Development of a camera-mounted tethered Quadrotor for inspecting infrastructures

摘要

A camera-mounted tethered Quadrotor is proposed to substitute for proximity viewing check of a bridge or the wall in a tunnel. We first describe the design and manufacture of the airframe, and then manufacture a stabilizer for making the posture of the camera mounted on the airframe constant. Here, the camera can transmit its image to a smart-phone through a Wi-Fi communication system, and the stabilizer is controlled by a PID controller. To check whether the camera-mounted tethered Quadrotor manufactured is stabilized, some flight experiments are finally conducted indoors