CN208544411U - UAV with under-mounted rotor for safe detection of confined spaces - Google Patents
UAV with under-mounted rotor for safe detection of confined spaces Download PDFInfo
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- CN208544411U CN208544411U CN201820898104.2U CN201820898104U CN208544411U CN 208544411 U CN208544411 U CN 208544411U CN 201820898104 U CN201820898104 U CN 201820898104U CN 208544411 U CN208544411 U CN 208544411U
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Abstract
The utility model relates to a safety inspection field especially relates to be applied to unmanned aerial vehicle who has underlying formula rotor of limited space safety inspection, including the unmanned aerial vehicle body, the unmanned aerial vehicle body includes the frame and installs the cloud platform of frame top, be equipped with underlying formula rotor in the frame, be equipped with rotatable camera on the cloud platform. The application provides an be applied to unmanned aerial vehicle that has down-placed rotor that restricted space safety surveyed, down-placed rotor makes unmanned aerial vehicle's mobility stronger, more is favorable to it in time to avoid the obstacle in the restricted space of complicacy, promotes unmanned aerial vehicle's security, and the camera of being more convenient for is installed in order to shoot wider top image in the unmanned aerial vehicle top.
Description
[technical field]
This application involves safe field of detecting, more particularly to have underneath type rotor applied to what restricted clearance detected safely
Unmanned plane.
[background technique]
Restricted clearance further includes that various people are difficult to reach or the higher building of hazard index or equipment, various such as factory
The inside of equipment or building or be difficult to the outside (furnace, tower reactor, tank, storehouse, pond, tank car, pipeline, the flue of such as factory) reached and
Between the tunnel in city, sewer, ditch, hole, well, pond, culvert, valve, closing, semi-enclosed facility and the field such as sewage treatment facility
Institute (such as cabin, underground concealed engineering, closed container, long-term unused facility or unsmooth place of divulging information) and rural area storage
Deposit sweet potato, potato, the well of various vegetables, cellar etc..The mine of improper ventilation should also treat as restricted clearance.
Based on this, unmanned plane is needed to carry out safety detection, but the obstacle situation in restricted clearance to restricted clearance in advance
Unknown, this requires unmanned planes to need preferable mobility in favor of avoiding obstacle.
[summary of the invention]
In order to solve the above technical problems, the application's is designed to provide under the having detected safely applied to restricted clearance
The unmanned plane of formula rotor is set, underneath type rotor makes the mobility of unmanned plane stronger, is more advantageous to it in complicated restricted clearance
In avoid obstacle in time, promote the safety of unmanned plane, and camera of being more convenient for be mounted on it is broader to shoot above unmanned plane
Upper images.
The application is achieved through the following technical solutions:
Applied to the unmanned plane with underneath type rotor that restricted clearance detects safely, including drone body, the nothing
Man-machine ontology includes the holder of rack He the side of being mounted on the rack, and the rack is equipped with underneath type rotor, the holder
It is equipped with rotatable camera.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, the rack include
Pedestal, the two sides of base are symmetrically arranged with installing frame, and the installing frame includes being connected on the pedestal to stretch in splayed is isometric
Out the first bar and the second bar of the pedestal side, the third bar that is connect with first bar extension end and with second bar
It joins to form apex angle interconnecting piece in the free end of 4th bar of extension end connection, the third bar and the 4th bar.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, the underneath type rotation
The wing be located at below the interconnecting piece of first bar and the third bar and the interconnecting piece of second bar and the 4th bar under
Side.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, first bar,
Second bar, the third bar and the 4th bar head and the tail successively hingedly form the installing frame of diamond shape, and described first
There is the retention bead that is located on the pedestal and for by first bar and described between bar and the second bar interior angle
Second bar makes first bar and second bar be adjacent to the first back-moving spring of the retention bead, institute toward relative direction drawing
It states and is equipped with second back-moving spring between third bar and the 4th bar interior angle.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, further includes for marking
Remember the label rifle of the trouble location of restricted clearance.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, the label rifle are
The automatic spray gun of colored solution can be sprayed, the automatic spray gun includes:
Nozzle is equipped with exporting so that the colored solution sprayed is distributed in X shape for X-shaped；
Hydrojet channel, outlet are connected to the nozzle；
Solution bottle, is used for the colored solution of holding, and the interior imbibition channel being equipped with for flowing for liquid to bottleneck is described molten
Liquid bottle is equipped with the first check valve entered in bottle for air；
Plunger shaft is connected to the hydrojet channel and the imbibition channel, and the plunger shaft and the hydrojet channel
It is equipped between entrance and controls the second one-way valve that colored solution is flowed from the plunger shaft to the nozzle direction, the plunger shaft
It is unidirectional that the third that the colored solution of control is flowed from the solution bottle to the piston cavity direction is equipped between the imbibition channel
Valve, the plunger shaft is interior to be equipped with the piston that can be moved back and forth in the plunger shaft, is equipped with piston thread hole in the middle part of the piston；
Driving motor is equipped with and has externally threaded machine shaft, in piston thread hole described in the machine shaft precession
To control the reciprocating motion of the piston.
It is applied to the unmanned plane with underneath type rotor that restricted clearance detects safely as described above, is gone back on the holder
Equipped with the GPS module for the location information of unmanned plane to be transmitted to control terminal in real time.
It is applied to the unmanned plane with underneath type rotor that restricted clearance detects safely as described above, is gone back on the holder
Equipped with the irradiation light mobile with the camera.
The unmanned plane with underneath type rotor as described above detected safely applied to restricted clearance, further includes being located at institute
The gas sensor on holder is stated, for detecting the concentration of pernicious gas in air.
Compared with prior art, the application has the following advantages:
1, underneath type rotor makes the mobility of unmanned plane stronger, is more advantageous to it and keeps away in time in complicated restricted clearance
Obstacle is opened, the safety of unmanned plane is promoted, and camera of being more convenient for is mounted on above unmanned plane to shoot broader top figure
Picture.
2, the installation mount structure of hinged diamondwise is when unmanned plane is hit, especially when apex angle interconnecting piece by
When impact force, two installing frames of diamond shape are squeezed and deformed toward opposite direction, the first back-moving spring and described second
Reset spring, which then cooperates with the retention bead, is pulled to normal shape for installing frame, can be effective by the buffer function of spring
The damage that drone body especially rotor is subject to when unmanned plane is hit is reduced, and there is certain shock-absorbing effect.
[Detailed description of the invention]
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is structural representation Fig. 1 of the embodiment of the present application 1；
Fig. 2 is structural representation Fig. 2 of the embodiment of the present application 1；
Fig. 3 is the portion the A enlarged drawing of Fig. 2；
Fig. 4 is the portion the B enlarged drawing of Fig. 2；
Fig. 5 is the decomposition texture schematic diagram of the embodiment of the present application 1；
Fig. 6 is gathering ring and the decomposition texture schematic diagram for screwing ring described in the embodiment of the present application 1；
Fig. 7 is the structural schematic diagram of rack described in the embodiment of the present application 1；
Fig. 8 is the structural schematic diagram that rifle is marked described in the embodiment of the present application 1；
Fig. 9 is the outlet schematic diagram of nozzle described in the embodiment of the present application 1；
Figure 10 is the structural schematic diagram of rack described in the embodiment of the present application 2；
Figure 11 is in the embodiment of the present application 1 in the image information figure taken in restricted clearance；
Figure 12 is image information in Figure 11 by treated the image information figure of step S22 described in embodiment 1；
Figure 13 is that 1 described image of the embodiment of the present application identifies schematic diagram；
Figure 14 is the schematic illustration of process of convolution described in the embodiment of the present application 1；
Figure 15 is the schematic illustration of the processing of pondization described in the embodiment of the present application 1.
[specific embodiment]
The technical issues of in order to keep the application solved, technical solution and beneficial effect are more clearly understood, below in conjunction with
The application is further elaborated in accompanying drawings and embodiments.It should be appreciated that specific embodiment described herein is only used
To explain the application, it is not used to limit the application.
As shown in Figures 1 to 10, the embodiment of the present application proposes to be applied to the unmanned plane that restricted clearance detects safely, including nothing
Man-machine ontology 1 and the anticollision frame 2 being located at outside the drone body 1；The drone body 1 includes rack 11 and peace
Holder 12 above the rack, the rack 11 are equipped with underneath type rotor 110, and the holder 12 is equipped with camera
121, with the mobile irradiation light 122 of the camera 121 and for the location information of unmanned plane to be transmitted to control terminal in real time
GPS module；The anticollision frame 2 includes the first hemisphere frame 21, the second hemisphere frame 22 and connecting rod 23, the first hemisphere frame
21 and the tangent plane edge of the second hemisphere frame 22 the anticollision frame 2 is interconnected to form by the connecting rod 23.It is above-mentioned
Unmanned plane can replace people to carry out the work such as information collection, safety detection to restricted clearance.
Obstacle avoidance module can also be set in the drone body, such as infrared probe or ultrasonic probe, be conducive to nothing
It is man-machine to avoid obstacle in complicated restricted clearance, nevertheless, it is still higher to the manipulation level requirement of operator, it is above-mentioned anti-
Manipulation difficulty to unmanned plane can be substantially reduced by hitting frame, and protect unmanned plane to a greater extent.Specifically, the anticollision
The whole maximum gauge of frame 2 is less than 500mm, and material is carbon fiber, and light-weighted anticollision frame can when colliding with object
To spring back or rotate, unmanned plane especially rotor can be effectively prevent not to be damaged, it even can be from high-altitude free falling
Without damage, being more advantageous to unmanned plane can fly in strange complex environment, greatly reduce the incidence of " aircraft bombing ", protect
Card unmanned plane is capable of the information of normal acquisition restricted clearance.
In restricted clearance, often complicated condition, dark are closed, it is easier to cause unmanned plane to collide with barrier and lead to not
Flight can illuminate front with the mobile irradiation light of the camera, be more advantageous to control terminal according to the image of thecamera head
Unmanned plane during flying is controlled, while being conducive to unmanned plane can more clearly acquire image information.
More specifically, irradiation light selects the LED light of high intense light irradiation and is mounted on the side of camera, in addition, unmanned plane sheet
Body is equipped with high capacity cell, and preferably lithium battery is as energy resource supply.Further, winged space mini3D can be selected in the holder
Pro, holder can be used as installation, the support equipment of fixed video camera even can adjust the level of video camera and the angle of pitching.Nothing
Man-machine data, which are transmitted, can be selected 3DR wireless data transmission module, WIFI wireless data transmission module or 4G network transmission module.Control terminal
It include remote controler and monitor, remote controler can control the state of flight of unmanned plane, and monitor can obtain the figure of unmanned plane immediately
As information, location information and the other environmental information of acquisition.
It is connected on the output shaft of close coupled type DC brushless motor above underneath type rotor, although underneath type rotor stability
Declined, but the mobility of unmanned plane is stronger, is more advantageous to it and avoids obstacle in time in complicated restricted clearance, is promoted
The safety of unmanned plane, and camera of being more convenient for is mounted on above unmanned plane to shoot broader upper images.
Preferably, tangent plane edge of multiple connecting rods 23 along the first hemisphere frame 21 and the second hemisphere frame 22
It is uniformly distributed the cylindric frame to be formed and connect the first hemisphere frame 21 and the second hemisphere frame 22.Specifically, the company
Extension bar 23 is equipped with 4, cylindric frame is arranged between the first hemisphere frame and the second hemisphere frame, so that anticollision frame
During dropping into ground, on the one hand still a part of impact force can be offset by rolling, on the one hand cylindric frame
The rolling that line contact type can be carried out with ground prevents circular anticollision frame and ground from carrying out long-term unstable point contact
It rolls and is caused by multi-faceted and irregular overturning and increases and destroys probability for drone body.
In the present embodiment 1, the rack 11 includes pedestal 111, and 111 two sides of pedestal are symmetrically arranged with installing frame 112,
The installing frame 112 includes being connected on the pedestal 111 in isometric the first bar for stretching out 111 side of pedestal of splayed
113 and second bar 114, the third bar 115 that is connect with 113 extension end of the first bar and with 114 extension end of the second bar
The free end of 4th bar 116 of connection, the third bar 115 and the 4th bar 116 joins to be formed to be connected with the anticollision frame 2
The apex angle interconnecting piece 117 connect, the underneath type rotor 110 are located at the interconnecting piece of first bar 113 and the third bar 115
Below the interconnecting piece of lower section and second bar 114 and the 4th bar 116.Specifically, first bar 113, the second bar
114, multiple fabrication holes are all offered on third bar 115 and the 4th bar 116, can effectively mitigates rack weight, the machine of frame-shaped
Frame is symmetrically formed four for installing the installation points of rotor in two sides of base, and structure is simple, lightweight, and be conducive to rotor can
It is installed by stablizing.
In the present embodiment 1, the first hemisphere frame 21 includes: moulding 211, is equipped with a plurality of, a plurality of 211 one end of moulding
It collapses, the other end opens to form hemisphere frame-shaped, and one end that the moulding 211 collapses is equipped with to 21 top dome of the first hemisphere frame
The card convex 2111 of outer protrusion, one end that the moulding 211 opens are equipped with the card being centrally recessed into 21 section of the first hemisphere frame
Recessed 2112；Ring 212 is collapsed, one end that the moulding 211 collapses is located at, the gathering ring 212 includes looping pit 2121, surrounds
The annular of the looping pit 2121 collapses wall 2122, the equally distributed annular groove 2123 of the annular of wall 2122 is collapsed along the annular with
And it is provided with the outer ring screw thread 2124 that the annular collapses 2122 outer wall of wall, 211 inlay card of moulding is in the annular groove 2123
The interior and described card convex 2111 collapses in the looping pit 2121 so that 211 one end 5 of a plurality of moulding forms rounding state；Rotation
Cyclization 213, be equipped with the fixation hole 2131 fixed with 11 phase of rack, around the fixation hole 2131 annular screw wall 2132 with
And it is provided with the annular and screws the inner ring screw thread 2133 matched on 2132 inner wall of wall with the outer ring screw thread 2124, the receipts
Hold together ring 212 and collapse 211 back spin of moulding and is screwed in ring 213 into described；Expanded loop 214, along circumference be uniformly provided with it is described
The equal card hole 2141 of 211 quantity of moulding and the lockhole 2142 equal with 23 quantity of connecting rod, the moulding 211 are opened
The one end opened sticks into the card hole 2141；Connection ring 215 is uniformly provided with equal with 23 quantity of connecting rod along circumference
Via hole；Attachment screw, the attachment screw pass through the lockhole 2142 and the via hole for the expanded loop 214 and the connection
Ring 215 is locked in the connecting rod 23.
The structure of the second hemisphere frame 22 is symmetrical set with the first hemisphere frame 21.Spherical structure makes nobody
Machine is more uniformly stressed when by colliding, more comprehensive to the protection of unmanned plane, and sound construction, is dismounted easily.
The unmanned plane further includes the label rifle 3 for marking the trouble location of restricted clearance.When unmanned plane finds failure
Behind position, label rifle can be used, sign flag is carried out to trouble location, such as stamp X-shaped or triangle pattern, it might even be possible to beat
The upper pattern with fluorescent effect keeps label more prominent, and label can act near trouble location or trouble location certainly,
In conjunction with the positioning of GPS module, enable personnel more intuitive, accurate, fast when the facility to restricted clearance carries out repair and maintenance
Trouble location is found promptly.
Preferably, the label rifle 3 is the automatic spray gun that can spray colored solution.The colored solution may be selected as red
Color solution can be added fluorescent powder in certain solution and make the distincter protrusion of indicia patterns.Specifically, the automatic spray gun packet
Include: nozzle 31 is equipped with exporting so that the colored solution sprayed is distributed in X shape for X-shaped；Hydrojet channel 32, outlet with it is described
Nozzle 31 is connected to；Solution bottle 33 is used for the colored solution of holding, the interior imbibition channel being equipped with for flowing for liquid to bottleneck
34, the solution bottle 33 is equipped with the first check valve 30 entered in bottle for air；Plunger shaft 35, with the hydrojet channel 32
It is connected to the imbibition channel 34, and is equipped between the plunger shaft 35 and 32 entrance of hydrojet channel and controls colored solution
The second one-way valve 36 flowed from the plunger shaft 35 to 31 direction of nozzle, the plunger shaft 35 and the imbibition channel 34
Between be equipped with and control the third check valve 37 that colored solution is flowed from the solution bottle 33 to 35 direction of plunger shaft, the work
It is equipped with the piston 38 that can be moved back and forth in the plunger shaft 35 in plug chamber 35, is equipped with piston thread hole in the middle part of the piston 38；
Driving motor 39 is equipped with and has externally threaded machine shaft 391, with control in piston thread hole described in the machine shaft precession
Make the reciprocating motion of the piston 38.
When work, driving motor rotate forward, drive piston in plunger shaft retraction with the solution in draw solution bottle to piston
In chamber, then driving motor is inverted, and driving piston quickly moves forward in plunger shaft, by the solution sucked in plunger shaft through nozzle
It ejects.
It is additionally provided with gas sensor on the holder 12, multiple sensors, including such as one can be integrated inside gas sensor
Carbonoxide gas sensor, gas gas sensor, freon gas dependent sensor etc., can measure the type of gas, concentration and at
Point, and it is converted into electric signal.On the one hand the safety problems such as the gaseous contamination of detection restricted clearance, gas leakage, on the one hand shift to an earlier date
The gas hazard degree for detecting restricted clearance promotes degree of safety when subsequent personnel enter restricted clearance maintenance.
It should be noted that be additionally provided with master control borad in the drone body, the camera, GPS module, irradiation light,
It driving motor, holder, gas sensor and controls the electric devices such as motor of rotor rotational and is electrically connected with master control borad to realize
Control is realized and such as switchs, rotates movement.
The present embodiment also provides the safe detection method of restricted clearance based on unmanned plane, including being adopted using the information of unmanned plane
Acquisition means carry out safety monitoring information collection to the region that restricted clearance domestic demand security monitoring detects, and safety collected is supervised
Measurement information application safety monitoring information recognition methods carries out safety monitoring information identification fortune in safety monitoring information identification module
Recognition result is exported after calculation.It replaces personnel to detect the case where restricted clearance with unmanned plane, greatly reduces personnel's entrance
The insecurity of restricted clearance, it is also very convenient to detect, and enhances the timeliness and stability of judging result.It can be according to detection
The defect level of the facility in restricted clearance arrived chooses whether horse back arrangement personnel and safeguards, still continues to use facility,
Because individual defects degree not necessarily influences the work of facility, until defect to a certain extent when repair again, be more advantageous to
The effective rate of utilization of resource is promoted, and it is more safe and intelligent that the safety monitoring of restricted clearance is worked.
Correspondingly, the information collecting device is camera, and the safety monitoring information is image information, the safety prison
Measurement information identification module is picture recognition module, and the safety monitoring information identifying method is image-recognizing method, the camera shooting
Head acquired image information exports knowledge after identifying operation to image information with image-recognizing method in picture recognition module
Not as a result, of course, it is possible to by unmanned plane by the route automatic cruising of setting, can also artificial real time remote control unmanned plane to limited empty
It is interior to carry out camera shooting activity, it as shown in figure 11 can be the image information 600 taken in restricted clearance.Figure 13 shows for image recognition
It is intended to, the corrosion sites in figure in rectangle frame to recognize.Described image recognition methods the following steps are included:
S21 classifies the detection scene of restricted clearance, and categorized good scarce for every a kind of probe field scape matching
The identification image for the degree of falling into is fabricated to a training dataset, it should be noted that the defects of described defect level may include
Situations such as damage, slight crack, corrosion, the specifically such as damage of pipe leakage, oil storage tank, Coal Mine Subsidence, and the safety monitoring information
The detectable drawbacks described above of identification module and the recognition result for exporting degree of correspondence, such as different degrees of leakage, different degrees of damage
Evil etc., in the present embodiment, the detection scene be classified as feed channel burner, support storage tank, inside industrial chimney, Large Oil
Tank ship is internal, inside big pipeline or coal-fired power station boiler, and the defect level is heavy corrosion, moderate corrosion or mild corrosion,
The recognition result is heavy corrosion, moderate corrosion or mild corrosion；
S22, the training data inputted in step S21 concentrate the identification image that detection scene and defect level have been classified
And carry out image sharpening and edge enhancing processing, wherein Figure 12 is that the image information 600 taken in restricted clearance passes through step
S22 treated image information 700；
S23 instructs convolutional neural networks using through the step S22 training dataset that treated identifies that image is formed
Practice；
S24, by the image information acquired in step S1 input in the convolutional neural networks after step S22 training, output
Recognition result, in the present embodiment, the output valve of the recognition result are heavy corrosion, moderate corrosion or mild corrosion.
Wherein, convolutional neural networks are trained described in step S23 the following steps are included:
S231 successively carries out first time process of convolution to the identification image concentrated through step S22 treated training data,
For convolutional neural networks first layer, it is preferable that by through step S22 treated identification image size be unified for 32 × 32 × 1,
The filter size of convolutional layer is 5 × 5, and depth 6 is supplemented without using full 0, and step-length 1 obtains the convolutional neural networks
The Output Size of first layer is 32-5+1=28, and depth 6, i.e., the described convolutional neural networks second layer node matrix equation has 28 × 28
× 6=4704 node, each node and 5 × 5=25 current node layers are connected, i.e. convolutional neural networks first layer is a total of
4704 × (25+1)=122304 connection；
S232: the processing of first time pondization is carried out to the convolutional neural networks first layer, local acknowledgement's normalized is
The convolutional neural networks second layer, it is preferable that the filter size that the convolutional neural networks second layer uses is for 2 × 2, step-length
2, the convolutional neural networks second layer output matrix size is 14 × 14 × 6；
S233 carries out second of process of convolution to the convolutional neural networks second layer, is convolutional neural networks third layer,
Preferably, the convolutional neural networks second layer output matrix is the input of the convolutional neural networks third layer, the mistake of use
Filter size is 5 × 5, and depth 16 is supplemented without using full 0, and the Output Size of step-length 1, convolutional neural networks third layer is
14-5+1=10, depth 16, i.e. convolutional neural networks third layer output matrix size are 10 × 10 × 16, convolutional Neural net
Network third layer parameter has 5 × 5 × 6 × 16+16=2416, there is 10 × 10 × 16 × (5 × 5+1)=41600 connection；
S234 carries out second of pondization processing to the convolutional neural networks third layer, is the 4th layer of convolutional neural networks,
Preference, the input matrix size that the 4th layer of the convolutional neural networks are 10 × 10 × 16, the filter size used for 2 ×
2, step-length 2, the output matrix size that the 4th layer of the convolutional neural networks is 5 × 5 × 16；
S235 obtains convolutional neural networks layer 5 to the 4th layer of the convolutional neural networks in a manner of connecting entirely, excellent
Selection of land, the output matrix that the 4th layer of the convolutional neural networks are the input of the convolutional neural networks layer 5, are straightened
The vector for being 5 × 5 × 16 for a length, i.e., the one-dimensional space is straightened in vector form in a three-dimensional matrice indicates, into
Enter full articulamentum to be trained, the output node number of the convolutional neural networks layer 5 is 120, that is, shares 5 × 5 × 16
× 120+120=48120 parameter；
S236, the convolutional neural networks layer 5 is obtained output layer in a manner of connecting entirely: output layer is divided into 6
Independent part, each part are additionally connected with an independent loss function；
S237 minimizes the value of the loss function using good identification image categorized in S21, completes to convolution mind
Training through network, this step are further to be corrected by categorized good identification picture and optimization convolutional neural networks.
Wherein, the Edge contrast method can be high-pass filtering and the airspace differential method, and enhancing processing in edge can then use
The brightness value of image adjacent picture elements is differed biggish edge and is highlighted by airspace method and frequency domain method, with efficiently
The feature for extracting image information, reinforces the accuracy of image recognition.The principle of the process of convolution is to bring input data 100 into
Convolution accounting method is converted into weight matrix 300 by convolution kernel 200, it should be noted that the convolution kernel, that is, above-mentioned
The filter of convolutional layer, the matrix is in conjunction with image, to generate the output of a convolution.The pondization processing is for subtracting
The quantity of few convolutional neural networks training parameter and the space size of image, pond are completed alone in each depth dimension,
Therefore with allowing convolutional layer to reduce operand under the premise of the depth of image remains unchanged, principle is will be to pond image data
It chooses maximum value and forms new image data 500 in the region not being overlapped in 400.
The safe detection method of the above-mentioned restricted clearance based on unmanned plane replaces the case where personnel are to restricted clearance with unmanned plane
It is detected, the personnel of greatly reducing enter the insecurity of restricted clearance, detect also very convenient intelligence, and enhance judgement
As a result timeliness and stability.Moreover, in order to improve the effective rate of utilization of resource, it can be according in the restricted clearance detected
Facility damage or defect level, choose whether horse back arrangement personnel and safeguard, still continue to use facility, wait restricted clearances
The defects of repaired when reaching the degree to need repairing again.
Convolutional neural networks can recognize that image, can be by by training simultaneously by the accuracy rate of training Statistical error result
Artificial judgement is gradually got rid of, is realized intelligent.So that judgement is more stable, quick.
In addition, the information collecting device can also include the region for detecting to restricted clearance domestic demand security monitoring
The gas sensor that gas information is acquired, the safety monitoring information are gas information, the safety monitoring information identification
Module is gas identification module, and the safety monitoring information identifying method is Gas Distinguishing Method, and the gas sensor is adopted
The gas information of collection exports recognition result after identifying operation to gas information with Gas Distinguishing Method on gas identification module.
Gas sensor can be used to measure the type of gas, concentration and ingredient, the special component in gas can be detected, such as an oxygen
Change the detection of carbon gas, the detection of methane gas, the detection of coal gas, detection of freon (R11, R12) etc., using on unmanned plane
The gas sensor of setting is acquired the gas information of restricted clearance, on the one hand detects gaseous contamination, the gas of restricted clearance
The safety problems such as body leakage, on the one hand detect the gas hazard degree of restricted clearance in advance, promote subsequent personnel and enter limited sky
Between overhaul when degree of safety.
In example 2, the present embodiment is substantially the same manner as Example 1, states for simplicity, only illustrate its primary structure with
1 difference of embodiment.Unaccounted part is same as Example 1 in the present embodiment, and difference is: first bar 113,
Second bar 114, the third bar 115 and 116 head and the tail of the 4th bar successively hingedly form the installing frame of diamond shape
112, and there is the retention bead 1131 being located on the pedestal 111 between first bar 113 and 114 interior angle of the second bar
And for first bar 113 and second bar 114 to be made first bar 113 and described the toward relative direction drawing
Two bars 114 are adjacent to the first back-moving spring 1132 of the retention bead 1131, in the third bar 115 and the 4th bar 116
Second back-moving spring 1133 is equipped between angle.Specifically, the first back-moving spring and the second back-moving spring are pulling force bullet
Spring, when unmanned plane is hit, especially when apex angle interconnecting piece is by impact force, two installing frames of diamond shape are toward phase
Pair direction be squeezed and deformed, the first back-moving spring and the second back-moving spring then will installations with retention bead cooperation
Frame is pulled to normal shape, and by the buffer function of spring, drone body can be effectively reduced when unmanned plane is hit especially
It is the damage that rotor is subject to, and there is certain shock-absorbing effect.
In conclusion the application is had the advantages that by the improvement in structure
1, the unmanned plane provided can replace people to carry out the work such as information collection, safety detection to restricted clearance.
2, light-weighted anticollision frame can spring back or rotate when colliding with object, can effectively prevent unmanned plane especially
It is that rotor is not damaged, even can be from high-altitude free falling without damage, being more advantageous to unmanned plane can answer in strange
It flies in miscellaneous environment, greatly reduces the incidence of " aircraft bombing ", guarantee that unmanned plane is capable of the information of normal acquisition restricted clearance
And manipulation difficulty to unmanned plane can be substantially reduced.
3, it is connected on the output shaft of close coupled type DC brushless motor above underneath type rotor, although underneath type rotor is stablized
Property declined, but the mobility of unmanned plane is stronger, is more advantageous to it and avoids obstacle in time in complicated restricted clearance, mentions
The safety of unmanned plane is risen, and camera of being more convenient for is mounted on above unmanned plane to shoot broader upper images.
4, cylindric frame is set between the first hemisphere frame and the second hemisphere frame, so that anticollision frame is falling
During falling to the ground, on the one hand still a part of impact force can be offset by rolling, on the one hand cylindric frame can be with
The rolling that line contact type is carried out with ground prevents circular anticollision frame and ground from carrying out long-term unstable point contact and rolls
Multi-faceted and irregular overturning is caused to drone body and increases and destroys probability.
5, after unmanned plane finds trouble location, label rifle can be used, sign flag is carried out to trouble location, such as stamp X
Shape or triangle pattern, it might even be possible to which stamping the pattern with fluorescent effect keeps label more prominent, and label can act on certainly
Near trouble location or trouble location, enable personnel to restricted clearance facility carry out repair and maintenance when it is more intuitive,
Accurately and quickly find trouble location, in conjunction with GPS module locating effect more preferably.
It is the one or more embodiments provided in conjunction with particular content as described above, does not assert the specific reality of the application
It applies and is only limited to these instructions.It is all approximate with the present processes, structure etc., identical, or under the application concept thereof
It makes several technologies to deduce, or replacement all should be considered as the protection scope of the application.
Claims (9)
1. being applied to the unmanned plane with underneath type rotor that restricted clearance detects safely, including drone body (1), feature
It is, the drone body (1) includes the holder (12) of rack (11) and the side of being mounted on the rack, the rack (11)
It is equipped with underneath type rotor (110), the holder (12) is equipped with rotatable camera (121).
2. the unmanned plane with underneath type rotor according to claim 1 detected safely applied to restricted clearance, special
Sign is that the rack (11) includes pedestal (111), and pedestal (111) two sides are symmetrically arranged with installing frame (112), the peace
(112) are framed up including being connected on the pedestal (111) in isometric the first bar for stretching out pedestal (111) side of splayed
(113) and the second bar (114), the third bar (115) that is connect with the first bar (113) extension end and with second bar
(114) it joins to be formed in the free end of the 4th bar (116) of extension end connection, the third bar (115) and the 4th bar (116)
Apex angle interconnecting piece (117).
3. the unmanned plane with underneath type rotor according to claim 2 detected safely applied to restricted clearance, special
Sign is, the underneath type rotor (110) be located at below the interconnecting piece of first bar (113) and the third bar (115) with
And the interconnecting piece lower section of second bar (114) and the 4th bar (116).
4. the unmanned plane with underneath type rotor according to claim 2 detected safely applied to restricted clearance, special
Sign is, first bar (113), second bar (114), the third bar (115) and the 4th bar (116) from beginning to end according to
The secondary hinged installing frame (112) for forming diamond shape, and have between first bar (113) and second bar (114) interior angle
There is the retention bead (1131) being located on the pedestal (111) and is used for first bar (113) and second bar
(114) first bar (113) and second bar (114) is made to be adjacent to the retention bead (1131) toward relative direction drawing
First back-moving spring (1132) is equipped with second back-moving spring between the third bar (115) and the 4th bar (116) interior angle
(1133)。
5. the unmanned plane with underneath type rotor according to claim 1 detected safely applied to restricted clearance, special
Sign is, further includes the label rifle (3) for marking the trouble location of restricted clearance.
6. the unmanned plane with underneath type rotor according to claim 5 detected safely applied to restricted clearance, special
Sign is that label rifle (3) is the automatic spray gun that can spray colored solution, and the automatic spray gun includes:
Nozzle (31) is equipped with exporting so that the colored solution sprayed is distributed in X shape for X-shaped；
Hydrojet channel (32), outlet are connected to the nozzle (31)；
Solution bottle (33) is used for the colored solution of holding, the interior imbibition channel (34) being equipped with for flowing for liquid to bottleneck, institute
It states solution bottle (33) and is equipped with the first check valve (30) entered in bottle for air；
Plunger shaft (35) is connected to the hydrojet channel (32) and the imbibition channel (34), and the plunger shaft (35) with
It is equipped between hydrojet channel (32) entrance and controls colored solution from the plunger shaft (35) Xiang Suoshu nozzle (31) direction stream
Dynamic second one-way valve (36) is equipped between the plunger shaft (35) and the imbibition channel (34) and controls colored solution from described
The third check valve (37) of solution bottle (33) Xiang Suoshu plunger shaft (35) direction flowing, interior be equipped with of the plunger shaft (35) can be in institute
The piston (38) moved back and forth in plunger shaft (35) is stated, is equipped with piston thread hole in the middle part of the piston (38)；
Driving motor (39) is equipped with and has externally threaded machine shaft (391), piston thread described in the machine shaft precession
The reciprocating motion of the piston (38) is controlled in hole.
7. the unmanned plane with underneath type rotor according to claim 1 detected safely applied to restricted clearance, special
Sign is, the GPS module for the location information of unmanned plane to be transmitted to control terminal in real time is additionally provided on the holder (12).
8. the unmanned plane with underneath type rotor according to claim 1 detected safely applied to restricted clearance, special
Sign is, the irradiation light (122) mobile with the camera (121) is additionally provided on the holder (12).
9. nobody with underneath type rotor according to claim 1-8 detected safely applied to restricted clearance
Machine, which is characterized in that further include the gas sensor being located on the holder (12), for detecting the dense of pernicious gas in air
Degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820898104.2U CN208544411U (en) | 2018-06-11 | 2018-06-11 | UAV with under-mounted rotor for safe detection of confined spaces |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820898104.2U CN208544411U (en) | 2018-06-11 | 2018-06-11 | UAV with under-mounted rotor for safe detection of confined spaces |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021146972A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳市大疆创新科技有限公司 | Airspace detection method, movable platform, device, and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021146972A1 (en) * | 2020-01-21 | 2021-07-29 | 深圳市大疆创新科技有限公司 | Airspace detection method, movable platform, device, and storage medium |
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