is four, is separately positioned on the corner location of sensor 11.
When sensor 11 is close to by wall-attached surface, permanent magnet 9 and the iron material surface for attaching face are tight under suction
Tight attaching, safety switch 8 and permanent magnet 9 have segment difference, and after touching safety switch 8, two electric wires that safety switch 8 connects are disconnected
Connection is opened, so that electromagnet 7 powers off demagnetization, electromagnet 7 no longer has suction-operated to sensor 11, so that sensor 11 divides
From, achieve the effect that attach installation.As shown in figure 3, being additionally provided with receiver 13 and battery 14 on the body of unmanned plane center.
When operation, unmanned plane is first in foot prop folded state shown in FIG. 1, and installing mechanism is folded in drone center of unmanned aerial vehicle position
It sets.Staff operates unmanned plane to designated place after taking off, and when start-up operation, left and right foot prop is first opened to 180 ° of posture,
After flying control section to steady posture, then make to bend the work of module 10, smoothly opens bending module 10.It is gentle to bend module 10
After opening, makes sensor 11 beyond paddle 2, prepare Installation posture.By the fine tuning of remote controler, behind centering direction, translation attachment, touching
Dynamic safety switch 8, electromagnet 7 disconnect, and sensor 11 separates, and install.Then, weight after unmanned plane is left due to sensor 11
It measures unbalance, needs to fly control automatic adjustment movement, vacate safe distance, control unmanned plane decline, whole installation process terminates.
The method of high-altitude according to the present invention installation sensor, have it is following a little:
(1) by the combination to unmanned plane and installing mechanism, reach the innovation to conventional mounting mode, reduce installation at present
Cost, reduce manpower and material resources, can be installed in particular surroundings over the horizon.
(2) it is not limited by particular surroundings, is also easy to install and use in the place that manpower can not be climbed, under complex environment
It may be implemented quickly to mount work.
(3) a kind of new sensor installation solution is provided, unmanned plane use direction is extended, in current numerous biographies
Sensor install and use in it is most environmentally friendly, efficient.
The above, the preferred embodiment only invented are not intended to limit the protection scope of invention, all to invent
Spirit and principle within made any modifications, equivalent replacements, and improvements etc., should be included within the protection scope of invention.
Claims (8)
1. a kind of unmanned plane device of high-altitude installation sensor, including unmanned plane and installing mechanism, it is characterised in that:
Unmanned plane is four axis unmanned planes, and GPS module (1), receiver (13) and battery are provided on the body of unmanned plane center
(14), paddle (2) are set on four axis, the state of flight of unmanned plane is adjusted by flying control and receiver (13)；
Installing mechanism includes shrinkable and stretching, extension left foot frame (6) and right crus of diaphragm frame (3), and installation one is held on a foot prop wherein
The arm of sensor (11)；
The arm for holding sensor (11) can complete shrink and stretching, by safety switch (8), electromagnet (7) and
The effect of permanent magnet (9) with face to be installed, it can be achieved that sensor (11) and the separation of arm and be bonded.
2. the unmanned plane device of installation sensor in high-altitude according to claim 1, it is characterised in that:
Left foot frame (6) and right crus of diaphragm frame (3) are symmetrically installed, and are respectively included for realizing the left bending worm screw mould with stretching is shunk
Block (5) and right bending worm screw module (4).
3. the unmanned plane device of installation sensor in high-altitude according to claim 2, it is characterised in that:
Left foot frame (6) and right crus of diaphragm frame (3) use T-shaped structure.
4. the unmanned plane device of installation sensor in high-altitude according to claim 3, it is characterised in that:
The arm is set on left foot frame (6), and in one bending module (10) of the end of left foot frame (6) setting, for described
The contraction of arm and stretching.
5. the unmanned plane device of installation sensor in high-altitude according to claim 4, it is characterised in that:
The end for holding the arm of sensor (11) includes the platform of a L shape, for placing sensor (11)；The platform of L shape
Including an electromagnet (7), for adsorbing sensor (11), the outside of sensor (11) includes multiple permanent magnets (9) and a peace
Full switch (8).
6. the unmanned plane device of installation sensor in high-altitude according to claim 5, it is characterised in that:
Left bending worm screw module (5) and right bending worm screw module (4) are fixedly connected with unmanned plane center body by fastener.
7. the unmanned plane device of installation sensor in high-altitude according to claim 6, it is characterised in that:
Bending module (10) is fixedly connected with the end of left foot frame (6) by fastener.
8. a kind of method of high-altitude installation sensor, which is characterized in that using high-altitude as claimed in claim 7 installation sensor
Unmanned plane device, which comprises
(1), when the state of ground, the installing mechanism for holding sensor (11) is in folded state, and installing mechanism is folded in nothing
Man-machine position of centre of gravity；
(2), after taking off, staff operates unmanned plane to designated place；
(3), when starting to work, left and right foot prop is first opened to 180 ° of posture, after flying control section unmanned plane to steady posture, then makes
Module (10) work is bent, bending module (10) is smoothly opened；
(4), after the gentle opening of bending module (10), make sensor (11) beyond paddle (2), prepare Installation posture；
(5), by controller manual fine-tuning, behind centering direction, translation attachment touches safety switch (8), and electromagnet (7) disconnects,
Sensor (11) separation, installs；
(6), then, unmanned plane leaves rear weight imbalance due to sensor (11), needs to fly control automatic adjustment movement, vacates safety
Distance, control unmanned plane decline, whole installation process terminate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610859466.6A CN106628212B (en) | 2016-09-28 | 2016-09-28 | The unmanned plane device and its installation method of high-altitude installation sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610859466.6A CN106628212B (en) | 2016-09-28 | 2016-09-28 | The unmanned plane device and its installation method of high-altitude installation sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106628212A CN106628212A (en) | 2017-05-10 |
| CN106628212B true CN106628212B (en) | 2019-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610859466.6A Expired - Fee Related CN106628212B (en) | 2016-09-28 | 2016-09-28 | The unmanned plane device and its installation method of high-altitude installation sensor |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201716839D0 (en) * | 2017-10-13 | 2017-11-29 | Alti Velo Industrial Uav Rental Ltd | Non-destructive testing apparatus and method of use |
| CN118443080B (en) * | 2024-04-17 | 2025-04-01 | 中国特种设备检测研究院 | A strain sensor, a stress detection device and a detection method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204433077U (en) * | 2015-02-06 | 2015-07-01 | 厦门大学 | Based on the automatic cooperation package shipment device of quadrotor |
| CN205008816U (en) * | 2015-09-15 | 2016-02-03 | 深圳市彩易达光电有限公司 | Instrument is inhaled to LED display panel module's magnetism |
| US9421869B1 (en) * | 2015-09-25 | 2016-08-23 | Amazon Technologies, Inc. | Deployment and adjustment of airborne unmanned aerial vehicles |
| CN205034344U (en) * | 2015-09-30 | 2016-02-17 | 黄嵘 | Load carry platform and for rescue unmanned aerial vehicle based on unmanned aerial vehicle |
| CN205396522U (en) * | 2015-12-29 | 2016-07-27 | 天津中科昊宇科技有限公司 | Unmanned aerial vehicle |
| CN205499395U (en) * | 2016-02-04 | 2016-08-24 | 普宙飞行器科技（深圳）有限公司 | Yun taineng is along with foot rest folding unmanned aerial vehicle |
| CN105667779B (en) * | 2016-04-11 | 2017-05-17 | 吉林大学 | Intelligent flying robot capable of perching on walls at different inclination angles |
| CN105799805B (en) * | 2016-05-06 | 2019-04-09 | 吉林大学 | A modular flying wall-climbing robot |
| CN106275436B (en) * | 2016-09-28 | 2018-10-02 | 哈尔滨云控机器人科技有限公司 | Installation device of sensor with function of autotomying and its installation method |
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| CN106628212A (en) | 2017-05-10 |
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