Traffic infrastructure inspection unmanned aerial vehicle and system thereof

Abstract

The invention discloses a traffic infrastructure inspection unmanned aerial vehicle and a system thereof, and relates to the technical field of inspection unmanned aerial vehicles, the traffic infrastructure inspection unmanned aerial vehicle comprises a driving integrated machine body, a regulation and control assembly is installed in the driving integrated machine body, and the side end of the regulation and control assembly is fixedly connected with a side wing regulation and control assembly; according to the unmanned aerial vehicle, under the cooperation of the side wing regulation and control assembly and the regulation and control assembly, the light high-strength auxiliary wing structure capable of reducing wind resistance is adopted, so that the unmanned aerial vehicle is effectively kept in a more stable flight attitude, the image stability and the data accuracy during inspection are improved, the flight performance of the unmanned aerial vehicle is adjusted according to actual requirements in the flight process, and the unmanned aerial vehicle is more stable in flight. When long-distance inspection is carried out in an open zone, the regulation and control assembly can drive the side wing regulation and control assembly to retract, so that the overall flight resistance is reduced, energy is saved, the flight efficiency is improved, the situation that the unmanned aerial vehicle is limited due to the fact that the state of the unmanned aerial vehicle is affected by the construction operation environment is reduced, and the detection effect of the unmanned aerial vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection drones, and in particular to a transportation infrastructure inspection drone and a system thereof. Background Art

[0002] Unmanned aerial vehicles, or UAVs for short, are unmanned aerial vehicles that are controlled by radio remote control equipment and self-contained program control devices. UAVs are actually a general term for unmanned aerial vehicles. From a technical point of view, they can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned helicopters, unmanned multi-rotor aircraft, unmanned paragliders, etc., and in the inspection of bridges and roads, UAVs can provide multi-perspective video or image data. In recent years, with the continuous expansion of the scale of national project construction in the field of infrastructure, a large amount of manpower and material resources are required to carry out structural inspection and health monitoring during the construction and operation of highway and railway projects.

[0003] Intelligent detection / monitoring of infrastructure is the current trend. The operation of drones is restricted by the surrounding environment, and the detection and monitoring effects are not good. Therefore, a transportation infrastructure inspection drone and its system are proposed. Summary of the invention

[0004] The purpose of the present invention is to provide a traffic infrastructure inspection drone to solve the problem raised in the above background technology that when the drone is used for intelligent detection / monitoring of infrastructure, it is easily restricted by the surrounding environment, resulting in poor detection and monitoring effects.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a traffic infrastructure inspection drone, comprising a drive integrated body, a control component is installed inside the drive integrated body, and a wing control component is fastened to the side end of the control component;

[0006] The wing control assembly includes a connecting frame plate, a servo motor is mounted on the side surface of the connecting frame plate, a differential is connected to the side of the servo motor, a worm is connected to the output end of the servo motor, a worm wheel is meshed at the bottom of the worm wheel, the axial end of the worm wheel is mounted on the surface of the connecting frame plate through a connecting shaft, an electric steering control seat is fastened to the side center surface of the worm wheel, a reinforcing wing rod is rotatably connected to the inside of the electric steering control seat, a first electric telescopic guide rod and a second electric telescopic guide rod are respectively mounted on the top side and the bottom side of the reinforcing wing rod, and the first electric telescopic guide rod The side end of the output telescopic shaft of the rod is tightly connected to the side end of the electric steering control seat, and the first electric telescopic guide rod is used to enable the electric steering control seat to drive the reinforced wing rod to rotate and adjust, the side end of the reinforced wing rod is rotatably connected to the adjustable hinged side frame, the internal rotation of the adjustable hinged side frame is connected to the wind guide wing mounting side fence, the side end of the wind guide wing mounting side fence is tightly connected to the wind guide wing, the side end of the output telescopic shaft of the second electric telescopic guide rod is tightly connected to the top side end of the adjustable hinged side frame, and the second electric telescopic guide rod is used to make the wind guide wing mounting side fence and the wind guide wing located on the side of the reinforced wing rod In cooperation with the adjustable hinged side frame, they are rotatably connected inside.

[0007] Preferably, the regulating component includes a middle-drive regulating box, in which a control servo drive motor is installed in an embedded manner, and a rotating gear is connected to the bottom output end of the control servo drive motor, and two sets of reinforced load-bearing racks are meshed and connected at both ends of the outer circumference of the rotating gear, and the two sets of reinforced load-bearing racks respectively penetrate the left and right side surfaces of the middle-drive regulating box, and are fastened to the side wall surface of the connecting frame plate.

[0008] Preferably, a fast charging structure and a fast discharging structure are respectively installed on the four end surfaces of the bottom mounting platform of the driving integrated body, and an airborne curved rod is fastened to the bottom center end of the mounting platform, and the side end of the airborne curved rod is rotatably connected to an edge curved rod via a first micro motor, and the side end of the edge curved rod is rotatably connected to a binocular depth high-resolution camera via a second micro motor.

[0009] Preferably, an infrared thermal imager is installed on the inner surface of the drive integrated body, a three-dimensional laser radar is installed on the inner side end of the drive integrated body, and an ultrasonic sensor is fastened to the top side end of the drive integrated body.

[0010] Preferably, the axial end of the driving integrated body is fastened to a side guard structure, four sets of driving wings are installed at the top four ends of the driving integrated body, the four sets of driving wings are all located inside the guard ring of the side guard structure, and the bottom of the driving integrated body is fastened to an elastic load-bearing frame.

[0011] Preferably, a microprocessor central controller, a data processing terminal, a fault detection and diagnostic self-test are installed inside the drive integrated body.

[0012] Preferably, the data processing end is used to collect status data of a binocular depth high-resolution camera, an infrared thermal imager, a three-dimensional laser radar, an ultrasonic sensor and four sets of drive wings, and through a built-in predictive controller, enables the fault detection and diagnosis self-test module to monitor the operating status of the drive integrated body. Once an abnormal situation is found, the fault diagnosis can be carried out in time, and the cause of the fault can be determined through the self-test function, and feedback coordination can be carried out through the microprocessor central controller.

[0013] Preferably, the microprocessor central controller also includes remaining power prediction and intelligent return, and the remaining power prediction and the microprocessor central controller form a signal connection.

[0014] Preferably, the remaining power prediction is used to determine the usage status of the high-efficiency and long-lasting battery built into the driving integrated body, and the intelligent return is used to ensure that the vehicle can return to the charging station safely when the power is low.

[0015] A system for inspecting a traffic infrastructure using a drone, comprising the following steps:

[0016] S1. When the whole is flying at a low speed, hovering or encountering strong winds, the microprocessor central controller makes the control component drive the two ends of the wing control component to drive and adjust the self-driving integrated body according to the current operation state, so that the wing control component forms a self-adjusting state to improve the image stability and data accuracy during inspection;

[0017] S2. During long-distance cruising, the control components drive the wing control components to retract, so as to reduce the overall flight resistance and save energy.

[0018] S3. Then, during the inspection, 5G or higher bandwidth wireless communication technology is used to achieve high-speed data transmission between the UAV and the ground control center to ensure the real-time return of inspection data. During the flight, the fast charging structure and fast discharging structure are used to enable the UAV to quickly form an energy supply mode during long-term operation to ensure the operation stability of the UAV. At the same time, the remaining power prediction and intelligent return function are used to ensure that the UAV can return to the charging station safely when the power is insufficient.

[0019] S4. Then, through the built-in fault detection and diagnosis system, combined with a lightweight self-repair mechanism (such as restarting key modules, switching backup sensors, etc.), it is ensured that the drone as a whole can restore its functions to a certain extent or return to the base safely.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, the servo drive motor is started by using the middle drive control box under the cooperation of the wing control assembly and the control assembly, and the servo drive motor is used to transmit power to the rotating gear through the bottom output end, so that the rotation of the rotating gear drives the two sets of reinforced load-bearing racks meshing with it to move, so that the reinforced load-bearing racks extend outward through the left and right side surfaces of the middle drive control box and are tightly connected to the side wall surface of the connecting frame plate, so as to realize the overall position adjustment of the wing control assembly. Then, the servo motor adjusts the output speed through the differential, and then transmits power to the worm wheel through the worm, so that the rotation of the worm wheel drives the electric steering control seat and the structure carried by it to form a circumferential rotation, so as to adjust the operating state of the wind guide wing. Then, the electric steering control seat is driven by the first electric The extension and retraction of the telescopic guide rod drives the rotation of the reinforced wing rod to achieve the adjustment of the flight attitude, and the extension and retraction of the second electric telescopic guide rod drives the rotation of the adjustable articulated side frame, which in turn drives the rotation of the wind guide wing installation side fence and the wind guide wing to change the flight direction. The wind guide wing adopts a lightweight and high-strength auxiliary wing structure that can reduce wind resistance, thereby effectively allowing the UAV to maintain a more stable flight attitude, improve image stability and data accuracy during inspections, and adjust its flight performance according to actual needs during the flight. When performing long-distance inspections in open areas, the control component can drive the side wing control component to retract, so as to reduce the overall flight resistance, save energy, improve flight efficiency, reduce the impact of the construction environment on the UAV state and limit the role of the UAV, and ensure the effect of UAV detection.

[0022] 2. In the present invention, the angle of the binocular depth high-resolution camera is adjusted by driving the side-connected curved rod on the airborne curved rod to rotate through the first micro motor, and the binocular depth high-resolution camera on the side-connected curved rod can be driven to rotate again through the second micro motor to further adjust the shooting angle of the camera, so that the binocular depth high-resolution camera can capture high-resolution images and obtain depth information for subsequent data analysis and processing. At the same time, the infrared thermal imager can be used to monitor obstacles ahead of the flight, and the three-dimensional laser radar can obtain three-dimensional spatial information of the surrounding environment during the inspection process, including the position and shape of the obstacles, so as to provide navigation and obstacle avoidance capabilities for the inspection of the entire drone, and the ultrasonic sensor is used to measure distance and obstacle detection, especially in the case of limited vision, to further help the drone as a whole avoid collisions.

[0023] 3. In the present invention, by coordinating the fast charging structure, fast discharging structure, remaining power prediction, intelligent return, fault detection and diagnostic self-test, the data processing end can collect data from sensors such as binocular depth high-resolution cameras, infrared thermal imagers, three-dimensional laser radars, ultrasonic sensors and four sets of drive wings, and process them into a format that can be used by the microprocessor central controller. In cooperation with the fault detection and diagnostic self-test, the overall operating status of the drone is monitored through the built-in prediction controller. Once an abnormal situation is found, the fault diagnosis can be carried out in time, and the cause of the fault can be determined through the self-test function, so that the microprocessor central controller can coordinate the work of each component according to the collected data and fault diagnosis results to ensure that the drone as a whole operates according to the preset parameters. When the entire drone is in the inspection process, the remaining power prediction module can be used to judge the usage status of the built-in high-efficiency and long-lasting battery and predict the remaining power, so that when the remaining power is lower than the preset threshold, the intelligent return function is activated to ensure that the entire drone can return to the charging station safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the main view structure of a traffic infrastructure inspection drone of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of a traffic infrastructure inspection drone from a side view of the present invention;

[0026] Figure 3 This is a schematic diagram of the installation position structure of the wing control components and the control components in a traffic infrastructure inspection drone of the present invention;

[0027] Figure 4 It is a schematic diagram of the installation position structure of the side-connected curved rod and the airborne curved rod in a traffic infrastructure inspection drone of the present invention;

[0028] Figure 5 A traffic infrastructure inspection drone of the present invention Figure 4 A schematic diagram of the enlarged structure at point A;

[0029] Figure 6 This is a schematic diagram of the structure of a wing control component in a traffic infrastructure inspection drone of the present invention;

[0030] Figure 7 A traffic infrastructure inspection drone of the present invention Figure 6 A schematic diagram of the structure enlarged at B;

[0031] Figure 8 The present invention is a schematic diagram of the structure of a body system of a transportation infrastructure inspection drone.

[0032] In the figure: 1. Drive integrated body; 2. Drive wing; 3. Edge protection structure; 4. Ultrasonic sensor; 5. Infrared thermal imager; 6. Binocular depth high-resolution camera; 7. Elastic load-bearing frame; 8. Side wing control assembly; 80. Connecting frame plate; 81. Servo motor; 82. Differential; 83. Worm; 84. Worm gear; 85. Electric steering control seat; 86. Strengthen wing rod; 87. First electric telescopic guide rod; 88. Second electric telescopic guide rod; 89. Adjust the articulated side frame; 890. Wind guide wing installation side rail; 891. Wind guide wing; 9. Three-dimensional laser radar; 10. Control assembly; 100. Mid-drive control box; 101. Control servo drive motor; 102. Rotating gear; 103. Strengthen the load-bearing rack; 11. Rapid discharge structure; 12. Side-connected curved rod; 13. Airborne curved rod. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Reference Figure 1-Figure 8 As shown: a traffic infrastructure inspection drone, including a driving integrated body 1, a regulating component 10 is installed inside the driving integrated body 1, and the side end of the regulating component 10 is fastened to a wing regulating component 8; the wing regulating component 8 includes a connecting frame plate 80, a servo motor 81 is mounted on the side end surface of the connecting frame plate 80, a differential 82 is connected to the side end of the servo motor 81, a worm 83 is connected to the output end of the servo motor 81, and a worm gear 84 is meshed and connected to the bottom of the worm gear 83, and the axial end of the worm gear 84 is installed on the surface of the connecting frame plate 80 through a connecting shaft, and an electric steering regulating seat 85 is fastened to the side end center surface of the worm gear 84, and a reinforcing wing rod 86 is rotatably connected to the inside of the electric steering regulating seat 85, and the top side end and the bottom side end of the reinforcing wing rod 86 are respectively A first electric telescopic guide rod 87 and a second electric telescopic guide rod 88 are separately installed, and the side end of the output telescopic shaft of the first electric telescopic guide rod 87 is tightly connected to the side end of the electric steering control seat 85. The first electric telescopic guide rod 87 is used to enable the electric steering control seat 85 to drive the reinforcing wing rod 86 to rotate and adjust. The side end of the reinforcing wing rod 86 is rotatably connected to an adjusting hinged side frame 89, and the interior of the adjusting hinged side frame 89 is rotatably connected to an air guide wing mounting side fence 890. The side end of the air guide wing mounting side fence 890 is tightly connected to an air guide wing 891. The side end of the output telescopic shaft of the second electric telescopic guide rod 88 is tightly connected to the top side end of the adjusting hinged side frame 89. The second electric telescopic guide rod 88 is used to enable the air guide wing mounting side fence 890 and the air guide wing 891 to be rotatably connected inside the adjusting hinged side frame 89.

[0035] according to Figure 3 , Figure 4 , Figure 6 and Figure 7 As shown, the control component 10 includes a central drive control box 100, in which a control servo drive motor 101 is installed and arranged in an embedded manner inside the central drive control box 100, and a rotating gear 102 is connected to the bottom output end of the control servo drive motor 101, and two sets of reinforced load-bearing racks 103 are meshed and connected at both ends of the outer peripheral side of the rotating gear 102, and the two sets of reinforced load-bearing racks 103 respectively penetrate the left and right side surfaces of the central drive control box 100, and are fastened to the side wall surface of the connecting frame plate 80. Under different usage requirements, the central drive control box 100 is used to control the servo drive motor 101 to start, and the control servo drive motor 101 is used to transmit power to the rotating gear 102 through the bottom output end, so that the rotation of the rotating gear 102 drives the two sets of reinforced load-bearing racks 103 meshed therewith to move, so that the reinforced load-bearing racks 103 extend outward through the left and right side surfaces of the central drive control box 100, and are fastened to the side wall surface of the connecting frame plate 80, so as to realize the overall position adjustment of the wing control component 8 to form expansion or retraction.

[0036] according to Figure 4 As shown, the four end surfaces of the bottom mounting platform of the driving integrated body 1 are respectively installed with a fast charging structure and a fast discharging structure 11, and the bottom center end of the mounting platform is fastened with an onboard curved rod 13, and the side end of the onboard curved rod 13 is rotatably connected to the edge curved rod 12 through a first micro motor, and the side end of the edge curved rod 12 is rotatably connected to a binocular depth high-resolution camera 6 through a second micro motor. The fast charging structure and the fast discharging structure 11 are used to enable the UAV to quickly form an energy supply mode during long-term operation to ensure the operation stability of the UAV, and during the inspection process, the edge curved rod 12 on the onboard curved rod 13 can be driven to rotate by the first micro motor to adjust the angle of the binocular depth high-resolution camera 6, and the binocular depth high-resolution camera 6 on the edge curved rod 12 can be driven to rotate again by the second micro motor to further adjust the shooting angle of the camera, so that the binocular depth high-resolution camera 6 can capture high-resolution images and obtain depth information for subsequent data analysis and processing.

[0037] according to Figure 1 and Figure 4As shown, an infrared thermal imager 5 is installed on the inner surface of the driving integrated body 1, a three-dimensional laser radar 9 is installed on the inner side end of the driving integrated body 1, and an ultrasonic sensor 4 is fastened to the top side end of the driving integrated body 1. During the overall inspection of the UAV, the infrared thermal imager 5 is used to monitor obstacles ahead of the flight, and the three-dimensional laser radar 9 can obtain three-dimensional spatial information of the surrounding environment during the inspection, including the position and shape of the obstacles, so as to provide navigation and obstacle avoidance capabilities for the inspection of the entire UAV, and enable the ultrasonic sensor 4 to measure distance and obstacle detection, especially in the case of limited vision, to further help the entire UAV avoid collisions.

[0038] according to Figure 1 and Figure 2 As shown, the axial end of the driving integrated body 1 is fastened with a side guard structure 3, four sets of driving wings 2 are installed at the four ends of the top of the driving integrated body 1, and the four sets of driving wings 2 are all located inside the guard ring of the side guard structure 3. The bottom of the driving integrated body 1 is fastened with an elastic bearing frame 7. The four sets of driving wings 2 generate lift by rotating, so that the driving integrated body 1 can fly, and the direction and posture of the driving integrated body 1 can be controlled by adjusting the speed of different driving wings 2, and the guard ring of the side guard structure 3 can prevent the driving wings 2 from being hit by external objects, thereby improving safety. The elastic bearing frame 7 can provide a shock-absorbing function when the driving integrated body 1 lands, thereby reducing the impact of vibration on the overall drone.

[0039] The specific implementation plan is as follows: a microprocessor central controller, a data processing terminal, a fault detection and diagnostic self-test are installed inside the drive integrated body 1. The data processing terminal is used to collect status data of a binocular depth high-resolution camera 6, an infrared thermal imager 5, a three-dimensional laser radar 9, an ultrasonic sensor 4 and four sets of drive wings 2, and a built-in predictive controller is used to enable the fault detection and diagnostic self-test module to monitor the operating status of the drive integrated body 1. Once an abnormal situation is found, the fault diagnosis can be carried out in time, and the cause of the fault can be determined through the self-test function, and feedback and coordination are carried out through the microprocessor central controller. The microprocessor central controller also includes remaining power prediction and intelligent return. The remaining power prediction and the microprocessor central controller form a signal connection, and the remaining power prediction is used to determine the usage status of the built-in high-efficiency and long-lasting battery of the drive integrated body 1, and the intelligent return is used to ensure safe return when the power is low. Back to the charging station, the overall data processing end collects data from sensors such as the binocular depth high-resolution camera 6, infrared thermal imager 5, three-dimensional laser radar 9, ultrasonic sensor 4 and four sets of drive wings 2, and processes it into a format that can be used by the microprocessor central controller, and monitors the overall operation status of the drone through the built-in prediction controller in cooperation with fault detection and diagnostic self-test. Once an abnormal situation is found, the fault diagnosis can be carried out in time, and the cause of the fault can be determined through the self-test function, so that the microprocessor central controller can coordinate the work of each component according to the collected data and fault diagnosis results to ensure that the drone as a whole operates according to the preset parameters. When the overall inspection process is in progress, the remaining power prediction module can be used to determine the usage status of the built-in high-efficiency long-life battery and predict the remaining power, so that when the remaining power is lower than the preset threshold, the intelligent return function is activated to ensure that the entire drone can return to the charging station safely.

[0040] The wiring diagram of the ultrasonic sensor 4, infrared thermal imager 5, binocular depth high-resolution camera 6, servo motor 81, three-dimensional laser radar 9 and control servo drive motor 101 in the present invention is common knowledge in the field, and its working principle is a well-known technology. The model is selected according to the actual use. Therefore, the control method and wiring layout of the ultrasonic sensor 4, infrared thermal imager 5, binocular depth high-resolution camera 6, servo motor 81, three-dimensional laser radar 9 and control servo drive motor 101 will not be explained in detail.

[0041] The method of using the device and the working principle are as follows: first, when the whole is flying at a low speed, hovering or encountering strong winds, the microprocessor central controller uses the middle drive control box 100 to start the control servo drive motor 101 according to the current operating state, and uses the control servo drive motor 101 to transmit power to the rotating gear 102 through the bottom output end, so that the rotation of the rotating gear 102 drives the two sets of reinforced load-bearing racks 103 meshing with it to move, so that the reinforced load-bearing racks 103 extend outward through the left and right side surfaces of the middle drive control box 100, and are tightly connected to the side wall surface of the connecting frame plate 80, so as to realize the overall position adjustment of the side wing control assembly 8, and then the servo motor 81 adjusts the output speed through the differential 82, and then through the worm 8 The power is transmitted to the worm gear 84, so that the rotation of the worm gear 84 drives the electric steering control seat 85 and the structure it carries to form a circumferential rotation, and the running state of the wind guide wing 891 is adjusted. Then, the electric steering control seat 85 drives the reinforcing wing rod 86 to rotate through the extension and contraction of the first electric telescopic guide rod 87 to adjust the flight attitude, and the extension and contraction of the second electric telescopic guide rod 88 drives the adjustment articulated side frame 89 to rotate, and then drives the wind guide wing installation side fence 890 and the wind guide wing 891 to rotate, and change the flight direction. The wind guide wing 891 adopts a lightweight and high-strength auxiliary wing structure that can reduce wind resistance, so that the UAV can effectively maintain a more stable flight attitude, improve the image stability and data accuracy during inspection, and adjust the flight attitude according to actual needs during flight. Its own flight performance, when performing long-distance inspections in open areas, the control component 10 can drive the wing control component 8 to retract to reduce the overall flight resistance, save energy, and improve flight efficiency. During the inspection process, the fast charging structure and the fast discharging structure 11 are used to enable the UAV to quickly form an energy supply method during long-term operation to ensure the operation stability of the UAV. During the inspection process, the four sets of driving wings 2 generate lift by rotation, so that the driving integrated body 1 can fly, and by adjusting the speed of different driving wings 2, the direction and posture of the driving integrated body 1 can be controlled, and the guard ring of the edge protection structure 3 can prevent the driving wing 2 from being hit by external objects, thereby improving safety, and can be driven by the first micro motor. The side-connected curved rod 12 on the motor-carrying curved rod 13 rotates to adjust the angle of the binocular depth high-resolution camera 6, and the binocular depth high-resolution camera 6 on the side-connected curved rod 12 can be driven to rotate again by the second micro motor to further adjust the shooting angle of the camera, so that the binocular depth high-resolution camera 6 can capture high-resolution images and obtain depth information for subsequent data analysis and processing. At the same time, the infrared thermal imager 5 can be used to monitor obstacles in front of the flight, and the three-dimensional laser radar 9 can obtain three-dimensional spatial information of the surrounding environment during the inspection process, including the position and shape of the obstacles, etc., to provide navigation and obstacle avoidance capabilities for the inspection of the entire drone, and the ultrasonic sensor 4 is used to measure distance and obstacle detection.Especially in the case of limited vision, it further helps the drone as a whole to avoid collisions, so that the data processing end collects data from sensors such as binocular depth high-resolution camera 6, infrared thermal imager 5, three-dimensional laser radar 9, ultrasonic sensor 4 and four sets of driving wings 2, and processes it into a format that can be used by the microprocessor central controller, and monitors the overall operation status of the drone through the built-in prediction controller in cooperation with fault detection and diagnostic self-test. Once an abnormal situation is found, it can timely diagnose the fault and determine the cause of the fault through the self-test function, so that the microprocessor central controller can coordinate the work of each component according to the collected data and fault diagnosis results to ensure that the drone as a whole operates according to the preset parameters. When the whole is in the inspection process, it can use the remaining power prediction module to judge the use status of the built-in high-efficiency and long-lasting battery and predict the remaining power, so that when the remaining power is lower than the preset threshold, the intelligent return function is activated to ensure that the entire drone can return to the charging station safely.

[0042] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transportation infrastructure inspection drone, characterized by: It comprises a driving integrated body (1), a regulating component (10) is installed inside the driving integrated body (1), and a wing regulating component (8) is fastened to a side end of the regulating component (10); The wing control assembly (8) comprises a connecting frame plate (80), a servo motor (81) is mounted on the side end surface of the connecting frame plate (80), a differential (82) is connected to the side end of the servo motor (81), a worm (83) is connected to the output end of the servo motor (81), a worm wheel (84) is meshedly connected to the bottom of the worm wheel (83), an axial end of the worm wheel (84) is mounted on the surface of the connecting frame plate (80) via a connecting shaft, an electric steering control seat (85) is fastened to the side end center surface of the worm wheel (84), a reinforcing wing rod (86) is rotatably connected inside the electric steering control seat (85), a first electric telescopic guide rod (87) and a second electric telescopic guide rod (88) are respectively mounted on the top side end and the bottom side end of the reinforcing wing rod (86), the first electric telescopic guide rod The side end of the output telescopic shaft of (87) is tightly connected to the side end of the electric steering control seat (85), and the electric steering control seat (85) is driven by the first electric telescopic guide rod (87) to rotate and adjust. The side end of the reinforcing wing rod (86) is rotatably connected to an adjustable hinged side frame (89), and the inside of the adjustable hinged side frame (89) is rotatably connected to a wind guide wing mounting side fence (890), and the side end of the wind guide wing mounting side fence (890) is tightly connected to a wind guide wing (891). The side end of the output telescopic shaft of the second electric telescopic guide rod (88) is tightly connected to the top side end of the adjustable hinged side frame (89), and the second electric telescopic guide rod (88) is used to make the wind guide wing mounting side fence (890) and the wind guide wing (891) rotate and connect inside the side of the reinforcing wing rod (86) in cooperation with the adjustable hinged side frame (89).

2. The traffic infrastructure inspection drone according to claim 1, characterized in that: The control assembly (10) comprises a middle drive control box (100), a control servo drive motor (101) is installed and arranged inside the middle drive control box (100), a rotating gear (102) is connected to the bottom output end of the control servo drive motor (101), two sets of reinforced load-bearing racks (103) are meshedly connected at both ends of the outer circumference of the rotating gear (102), and the two sets of reinforced load-bearing racks (103) respectively penetrate the left and right side surfaces of the middle drive control box (100) and are fastened to the side wall surface of the connecting frame plate (80).

3. The traffic infrastructure inspection drone according to claim 2, characterized in that: The four end surfaces of the bottom mounting platform of the driving integrated body (1) are respectively mounted with a fast charging structure and a fast discharging structure (11); the bottom center end of the mounting platform is tightly connected to an onboard curved rod (13); the side end of the onboard curved rod (13) is rotatably connected to an edge curved rod (12) via a first micro motor; the side end of the edge curved rod (12) is rotatably connected to a binocular depth high-resolution camera (6) via a second micro motor.

4. The traffic infrastructure inspection drone according to claim 3, characterized in that: An infrared thermal imager (5) is installed on the internal surface of the drive integrated body (1), a three-dimensional laser radar (9) is installed on the internal side end of the drive integrated body (1), and an ultrasonic sensor (4) is fastened to the top side end of the drive integrated body (1).

5. The traffic infrastructure inspection drone according to claim 4, characterized in that: The axial end of the drive integrated body (1) is fastened to an edge protection frame (3), four sets of drive wings (2) are installed at the top four ends of the drive integrated body (1), and the four sets of drive wings (2) are all located inside the guard ring of the edge protection frame (3), and the bottom of the drive integrated body (1) is fastened to an elastic bearing frame (7).

6. The traffic infrastructure inspection drone according to claim 5, characterized in that: A microprocessor central controller, a data processing terminal, a fault detection and diagnostic self-test are installed inside the drive integrated body (1).

7. The traffic infrastructure inspection drone according to claim 6, characterized in that: The data processing end is used to collect status data of a binocular depth high-resolution camera (6), an infrared thermal imager (5), a three-dimensional laser radar (9), an ultrasonic sensor (4) and four sets of driving wings (2), and through a built-in predictive controller, enables a fault detection and diagnosis self-test module to monitor the operating status of the driving integrated body (1). Once an abnormal situation is found, the fault diagnosis can be carried out in time, and the cause of the fault can be determined through the self-test function, and feedback coordination can be carried out through a microprocessor central controller.

8. The traffic infrastructure inspection drone according to claim 7, characterized in that: The microprocessor central controller also includes remaining power prediction and intelligent return, and the remaining power prediction and the microprocessor central controller form a signal connection.

9. The traffic infrastructure inspection drone according to claim 8, characterized in that: The remaining power prediction is used to determine the usage status of the high-efficiency and long-lasting battery built into the driving integrated body (1), and the intelligent return is used to ensure that the vehicle can return to the charging station safely when the power is insufficient.

10. A system for inspecting traffic infrastructure using drones, characterized in that: Using the traffic infrastructure inspection drone of claim 9, the following steps are included: S1. When the whole is flying at a low speed, hovering, or encountering strong winds, the microprocessor central controller causes the control component (10) to drive the wing control component (8) to drive and adjust the two ends of the self-driving integrated body (1) according to the current operation state, so that the wing control component (8) forms a self-adjusting state, so as to improve the image stability and data accuracy during inspection; S2. When cruising over long distances, the control assembly (10) drives the wing control assembly (8) to retract, so as to reduce the overall flight resistance and save energy. S3. Then, during the inspection, 5G or higher bandwidth wireless communication technology is used to achieve high-speed data transmission between the UAV and the ground control center to ensure the real-time return of the inspection data. During the flight, the fast charging structure and the fast discharging structure (11) are used to enable the UAV to quickly form an energy supply mode during long-term operation to ensure the operation stability of the UAV. At the same time, the remaining power prediction and intelligent return function are used to ensure that the UAV can return to the charging station safely when the power is insufficient. S4. Then, through the built-in fault detection and diagnosis system, combined with a lightweight self-repair mechanism (such as restarting key modules, switching backup sensors, etc.), it is ensured that the drone as a whole can restore its functions to a certain extent or return to the base safely.

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