CN108688805B - Unmanned aerial vehicle applied to limited space safety detection - Google Patents
Unmanned aerial vehicle applied to limited space safety detection Download PDFInfo
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- CN108688805B CN108688805B CN201810596270.1A CN201810596270A CN108688805B CN 108688805 B CN108688805 B CN 108688805B CN 201810596270 A CN201810596270 A CN 201810596270A CN 108688805 B CN108688805 B CN 108688805B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/047—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump supply being effected by follower in container, e.g. membrane or floating piston, or by deformation of container
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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
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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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
- B64D47/08—Arrangements of cameras
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- 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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Abstract
The application relates to the field of safety detection, in particular to an unmanned aerial vehicle applied to limited space safety detection, which comprises an unmanned aerial vehicle body and an anti-collision frame arranged outside the unmanned aerial vehicle body; the unmanned aerial vehicle body comprises a rack and a cradle head arranged above the rack, a lower rotor wing is arranged on the rack, and a rotatable camera is arranged on the cradle head; the anti-collision frame comprises a first hemispherical frame, a second hemispherical frame and a connecting rod, wherein the tangent plane edges of the first hemispherical frame and the second hemispherical frame are mutually connected through the connecting rod to form the anti-collision frame. The unmanned aerial vehicle who is applied to restricted space safety detection that this application provided can replace the people to carry out information acquisition, safety inspection to restricted space through unmanned aerial vehicle to through crashproof frame, underlying rotor device reinforcing unmanned aerial vehicle at the security of restricted space operation.
Description
[ field of technology ]
The application relates to the field of safety detection, in particular to an unmanned aerial vehicle applied to limited space safety detection.
[ background Art ]
In the energy industry, such as coal mining, a professional person needs to enter the oil storage tank in advance to check the oil storage tank in advance to ensure safety, so that the inspection environment is extremely dangerous for the inspector, and in the aspect of petrochemical safety, for example, a petrochemical oil storage tank (used for storing gasoline, diesel oil, natural gas and the like) of a petrochemical factory needs to be inspected periodically. The method of extracting the gas detecting device by the detecting method is disadvantageous in that the gas content index is changed when the gas detecting device is extracted than when the gas detecting device is extracted, the accuracy of data is insufficient, the detecting area is limited, and in addition, the personnel can enter the uncertain environment to work at great danger.
The above-mentioned checked environment may be referred to as a limited space, and the limited space includes various buildings or devices with difficulty for people to reach or high risk index, such as various devices or interiors of buildings of factories or exteriors of the buildings (such as furnaces, towers, tanks, bins, pools, tank trucks, pipelines, flues, etc.) of factories, tunnels, drains, ditches, pits, wells, ponds, culverts, valve rooms, sewage treatment facilities, etc., closed and semi-closed facilities and places (such as cabins, underground hidden projects, closed containers, long-term unused facilities or places with unsmooth ventilation, etc.), wells, vaults, etc. for storing sweet potatoes, various vegetables in rural areas. A poorly ventilated mine should also be considered a confined space.
Based on the above, a device capable of replacing a person is needed to perform safety detection on a limited space in advance, on one hand, after safety confirmation, the person is arranged to enter, on the other hand, the device can even replace the person to preliminarily detect the condition of the facility in the limited space, such as cracks, corrosion degree and the like of the facility, and the device is convenient for subsequent personnel to maintain.
[ invention ]
For solving above-mentioned technical problem, the aim at of this application provides the unmanned aerial vehicle that is applied to restricted space safety detection, can replace the people to carry out information acquisition, safety inspection to restricted space through unmanned aerial vehicle to through crashproof frame, underlying rotor device reinforcing unmanned aerial vehicle at the security of restricted space operation.
The application is realized by the following technical scheme:
the unmanned aerial vehicle applied to the limited space safety detection comprises an unmanned aerial vehicle body and an anti-collision frame arranged outside the unmanned aerial vehicle body;
the unmanned aerial vehicle body comprises a rack and a cradle head arranged above the rack, a lower rotor wing is arranged on the rack, and a rotatable camera is arranged on the cradle head;
the anti-collision frame comprises a first hemispherical frame, a second hemispherical frame and a connecting rod, wherein the tangent plane edges of the first hemispherical frame and the second hemispherical frame are mutually connected through the connecting rod to form the anti-collision frame.
The unmanned aerial vehicle applied to the limited space safety detection is characterized in that a plurality of connecting rods are uniformly distributed along the tangential plane edges of the first hemispherical frame and the second hemispherical frame to form a cylindrical frame for connecting the first hemispherical frame and the second hemispherical frame.
The unmanned aerial vehicle for limited space safety detection is applied to, the frame includes the base, base bilateral symmetry is equipped with the installing frame, the installing frame is including connecting be eight character strings isometric stretch out on the base first pole and the second pole of base one side, with the third pole that the first pole stretches out the end and with the fourth pole that the second pole stretches out the end and is connected, the third pole with the free end intersection of fourth pole form with crashproof frame connection's apex angle connecting portion, underlying rotor is established first pole with the connecting portion below of third pole and second pole with the connecting portion below of fourth pole.
The unmanned aerial vehicle for limited space safety detection comprises a base, a first rod, a second rod, a third rod and a fourth rod, wherein the first rod, the second rod, the third rod and the fourth rod are sequentially hinged end to form a diamond-shaped mounting frame, a limiting protrusion arranged on the base and a first reset spring used for pulling the first rod and the second rod towards opposite directions are arranged between the first rod and the second rod, the first reset spring is tightly attached to the limiting protrusion, and a second reset spring is arranged between the third rod and the fourth rod.
The unmanned aerial vehicle that is applied to restricted space safety detection as described above, first hemisphere frame includes:
the frame strip is provided with a plurality of frame strips, one ends of the plurality of frame strips are folded, the other ends of the plurality of frame strips are unfolded to form a hemispherical frame shape, one folded end of the frame strip is provided with a clamping convex protruding outwards from the spherical top of the first hemispherical frame, and one unfolded end of the frame strip is provided with a clamping concave recessed towards the center of the tangential surface of the first hemispherical frame;
the folding ring is arranged at one folding end of the frame strip and comprises an annular hole, an annular folding wall surrounding the annular hole, annular grooves uniformly distributed along the annular folding wall in an annular shape and outer ring threads formed on the outer wall of the annular folding wall, and the frame strip is clamped in the annular grooves and the clamping protrusions are folded in the annular hole so that one ends of a plurality of frame strips form a folding state;
the screwing ring is provided with a fixing hole fixed with the frame, an annular screwing wall surrounding the fixing hole and an inner ring thread arranged on the inner wall of the annular screwing wall and matched with the outer ring thread, and the screwing ring is screwed into the screwing ring after the frame strip is folded;
the opening ring is uniformly provided with clamping holes with the same number as the frame strips and locking holes with the same number as the connecting rods along the periphery, and one open end of each frame strip is clamped into each clamping hole;
the connecting rings are uniformly provided with through holes with the same number as the connecting rods along the periphery;
and the connecting screw penetrates through the lock hole and the through hole to lock the opening ring and the connecting ring on the connecting rod.
The unmanned aerial vehicle applied to the safety detection of the limited space as described above further comprises a marking gun for marking the fault part of the limited space.
The marking gun is an automatic spray gun capable of spraying colored solution, and is applied to unmanned aerial vehicle with limited space safety detection.
Unmanned aerial vehicle as described above for application in confined space security detection, the automatic spray gun comprising:
a nozzle provided with an X-shaped outlet for distributing the sprayed colored solution in an X-shape;
a liquid ejecting passage, an outlet of which communicates with the nozzle;
the liquid bottle is used for containing the color solution, a liquid suction channel for enabling liquid to flow towards the bottle mouth is arranged in the liquid bottle, and a first one-way valve for enabling air to enter the bottle is arranged on the liquid bottle;
the piston cavity is communicated with the liquid spraying channel and the liquid sucking channel, a second one-way valve for controlling the flow of the color solution from the piston cavity to the direction of the nozzle is arranged between the piston cavity and the liquid spraying channel inlet, a third one-way valve for controlling the flow of the color solution from the solution bottle to the direction of the piston cavity is arranged between the piston cavity and the liquid sucking channel, a piston capable of reciprocating in the piston cavity is arranged in the piston cavity, and a piston threaded hole is arranged in the middle of the piston;
and the driving motor is provided with a motor rotating shaft with external threads, and the motor rotating shaft is screwed into the threaded hole of the piston to control the reciprocating motion of the piston.
The unmanned aerial vehicle applied to the limited space safety detection is described above, and the cradle head is also provided with an illumination lamp which moves along with the camera.
The unmanned aerial vehicle applied to the limited space safety detection is described above, and the cradle head is further provided with a GPS module for transmitting the position information of the unmanned aerial vehicle to the control end in real time.
The unmanned aerial vehicle applied to the limited space safety detection further comprises a gas sensor arranged on the cradle head and used for detecting the concentration of harmful gas in the air.
Compared with the prior art, the application has the following advantages:
1. the unmanned aerial vehicle provided can replace people to perform information acquisition, safety detection and other works on the limited space.
2. The lightweight anticollision frame can rebound or rotate when colliding with the object, can effectively prevent unmanned aerial vehicle especially rotor not receive the damage, and it can freely fall from the high altitude even and have not damaged, more is favorable to unmanned aerial vehicle to fly in the complex environment of strangeness, greatly reduced the incidence of "frying machine", guarantee unmanned aerial vehicle can normally gather limited space's information and can greatly reduced unmanned aerial vehicle's the degree of difficulty of controlling.
3. The upper part of the lower rotor wing is connected to the output shaft of the coaxial direct current brushless motor, although the stability of the lower rotor wing is reduced, the maneuverability of the unmanned aerial vehicle is stronger, the lower rotor wing is more beneficial to timely avoiding obstacles in a complex limited space, the safety of the unmanned aerial vehicle is improved, and the camera is more convenient to install above the unmanned aerial vehicle so as to shoot a wider upper image.
4. Set up cylindric frame between first hemisphere frame with the in-process that the second hemisphere frame was falling ground for anticollision frame still can offset a part impact force through rolling on the one hand, and cylindric frame can carry out the roll of line contact formula with ground on the one hand, prevents that circular shape anticollision frame from carrying out long-term unstable point contact rolling with ground and causing diversified and irregular upset and increase destruction probability to the unmanned aerial vehicle body.
5. After the unmanned aerial vehicle finds the fault position, the fault position can be marked by using a marking gun, such as an X-shaped or triangular pattern, and even a pattern with a fluorescent effect can be marked to make the mark more prominent, the mark can be applied to the fault position or the vicinity of the fault position, so that personnel can find the fault position more intuitively, accurately and rapidly when overhauling and maintaining the facility in a limited space, and the positioning effect of the GPS module is better.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view 1 of embodiment 1 of the present application;
fig. 2 is a schematic structural view 2 of embodiment 1 of the present application;
fig. 3 is an enlarged view of a portion a of fig. 2;
fig. 4 is an enlarged view of a portion B of fig. 2;
FIG. 5 is an exploded view of embodiment 1 of the present application;
FIG. 6 is a schematic view showing an exploded structure of the gathering ring and the screwing ring according to embodiment 1 of the present application;
fig. 7 is a schematic structural view of a rack according to embodiment 1 of the present application;
FIG. 8 is a schematic view of a marking gun according to embodiment 1 of the present application;
FIG. 9 is a schematic view of the outlet of the nozzle according to example 1 of the present application;
fig. 10 is a schematic structural view of a rack according to embodiment 2 of the present application;
fig. 11 is a view of image information captured in a limited space in embodiment 1 of the present application;
fig. 12 is a view of the image information of fig. 11 after the image information is processed in step S22 of embodiment 1;
FIG. 13 is a schematic diagram of image recognition according to embodiment 1 of the present application;
FIG. 14 is a schematic diagram of the convolution process according to embodiment 1 of the present application;
fig. 15 is a schematic diagram of the pooling process described in example 1 of the present application.
[ detailed description ] of the invention
In order to make the technical problems, technical schemes and beneficial effects solved by the application more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1 to 10, an embodiment of the present application proposes an unmanned aerial vehicle applied to limited space security detection, including an unmanned aerial vehicle body 1 and an anti-collision frame 2 provided outside the unmanned aerial vehicle body 1; the unmanned aerial vehicle body 1 comprises a rack 11 and a cradle head 12 arranged above the rack, wherein a lower rotor 110 is arranged on the rack 11, and a camera 121, an irradiation lamp 122 moving along with the camera 121 and a GPS module for transmitting the position information of the unmanned aerial vehicle to a control end in real time are arranged on the cradle head 12; the anti-collision frame 2 comprises a first hemispherical frame 21, a second hemispherical frame 22 and a connecting rod 23, wherein the tangent plane edges of the first hemispherical frame 21 and the second hemispherical frame 22 are mutually connected through the connecting rod 23 to form the anti-collision frame 2. The unmanned aerial vehicle can replace people to perform information acquisition, safety detection and other works on the limited space.
The unmanned aerial vehicle can also set up in the body and keep away the barrier module, like infrared probe or ultrasonic probe, it is favorable to unmanned aerial vehicle to avoid the obstacle in complicated restricted space, nevertheless, its level of controlling the operator requirement is still higher, and above-mentioned anticollision frame can greatly reduced is to unmanned aerial vehicle's the degree of difficulty of controlling to protect unmanned aerial vehicle to the limit more. Specifically, the whole maximum diameter of anticollision frame 2 is less than 500mm, and its material is carbon fiber, and the anticollision frame of lightweight can rebound or rotate when colliding with the object, can effectively prevent unmanned aerial vehicle especially rotor not receive the damage, and it can freely fall from the high altitude even and have not damaged, more is favorable to unmanned aerial vehicle to fly in the complex environment of strangeness, greatly reduced the incidence of "frying machine", guarantees unmanned aerial vehicle can normally gather limited space's information.
In the restricted space, often the condition is complicated, dark airtight, leads to unmanned aerial vehicle and barrier collision to lead to unable flight more easily, along with the illumination lamp that the camera removed can illuminate the place ahead, more is favorable to the control end to control unmanned aerial vehicle flight according to the image control unmanned aerial vehicle of camera transmission, is favorable to unmanned aerial vehicle can gather image information more clearly simultaneously.
More specifically, the illumination lamp is a high-intensity LED lamp and is mounted on the side of the camera, and in addition, the unmanned aerial vehicle body is equipped with a large-capacity battery, preferably a lithium battery, as an energy source. Further, the cradle head can be selected from a femto mini3D pro, can be used as a supporting device for installing and fixing a camera, and can even adjust the horizontal angle and the pitching angle of the camera. The unmanned aerial vehicle data transmission can select 3DR wireless data transmission module, WIFI wireless data transmission module or 4G network transmission module. The control end comprises a remote controller and a monitor, the remote controller can control the flight state of the unmanned aerial vehicle, and the monitor can acquire the image information, the position information and other acquired environment information of the unmanned aerial vehicle in real time.
The upper part of the lower rotor wing is connected to the output shaft of the coaxial direct current brushless motor, although the stability of the lower rotor wing is reduced, the maneuverability of the unmanned aerial vehicle is stronger, the lower rotor wing is more beneficial to timely avoiding obstacles in a complex limited space, the safety of the unmanned aerial vehicle is improved, and the camera is more convenient to install above the unmanned aerial vehicle so as to shoot a wider upper image.
Preferably, the plurality of connecting rods 23 are uniformly distributed along the tangential edges of the first hemispherical frame 21 and the second hemispherical frame 22 to form a cylindrical frame connecting the first hemispherical frame 21 and the second hemispherical frame 22. Specifically, connecting rod 23 is equipped with 4 set up cylindric frame between first hemisphere frame with the second hemisphere frame for anticollision frame still can offset a part impact force through rolling on the one hand to fall the in-process on ground, and cylindric frame can carry out the roll of line contact with ground on the one hand, prevents that circular shape anticollision frame from carrying out long-term unstable point contact roll with ground and causing diversified and irregular upset and increase destruction probability to the unmanned aerial vehicle body.
In this embodiment 1, the frame 11 includes a base 111, two sides of the base 111 are symmetrically provided with a mounting frame 112, the mounting frame 112 includes a first rod 113 and a second rod 114 connected to the base 111 and extending out of one side of the base 111 in a splayed shape, a third rod 115 connected to an extending end of the first rod 113, and a fourth rod 116 connected to an extending end of the second rod 114, free ends of the third rod 115 and the fourth rod 116 are combined to form a vertex angle connection portion 117 connected to the anti-collision frame 2, and the lower rotor 110 is disposed below a connection portion of the first rod 113 and the third rod 115 and below a connection portion of the second rod 114 and the fourth rod 116. Specifically, a plurality of process holes are formed in the first rod 113, the second rod 114, the third rod 115 and the fourth rod 116, so that the weight of the frame can be effectively reduced, four installation points for installing a rotor are symmetrically formed on two sides of the base of the frame-shaped frame, the structure is simple, the weight is reduced, and the reliable and stable installation of the rotor is facilitated.
In this embodiment 1, the first hemispherical frame 21 includes: the frame strip 211 is provided with a plurality of frame strips, one ends of the plurality of frame strips 211 are folded, the other ends of the plurality of frame strips 211 are unfolded to form a hemispherical frame shape, one folded end of the frame strip 211 is provided with a clamping convex 2111 protruding outwards from the spherical top of the first hemispherical frame 21, and one unfolded end of the frame strip 211 is provided with a clamping concave 2112 recessed towards the center of the tangential surface of the first hemispherical frame 21; a gathering ring 212, which is disposed at a gathering end of the frame strip 211, the gathering ring 212 includes an annular hole 2121, an annular gathering wall 2122 surrounding the annular hole 2121, annular grooves 2123 uniformly distributed along the annular gathering wall 2122, and an outer ring thread 2124 disposed on an outer wall of the annular gathering wall 2122, the frame strip 211 is embedded in the annular grooves 2123, and the clamping protrusions 2111 are gathered in the annular hole 2121 so that one end 5 of the plurality of frame strips 211 forms a gathering state; a screwing ring 213 provided with a fixing hole 2131 fixed to the frame 11, an annular screwing wall 2132 surrounding the fixing hole 2131, and an inner ring thread 2133 provided on an inner wall of the annular screwing wall 2132 and engaged with the outer ring thread 2124, wherein the folding ring 212 is screwed into the screwing ring 213 after folding the frame strip 211; an opening ring 214, which is uniformly provided with clamping holes 2141 with the same number as the frame strips 211 and locking holes 2142 with the same number as the connecting rods 23 along the periphery, wherein one opened end of the frame strip 211 is clamped into the clamping holes 2141; a connection ring 215 having a plurality of through holes along a circumference thereof, the number of the through holes being equal to the number of the connection rods 23; and a connection screw passing through the locking hole 2142 and the through hole to lock the open ring 214 and the connection ring 215 to the connection rod 23. The second hemispherical frame 22 is symmetrically arranged with the first hemispherical frame 21. The spherical structure makes unmanned aerial vehicle atress more even when suffering the collision, and is more comprehensive to unmanned aerial vehicle's protection, and sound construction moreover, the dismouting is simple and convenient.
The unmanned aerial vehicle further comprises a marking gun 3 for marking a fault location of the confined space. After the unmanned aerial vehicle finds the fault position, the fault position can be marked by using a marking gun, such as an X-shaped or triangular pattern, and even a pattern with a fluorescent effect can be marked to make the mark more prominent, the mark can be applied to the fault position or the vicinity of the fault position, and the positioning of the GPS module is combined, so that personnel can find the fault position more intuitively, accurately and rapidly when overhauling and maintaining the facilities in a limited space.
Preferably, the marking gun 3 is an automatic spray gun capable of spraying a coloured solution. The colored solution can be red, and fluorescent powder can be added into the solution to make the marking pattern more vivid and prominent. Specifically, the automatic spray gun includes: a nozzle 31 provided with an X-shaped outlet so that the discharged colored solution is distributed in an X-shape; a liquid ejecting passage 32 whose outlet communicates with the nozzle 31; a solution bottle 33 for containing a color solution, wherein a liquid suction channel 34 for liquid to flow to the bottle mouth is arranged in the solution bottle 33, and a first one-way valve 30 for air to enter the bottle is arranged on the solution bottle 33; a piston chamber 35, which is communicated with the liquid spraying channel 32 and the liquid sucking channel 34, wherein a second one-way valve 36 for controlling the flow of the color solution from the piston chamber 35 to the direction of the nozzle 31 is arranged between the piston chamber 35 and the inlet of the liquid spraying channel 32, a third one-way valve 37 for controlling the flow of the color solution from the solution bottle 33 to the direction of the piston chamber 35 is arranged between the piston chamber 35 and the liquid sucking channel 34, a piston 38 capable of reciprocating in the piston chamber 35 is arranged in the piston chamber 35, and a piston threaded hole is arranged in the middle of the piston 38; a drive motor 39 provided with an externally threaded motor shaft 391 that screws into the piston threaded bore to control the reciprocating motion of the piston 38.
When the device works, the driving motor rotates positively, the driving piston contracts backwards in the piston cavity to suck the solution in the solution bottle into the piston cavity, then the driving motor rotates reversely, and the driving piston moves forwards in the piston cavity rapidly, so that the solution sucked in the piston cavity is sprayed out through the spray nozzle.
The cradle head 12 is also provided with a gas sensor, a plurality of sensors can be integrated in the gas sensor, such as a carbon monoxide gas sensor, a freon gas sensor and the like, and the type, concentration and composition of the gas can be measured and converted into an electric signal. On the one hand, the safety problems of gas pollution, gas leakage and the like of the limited space are detected, on the other hand, the gas danger degree of the limited space is detected in advance, and the safety degree of subsequent personnel entering the limited space for maintenance is improved.
It should be noted that, still be equipped with the main control board on the unmanned aerial vehicle body, the camera, GPS module, shot-light, driving motor, cloud platform, gas sensor and control rotor pivoted motor etc. electric elements all are connected with the main control board electricity in order to realize control, realize actions such as switch, rotation.
The embodiment also provides a limited space safety detection method based on the unmanned aerial vehicle, which comprises the steps of adopting an information acquisition device of the unmanned aerial vehicle to acquire safety monitoring information of an area needing safety monitoring detection in the limited space, and outputting a recognition result after carrying out safety monitoring information recognition operation on the acquired safety monitoring information on a safety monitoring information recognition module by using a safety monitoring information recognition method. The unmanned aerial vehicle is used for replacing personnel to detect the condition of the limited space, so that the unsafe condition that the personnel enter the limited space is greatly reduced, the detection is very convenient, and the timeliness and the stability of a judgment result are enhanced. According to the defect degree of the detected facility in the limited space, whether personnel are arranged immediately for maintenance or the facility is used continuously can be selected, because the individual defect degree does not necessarily influence the work of the facility, the maintenance is carried out when the defect reaches a certain degree, the effective utilization rate of resources is improved, and the safety monitoring work of the limited space is safer and more intelligent.
Correspondingly, the information acquisition device is a camera, the safety monitoring information is image information, the safety monitoring information identification module is an image identification module, the safety monitoring information identification method is an image identification method, the image information acquired by the camera is used for carrying out image identification operation on the image information by the image identification method on the image identification module, and then an identification result is output. FIG. 13 is a schematic view of image recognition with identified corrosion locations within a rectangular box. The image recognition method comprises the following steps:
s21, classifying detection scenes in a limited space, and preparing a training data set by matching identification images of classified defect degrees for each type of detection scenes, wherein the defect in the defect degrees can comprise damage, cracks, corrosion and the like, particularly, such as pipeline leakage, oil storage tank damage, coal mine collapse and the like, the safety monitoring information identification module can detect the defect and output identification results of corresponding degrees, such as leakage of different degrees, damage of different degrees and the like, and in the embodiment, the detection scenes are classified into a gas pipeline combustor, a supporting storage tank, an industrial chimney, a large oil tank ship, a large pipeline or a coal-fired power plant boiler, and the defect degrees are serious corrosion, medium corrosion or light corrosion;
s22, inputting an identification image which is classified by the detection scene and the defect degree in the training data set in the step S21, and carrying out image sharpening and edge enhancement processing, wherein FIG. 12 is image information 700 of the image information 600 shot in the limited space after the processing in the step S22;
s23, training the convolutional neural network by using a training data set formed by the identification image processed in the step S22;
s24, inputting the image information acquired in the step S1 into the convolutional neural network trained in the step S22, and outputting a recognition result, wherein in the embodiment, the output value of the recognition result is serious corrosion, moderate corrosion or mild corrosion.
The training of the convolutional neural network in step S23 includes the following steps:
s231, sequentially performing first convolution processing on the identification images in the training data set processed in the step S22 to obtain a first layer of a convolutional neural network, preferably unifying the sizes of the identification images processed in the step S22 to be 32 multiplied by 1, wherein the sizes of the filters of the convolutional layers are 5 multiplied by 5, the depths are 6, all 0 supplements are not used, the step length is 1, the output size of the first layer of the convolutional neural network is 32-5+1=28, the depths are 6, namely, the second layer node matrix of the convolutional neural network is provided with 28 multiplied by 6=4704 nodes, each node is connected with 5 multiplied by 5=25 current layer nodes, namely, the first layer of the convolutional neural network is totally provided with 4704 multiplied by (25+1) = 122304 connections;
s232: performing primary pooling treatment and local response normalization treatment on the first layer of the convolutional neural network, wherein the first layer of the convolutional neural network is a second layer of the convolutional neural network, preferably, the second layer of the convolutional neural network adopts a filter with the size of 2 multiplied by 2 and the step length of 2, and the second layer of the convolutional neural network has an output matrix with the size of 14 multiplied by 6;
s233, performing a second convolution process on the second layer of the convolutional neural network, which is a third layer of the convolutional neural network, preferably, the output matrix of the second layer of the convolutional neural network is input to the third layer of the convolutional neural network, the adopted filter size is 5×5, the depth is 16, no 0-full complement is used, the step size is 1, the output size of the third layer of the convolutional neural network is 14-5+1=10, the depth is 16, that is, the output matrix size of the third layer of the convolutional neural network is 10×10×16, the parameters of the third layer of the convolutional neural network are 5×5×6×16+16=2416, and there are 10×10×16× (5×5+1) = 41600 connections;
s234, performing second pooling processing on the third layer of the convolutional neural network, wherein the second pooling processing is a fourth layer of the convolutional neural network, the input matrix size of the fourth layer of the convolutional neural network is 10 multiplied by 16, the adopted filter size is 2 multiplied by 2, the step length is 2, and the output matrix size of the fourth layer of the convolutional neural network is 5 multiplied by 16;
s235, obtaining a fifth layer of the convolutional neural network in a fully-connected mode for the fourth layer of the convolutional neural network, wherein an output matrix of the fourth layer of the convolutional neural network is preferably input of the fifth layer of the convolutional neural network, and is straightened into a vector with the length of 5 multiplied by 16, namely a three-dimensional matrix is pulled until a one-dimensional space is expressed in a vector form, and the vector enters the fully-connected layer for training, wherein the number of output nodes of the fifth layer of the convolutional neural network is 120, namely 5 multiplied by 16 multiplied by 120 = 48120 parameters;
s236, obtaining an output layer by the fifth layer of the convolutional neural network in a fully connected mode: the output layer is divided into 6 independent parts, and each part is additionally connected with an independent loss function;
and S237, the value of the loss function is minimized by using the classified identification image in S21, and training of the convolutional neural network is completed, wherein the convolutional neural network is further corrected and optimized by using the classified identification image.
The sharpening processing method can be a high-pass filtering and spatial domain differentiation method, and the edge enhancement processing can be a spatial domain method and a frequency domain method to highlight and emphasize the edges with larger brightness values of adjacent pixels of the image so as to efficiently extract the characteristics of the image information and strengthen the accuracy of image identification. The principle of the convolution process is to take the input data 100 into a convolution kernel algorithm, which is converted into a weight matrix 300 by a convolution kernel 200, i.e. the filter of the above mentioned convolution layer, which is combined with the image to produce a convolved output. The pooling process is used for reducing the number of training parameters of the convolutional neural network and the space size of the image, and the pooling is completed independently on each depth dimension, so that the calculation amount is reduced by using a convolutional layer on the premise that the depth of the image is kept unchanged, and the principle is that the non-coincident areas in the image data 400 to be pooled are selected to be maximum values to form new image data 500.
According to the limited space safety detection method based on the unmanned aerial vehicle, the unmanned aerial vehicle is used for replacing personnel to detect the condition of the limited space, so that the unsafe of the personnel entering the limited space is greatly reduced, the detection is very convenient and intelligent, and the timeliness and the stability of a judgment result are enhanced. In addition, in order to improve the effective utilization rate of resources, whether personnel are arranged for maintenance immediately or the facilities are used continuously can be selected according to the detected damage or defect degree of the facilities in the limited space, and the maintenance is performed when the defect in the limited space reaches the degree of needing the maintenance.
The convolutional neural network can recognize images and optimize the accuracy of recognition results through training, and the convolutional neural network can gradually get rid of artificial judgment through training, so that the intelligentization is realized. So that the judgment is more stable and quick.
In addition, the information acquisition device can further comprise a gas sensor for acquiring gas information of an area needing safety monitoring detection in the limited space, the safety monitoring information is gas information, the safety monitoring information identification module is a gas identification module, the safety monitoring information identification method is a gas identification method, and the gas information acquired by the gas sensor is subjected to gas identification operation on the gas identification module by using the gas identification method and then an identification result is output. The gas sensor can be used for measuring the type, concentration and composition of the gas, and can detect specific compositions in the gas, such as carbon monoxide gas detection, freon (R11, R12) detection and the like, gas information of a limited space is acquired by using the gas sensor arranged on the unmanned aerial vehicle, so that the safety problems of gas pollution, gas leakage and the like of the limited space are detected, the gas dangerous degree of the limited space is detected in advance, and the safety of subsequent personnel entering the limited space for overhaul is improved.
In embodiment 2, this embodiment is substantially the same as embodiment 1, and only differences from embodiment 1 in main configurations are described for the sake of simplicity of description. The part not described in this embodiment is the same as embodiment 1, except that: the first rod 113, the second rod 114, the third rod 115 and the fourth rod 116 are sequentially hinged end to form a diamond-shaped mounting frame 112, a limiting protrusion 1131 arranged on the base 111 and a first reset spring 1132 for pulling the first rod 113 and the second rod 114 towards opposite directions to enable the first rod 113 and the second rod 114 to be tightly attached to the limiting protrusion 1131 are arranged between the inner corners of the first rod 113 and the second rod 114, and a second reset spring 1133 is arranged between the inner corners of the third rod 115 and the fourth rod 116. Specifically, first reset spring with second reset spring is tension spring, when unmanned aerial vehicle receives the striking, especially when apex angle connecting portion received the impact force, two of diamond mounting frame is to opposite direction extrusion deformation, first reset spring with second reset spring then with spacing protruding cooperation pulls the mounting frame to normal shape, through the cushioning effect of spring, can effectively reduce unmanned aerial vehicle body especially rotor when receiving the striking and receive the damage, and has certain shock absorber effect.
In summary, the present application has the following beneficial effects through structural improvement:
1. the unmanned aerial vehicle provided can replace people to perform information acquisition, safety detection and other works on the limited space. The unmanned aerial vehicle is used for replacing personnel to detect the condition of the limited space, so that the unsafe condition that the personnel enter the limited space is greatly reduced, the detection is very convenient, and the timeliness and the stability of a judgment result are enhanced. Moreover, when the damage or corrosion of facilities in the limited space is detected to a certain extent, personnel are arranged to maintain, so that the effective utilization rate of resources is greatly improved.
2. The lightweight anticollision frame can rebound or rotate when colliding with the object, can effectively prevent unmanned aerial vehicle especially rotor not receive the damage, and it can freely fall from the high altitude even and have not damaged, more is favorable to unmanned aerial vehicle to fly in the complex environment of strangeness, greatly reduced the incidence of "frying machine", guarantee unmanned aerial vehicle can normally gather limited space's information and can greatly reduced unmanned aerial vehicle's the degree of difficulty of controlling.
3. The upper part of the lower rotor wing is connected to the output shaft of the coaxial direct current brushless motor, although the stability of the lower rotor wing is reduced, the maneuverability of the unmanned aerial vehicle is stronger, the lower rotor wing is more beneficial to timely avoiding obstacles in a complex limited space, the safety of the unmanned aerial vehicle is improved, and the camera is more convenient to install above the unmanned aerial vehicle so as to shoot a wider upper image.
4. Set up cylindric frame between first hemisphere frame with the in-process that the second hemisphere frame was falling ground for anticollision frame still can offset a part impact force through rolling on the one hand, and cylindric frame can carry out the roll of line contact formula with ground on the one hand, prevents that circular shape anticollision frame from carrying out long-term unstable point contact rolling with ground and causing diversified and irregular upset and increase destruction probability to the unmanned aerial vehicle body.
5. After the unmanned aerial vehicle finds the fault position, the fault position can be marked by using a marking gun, such as an X-shaped or triangular pattern, and even a pattern with a fluorescent effect can be marked to make the mark more prominent, the mark can be applied to the fault position or the vicinity of the fault position, so that personnel can find the fault position more intuitively, accurately and rapidly when overhauling and maintaining the facility in a limited space, and the positioning effect of the GPS module is better.
The foregoing description of one or more embodiments provided in connection with the specific disclosure is not intended to limit the practice of this application to such description. Any approximation, or substitution of techniques for the methods, structures, etc. of the present application or for the purposes of making a number of technological deductions based on the concepts of the present application should be considered as the scope of protection of the present application.
Claims (7)
1. The unmanned aerial vehicle is applied to limited space safety detection and is characterized by comprising an unmanned aerial vehicle body (1) and an anti-collision frame (2) arranged outside the unmanned aerial vehicle body (1); the unmanned aerial vehicle body (1) comprises a frame (11) and a cradle head (12) arranged above the frame, wherein a lower rotor wing (110) is arranged on the frame (11), and a rotatable camera (121) is arranged on the cradle head (12); the anti-collision frame (2) comprises a first hemispherical frame (21), a second hemispherical frame (22) and a connecting rod (23), wherein the tangential edges of the first hemispherical frame (21) and the second hemispherical frame (22) are connected with each other through the connecting rod (23) to form the anti-collision frame (2);
the connecting rods (23) are uniformly distributed along the tangential edges of the first hemispherical frame (21) and the second hemispherical frame (22) to form a cylindrical frame for connecting the first hemispherical frame (21) and the second hemispherical frame (22);
the frame (11) comprises a base (111), mounting frames (112) are symmetrically arranged on two sides of the base (111), the mounting frames (112) comprise a first rod (113) and a second rod (114) which are connected to the base (111) and extend out of one side of the base (111) in a splayed shape in equal length, a third rod (115) connected with the extending end of the first rod (113) and a fourth rod (116) connected with the extending end of the second rod (114), free ends of the third rod (115) and the fourth rod (116) are combined to form a vertex angle connecting part (117) connected with the anti-collision frame (2), and a lower rotor (110) is arranged below the connecting part of the first rod (113) and the third rod (115) and below the connecting part of the second rod (114) and the fourth rod (116);
the first rod (113), the second rod (114), the third rod (115) and the fourth rod (116) are sequentially hinged end to form a diamond-shaped mounting frame (112), a limiting protrusion (1131) arranged on the base (111) and a first reset spring (1132) used for pulling the first rod (113) and the second rod (114) towards opposite directions are arranged between the inner angles of the first rod (113) and the second rod (114), the limiting protrusion (1131) is tightly attached to the first reset spring (1132), and a second reset spring (1133) is arranged between the inner angles of the third rod (115) and the fourth rod (116).
2. The unmanned aerial vehicle for limited space security detection according to claim 1, wherein the first half sphere frame (21) comprises: the frame strip (211) is provided with a plurality of frame strips, one ends of the plurality of frame strips (211) are folded, the other ends of the plurality of frame strips are unfolded to form a hemispherical frame shape, a clamping convex (2111) protruding outwards of the spherical top of the first hemispherical frame (21) is arranged at one folded end of the frame strip (211), and a clamping concave (2112) recessed towards the center of the tangential surface of the first hemispherical frame (21) is arranged at the unfolded end of the frame strip (211); the folding ring (212) is arranged at one folded end of the frame strip (211), the folding ring (212) comprises an annular hole (2121), an annular folding wall (2122) surrounding the annular hole (2121), annular grooves (2123) uniformly distributed along the annular shape of the annular folding wall (2122) and outer ring threads (2124) arranged on the outer wall of the annular folding wall (2122), the frame strip (211) is clamped and embedded in the annular grooves (2123), and the clamping protrusions (2111) are folded in the annular hole (2121) so that one ends of the plurality of frame strips (211) form a folded state; the screwing ring (213) is provided with a fixing hole (2131) fixed with the frame (11), an annular screwing wall (2132) surrounding the fixing hole (2131) and an inner ring thread (2133) arranged on the inner wall of the annular screwing wall (2132) and matched with the outer ring thread (2124), and the folding ring (212) is screwed into the screwing ring (213) after folding the frame strip (211); the opening ring (214) is uniformly provided with clamping holes (2141) with the same number as the frame strips (211) and locking holes (2142) with the same number as the connecting rods (23) along the periphery, and one opened end of each frame strip (211) is clamped into the corresponding clamping hole (2141); connecting rings (215) which are uniformly provided with through holes with the same number as the connecting rods (23) along the periphery; and a connecting screw passing through the lock hole (2142) and the through hole to lock the opening ring (214) and the connecting ring (215) on the connecting rod (23).
3. The unmanned aerial vehicle for limited space security exploration according to claim 1, further comprising a marking gun (3) for marking the failure site of the limited space.
4. A drone for use in limited space security detection according to claim 3, characterised in that the marking gun (3) is an automatic spray gun capable of spraying coloured solutions, said automatic spray gun comprising: a nozzle (31) provided with an X-shaped outlet for distributing the discharged colored solution in an X-shape; a liquid ejecting passage (32) whose outlet communicates with the nozzle (31); a solution bottle (33) for containing a color solution, wherein a liquid suction channel (34) for liquid to flow to the bottle mouth is arranged in the solution bottle, and a first one-way valve (30) for air to enter the bottle is arranged on the solution bottle (33); a piston cavity (35) which is communicated with the liquid spraying channel (32) and the liquid absorbing channel (34), a second one-way valve (36) for controlling the flow of the color solution from the piston cavity (35) to the direction of the nozzle (31) is arranged between the piston cavity (35) and the liquid absorbing channel (34), a third one-way valve (37) for controlling the flow of the color solution from the solution bottle (33) to the direction of the piston cavity (35) is arranged between the piston cavity (35) and the liquid absorbing channel (34), and a third one-way valve (37) capable of reciprocating in the piston cavity (35) is arranged in the piston cavity (35)
A movable piston (38), wherein a piston threaded hole is formed in the middle of the piston (38); a drive motor (39) having a motor shaft (391) with external threads that screws into the piston threaded bore to control reciprocation of the piston (38).
5. The unmanned aerial vehicle for limited space security detection according to claim 1, wherein the cradle head (12) is further provided with an illumination lamp (122) moving with the camera (121).
6. The unmanned aerial vehicle applied to the limited space safety detection according to claim 1, wherein the cradle head (12) is further provided with a GPS module for transmitting the position information of the unmanned aerial vehicle to a control end in real time.
7. The unmanned aerial vehicle for limited space security screening according to any of claims 1 to 6, further comprising a gas sensor provided on the pan-tilt (12) for detecting the concentration of harmful gases in the air.
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| CN110334733A (en) * | 2019-05-29 | 2019-10-15 | 中国石油大学(华东) | A method for early warning of pipeline corrosion in underground space based on ConvLSTM |
| CN112241942A (en) * | 2019-07-17 | 2021-01-19 | 中国石油大学(华东) | A method for monitoring the corrosion degree of underground space pipeline based on convolutional neural network |
| CN110647168A (en) * | 2019-08-30 | 2020-01-03 | 上海大学 | Cable tunnel environment detecting system based on multi-rotor unmanned aerial vehicle |
| CN112313942A (en) * | 2019-09-20 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Control device for image processing and frame body control |
| JP6790206B1 (en) * | 2019-09-20 | 2020-11-25 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Control devices, control methods, programs, and recording media |
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