The invention discloses a rotor wing flying robot system based on tunnel dome detection and a control method, and relates to the technical field of tunnel detection. The system comprises a four-rotor aircraft, a series-parallel detection platform, a passive flexible detection head, a two-degree-of-freedom undercarriage and a visual navigation unit. The hybrid detection platform is connected with the four-rotor aircraft, the visual navigation unit is mounted at the bottom of the four-rotor aircraft, the two-degree-of-freedom undercarriages are uniformly distributed on the peripheral side of the four-rotor aircraft and are fixedly connected with the four-rotor aircraft, and the passive flexible detection head is connected with a main body of the four-rotor aircraft; and a control unit, an execution unit, an alarm unit, a monitoring center and a monitoring transmission device are installed in the four-rotor aircraft pod. The problems that tunnel dome data cannot be detected in real time, the detection data precision is low, the detection equipment cost is high, and maintenance cannot be carried out are solved, and the working efficiency and flexibility of tunnel dome detection are greatly improved.
本发明公开了一种基于隧道穹顶检测的旋翼飞行机器人系统及控制方法,涉及隧道检测技术领域。本发明包括四旋翼飞行器、混联检测平台、被动式柔性探测头、二自由度起落架和视觉导航单元;混联检测平台与四旋翼飞行器连接,视觉导航单元安装于四旋翼飞行器底部,二自由度起落架均布在四旋翼飞行器周侧且两者固定连接,被动式柔性探测头与四旋翼飞行器主体连接;四旋翼飞行器吊舱中分别安装有控制单元、执行单元、报警单元、监控中心和监控传输设备。本发明解决了隧道穹顶数据无法实时检测,检测数据精度低,检测设备成本高且无法维修的问题,大大提高了隧道穹顶检测的工作效率和灵活性。
Rotor wing flying robot system based on tunnel dome detection and control method
一种基于隧道穹顶检测的旋翼飞行机器人系统及控制方法
2021-11-02
Patent
Elektronische Ressource
Chinesisch
IPC: | B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01M TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES , Prüfen der statischen oder dynamischen Massenverteilung rotierender Teile von Maschinen oder Konstruktionen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
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