Autonomously navigated drones with machine vision for inspection missions

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a machine vision autonomous navigation unmanned aerial vehicle for inspection tasks, comprising a frame, four motors are arranged in a divergent shape along the central axis of the frame, and the output shafts of the four motors are fixedly connected to blades, a four-in-one electric regulator is fixedly connected to the inside of the frame and is respectively connected to the four motor circuits, a flight control unit is fixedly connected to the top of the four-in-one electric regulator, an autonomous navigation module for controlling the flight control unit is fixedly connected to the inside of the frame, a high-definition camera is arranged inside the frame, a visual module for cooperating with the high-definition camera is fixedly connected to the inside of the frame, a connecting seat fixedly connected to the high-definition camera is arranged inside the frame, a support connected to the frame is arranged inside the connecting seat, an oil shell filled with lubricating oil is arranged inside the support, and a shock-absorbing component for buffering the connecting seat is arranged on the outer surface of the oil shell.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a machine vision autonomous navigation UAV for inspection tasks. Background Art

[0002] With the rapid development of science and technology, drone technology has been widely used in many fields, especially in inspection tasks. Drones have become an indispensable tool with their high efficiency, flexibility and comprehensiveness. As the best among them, machine vision autonomous navigation drones have brought progress to inspection work with their powerful machine vision capabilities and autonomous navigation technology. Traditional inspection tasks often require a lot of human resources. Inspectors need to go to the site in person and complete the inspection work through naked eye observation and manual recording. However, this method is not only inefficient, but also easily restricted by various factors, such as complex terrain and bad weather. In addition, for some high-altitude or difficult-to-reach areas, traditional inspection methods are even more incapable. In order to overcome these difficulties, machine vision autonomous navigation drones came into being.

[0003] For example, the patent application with the prior art announcement number CN214930621U relates to an autonomous navigation drone integrated with visual inertial navigation. The frame is a three-layer structure, and the bottom of the frame is provided with a support part and a camera assembly; a plurality of wings are provided outward at the edge between the middle layer and the bottom layer of the frame, and a flight assembly and a function expansion assembly are provided in conjunction with the wings; a control panel is provided in conjunction with the upper part of the bottom layer of the frame between the plurality of wings; a power supply is provided in conjunction with the middle layer of the frame; a host computer is provided in conjunction with the top layer of the frame; the host computer and the control panel are connected to the power supply, and the host computer cooperates with the control panel; the camera assembly, the flight assembly and the function expansion assembly are provided in conjunction with the control panel. The application can autonomously locate and navigate in complex and unknown environments that cannot be easily reached, provide reasonable and stable mapping of the surrounding environment, can automatically patrol in difficult search and rescue missions in different occasions, and conduct map surveys and construction in unknown geographical areas, and can autonomously navigate logistics and transportation; the overall structure is stable, the work efficiency is high, the working state is stable, and it is easy to maintain.

[0004] Although the above-mentioned prior art has been able to achieve autonomous and efficient inspections in a variety of complex and difficult search and rescue missions through the close cooperation of precise camera components, efficient flight components, and multifunctional expansion components and control panels, in actual application scenarios, the miniaturized design of drones, while giving them flexibility and maneuverability, also brings a significant challenge: when drones fly at higher altitudes, due to their relatively small size, they are more susceptible to interference from natural factors such as convective air, causing unstable shaking of the body. This shaking not only directly affects the shooting clarity and stability of the high-precision camera equipment carried by the drone, but may also interfere with the precise execution of the exploration mission, thereby posing a potential threat to the timeliness and accuracy of the search and rescue operation. To this end, the present application proposes a machine vision autonomous navigation drone for inspection tasks. Summary of the invention

[0005] The purpose of the present invention is to provide a machine vision autonomous navigation drone for inspection tasks to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a machine vision autonomous navigation drone for inspection tasks, comprising a frame, four motors are arranged in a divergent shape along the central axis of the frame, and the output shafts of the four motors are fixedly connected to blades, a four-in-one electric regulator is fixedly connected to the inside of the frame and is respectively connected to the four motor circuits, a flight control unit is fixedly connected to the top of the four-in-one electric regulator, an autonomous navigation module for controlling the flight control unit is fixedly connected to the inside of the frame, a high-definition camera is arranged inside the frame, a visual module for cooperating with the high-definition camera is fixedly connected to the inside of the frame, a connecting seat fixedly connected to the high-definition camera is arranged inside the frame, a support connected to the frame is arranged inside the connecting seat, an oil shell filled with lubricating oil is arranged inside the support, a shock-absorbing component for buffering the connecting seat is arranged on the outer surface of the oil shell, a cleaning disk for cleaning the high-definition camera is arranged inside the frame, and a driving component for driving the high-definition camera to tilt is arranged inside the frame.

[0007] Preferably, the shock absorbing assembly includes a straight bar fixedly connected to the inside of the connecting seat and slidably connected to the support, the inside of the support is rotatably connected with a plurality of connecting handles, and the plurality of connecting handles are respectively fixedly connected with buffer cylinders, and the bottoms of the plurality of buffer cylinders are respectively connected with oil pipes connected to the oil shell, the tops of the plurality of buffer cylinders are slidably connected with buffer piston rods adapted thereto, and the ends of the plurality of buffer piston rods away from their movable ends are rotatably connected to the inside of the straight bar, and the insides of the plurality of buffer cylinders are fixedly connected with a first spring for driving the buffer piston rod to reset.

[0008] Preferably, the driving assembly includes a cylinder rotatably connected to the inside of the frame, the output end of the cylinder is rotatably connected to a shell sleeved on the outer surface of the high-definition camera, the inside of the frame is fixedly connected to a support leg, both ends of the support are fixedly connected to a rotating shaft rotatably connected to the support leg, and the outer surface of the rotating shaft is sleeved with a first torsion spring for driving the support to reset.

[0009] Preferably, an extension plate is fixedly connected to one side of the leg, a rotating rod is rotatably connected to the top of the extension plate, a trigger plate that abuts against the connecting seat is fixedly connected to one side of the rotating rod, and an encoder whose output shaft is fixedly connected to the rotating rod is fixedly connected to the top of the extension plate.

[0010] Preferably, an arc plate is fixedly connected to the outer surface of the rotating rod, the top of the extension plate is fixedly connected to the air cylinder, the top of the air cylinder is slidably connected to a lifting piston rod adapted thereto, and the inside of the air cylinder is fixedly connected to a second spring for driving the lifting piston rod to reset, a guide groove is provided at the bottom of the arc plate, and the top of the lifting piston rod is rotatably connected to a ball bearing slidably connected to the guide groove.

[0011] Preferably, four brackets are fixedly connected in a divergent manner along the central axis of the frame, and one end of each of the four brackets is provided with a mounting groove for mounting the motor, and the outer surfaces of the four motors are fixedly connected with protective covers.

[0012] Preferably, the frame is fixedly connected to a connecting piece inside, one end of the connecting piece is fixedly connected to a support plate for supporting the cleaning plate, the bottom of the cleaning plate is fixedly connected to a connecting shaft rotatably connected to the support plate, the outer surface of the connecting shaft is fixedly connected to a connecting rod, and one end of the connecting rod is fixedly connected to a contact wheel, the support plate is rotatably connected to a rotating shaft inside, and the outer surface of the rotating shaft is fixedly connected to an arc-shaped disk that can contact the contact wheel.

[0013] Preferably, the outer surface of the rotating shaft is sleeved with a second torsion spring for driving its own reset, and the outer surface of the rotating shaft is fixedly connected to a transmission plate, a straight groove is opened on the top of the transmission plate, a release groove connected to one end of the straight groove is opened on the top of the transmission plate, and a force storage groove is opened on the top of the transmission plate, and one end of the force storage groove is connected to the release groove, and the other end is connected to the other end of the straight groove, one side of the support plate is fixedly connected to an air receiving cylinder, the air receiving cylinder and the air delivery cylinder are connected through an air pipe, one end of the air receiving cylinder is slidably connected to a transmission piston rod adapted thereto, and one end of the transmission piston rod is fixedly connected to a guide bar slidably connected to the inside of the straight groove.

[0014] Preferably, the top of the cleaning tray is provided with a plurality of cavities for storing cleaning liquid, the top of the cleaning tray is provided with a plurality of nozzles respectively connected to the cavities, a plurality of liquid pushing plates are provided in the cavities, and the bottoms of the plurality of liquid pushing plates are fixedly connected with sliding rods slidably connected to the cleaning tray, the top of the support tray is fixedly connected with a plurality of inclined bars, and the bottoms of the plurality of sliding rods are rotatably connected with climbing wheels adapted to the inclined bars.

[0015] Preferably, the visual module includes a GNSS receiver and an inertial measurement unit, and the flight control unit also includes an optical flow sensor and a laser ranging module for sensing obstacles.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The four motors are arranged in a divergent shape along the central axis of the frame and are independently controlled by the four-in-one electric regulator, which enables highly flexible adjustment and stable flight of the UAV. This design enables the UAV to quickly respond to the instructions of the flight control unit, accurately adjust the flight attitude, and meet the needs of complex inspection tasks. The high-definition camera is responsible for obtaining the image and three-dimensional data of the inspection object, and cooperates with the visual module to realize target recognition and visual measurement through image processing algorithms. The design of the shock-absorbing component effectively suppresses the impact of the frame shaking on the high-definition camera. When the UAV is hit by wind, the shock-absorbing component can absorb and disperse the vibration energy, protect the high-definition camera from damage, and ensure that the image it captures is clear and stable. At the same time, the flow of lubricating oil between the buffer cylinder and the oil shell produces a damping effect, which further enhances the shock-absorbing effect. The optical flow sensor and laser ranging module inside the flight control unit can perceive obstacles in the surrounding environment in real time, and realize obstacle detection and avoidance. This enhances the autonomous flight capability of the UAV.

[0018] The tilt angle of the HD camera can be adjusted flexibly by the push of the cylinder to meet different shooting requirements. The lifting piston rod moves under the pressure of the arc plate and is reset by the second spring. This design not only provides a stable reset force for the trigger plate, but also ensures that the HD camera can smoothly return to its initial position after tilting, improving the stability and reliability of the drone. The design of the cleaning disk enables the mirror of the HD camera to be automatically cleaned during the flight of the drone. This not only avoids the degradation of shooting quality caused by dust and dirt, but also extends the service life of the HD camera. The force storage mechanism of the second torsion spring enables the rotating shaft to be quickly reset after being subjected to external force, thereby driving the arc disk to rotate and triggering the rotation of the cleaning disk. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2It is a schematic diagram of the explosion structure of the present invention;

[0021] Figure 3 This is a structural schematic diagram of the present invention without the motor;

[0022] Figure 4 It is a schematic diagram of a partial cross-sectional structure of a frame in the present invention;

[0023] Figure 5 It is a structural schematic diagram of the high-definition camera in the present invention;

[0024] Figure 6 For the present invention Figure 5 A schematic diagram of the structure enlargement in the middle;

[0025] Figure 7 It is a schematic diagram of the cross-sectional structure of the gas delivery cylinder in the present invention;

[0026] Figure 8 It is a schematic diagram of the cross-sectional structure of the connecting seat in the present invention;

[0027] Fig. 9 It is a schematic diagram of the cross-sectional structure of the support in the present invention;

[0028] Fig.10 For the present invention Fig. 9 A magnified schematic diagram of the structure at B in the middle;

[0029] Fig.11 It is a schematic diagram of the structure of the trachea in the present invention;

[0030] Fig.12 It is a structural schematic diagram of the support plate in the present invention;

[0031] Fig.13 It is a schematic diagram of the cross-sectional structure of the support plate in the present invention;

[0032] Fig.14 It is a schematic diagram of the structure of the cleaning disk in the present invention;

[0033] Fig.15 It is a schematic diagram of the cross-sectional structure of the cleaning disc in the present invention;

[0034] Fig.16 It is a schematic diagram of the structure of the arc-shaped disk in the present invention;

[0035] Fig.17 It is a schematic diagram of the process of the present invention.

[0036] In the figure: 100, frame; 101, bracket; 102, motor; 103, blade; 104, protective cover; 105, four-in-one electric adjustment; 106, high-definition camera; 107, visual module; 108, autonomous navigation module; 109, mounting slot; 110, flight control unit; 200, outrigger; 201, connecting seat; 202, straight bar; 203, rotating shaft; 204, support; 205, first torsion spring; 206, oil shell; 207, buffer cylinder; 208, buffer piston rod; 209, first spring; 210, connecting handle; 211, oil pipeline; 300, cylinder; 301, casing; 302, extension plate; 303, rotating rod; 304, trigger Plate; 305, arc plate; 306, encoder; 307, lifting piston rod; 308, ball bearing; 309, air delivery cylinder; 310, air pipe; 311, second spring; 312, guide groove; 400, cleaning plate; 401, support plate; 402, nozzle; 403, connector; 404, air receiving cylinder; 405, transmission piston rod; 406, connecting shaft; 407, connecting rod; 408, resistance wheel; 409, rotating shaft; 410, arc plate; 411, second torsion spring; 412, transmission plate; 413, guide bar; 414, straight groove; 415, release groove; 416, power storage groove; 417, oblique bar; 418, slide bar; 419, liquid pushing plate; 420, climbing wheel. DETAILED DESCRIPTION

[0037] 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 described embodiments 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.

[0038] Example 1: Please refer to Figure 1 , Figure 2 as well as Figure 3The present invention provides a technical solution: a machine vision autonomous navigation drone for inspection tasks, comprising a frame 100, four motors 102 are arranged in a divergent shape along the central axis of the frame 100, and the output shafts of the four motors 102 are fixedly connected to blades 103, and the inside of the frame 100 is fixedly connected to a four-in-one electric regulator 105 respectively connected to the circuits of the four motors 102, and the four-in-one electric regulator 105 is used to control the four motors 102 respectively, so as to flexibly adjust the height of the frame 100, and the top of the four-in-one electric regulator 105 is fixedly connected to a flight control unit 110, The flight control unit 110 can control the four-in-one electric regulator 105 so that it controls the motor 102. The interior of the frame 100 is fixedly connected with an autonomous navigation module 108 for controlling the flight control unit 110. The interior of the frame 100 is provided with a high-definition camera 106. The interior of the frame 100 is fixedly connected with a vision module 107 for cooperating with the high-definition camera 106. The interior of the vision module 107 includes a GNSS receiver and an inertial measurement unit. The interior of the flight control unit 110 also includes an optical flow sensor for sensing obstacles and a laser ranging module.

[0039] Furthermore, a connection base 201 fixedly connected to the high-definition camera 106 is provided inside the frame 100, a support 204 connected to the frame 100 is provided inside the connection base 201, an oil shell 206 filled with lubricating oil is provided inside the support 204, and a shock-absorbing component for buffering the connection base 201 is provided on the outer surface of the oil shell 206. By providing the shock-absorbing component, the high-definition camera 106 can be effectively damped, thereby suppressing the shaking of the frame 100 and affecting the high-definition camera 106.

[0040] Among them, see Figure 8 , Fig. 9 as well as Fig.10 The shock absorbing assembly includes a straight bar 202 fixedly connected to the inside of the connecting seat 201 and slidably connected to the support 204, a plurality of connecting handles 210 are rotatably connected to the inside of the support 204, and the plurality of connecting handles 210 are respectively fixedly connected to buffer cylinders 207, and the bottoms of the plurality of buffer cylinders 207 are respectively connected to oil delivery pipes 211 connected to the oil shell 206, and the tops of the plurality of buffer cylinders 207 are slidably connected to buffer piston rods 208 adapted thereto, and the ends of the plurality of buffer piston rods 208 away from the movable ends thereof are rotatably connected to the straight bar 202. Inside, the first spring 209 that drives the buffer piston rod 208 to return to its original position is fixedly connected to the interior of the multiple buffer cylinders 207. The multiple buffer cylinders 207 are connected to the oil shell 206 so that the lubricating oil in the oil shell 206 is transported to the inside of the buffer cylinder 207, so that the buffer piston rod 208 is subjected to pressure and moves to squeeze the lubricating oil in the buffer cylinder 207, thereby achieving a damping effect. At the same time, the lubricating oil in the buffer cylinder 207 expands after entering the oil shell 206, thereby further inhibiting the transportation of the lubricating oil, thereby achieving a further shock absorbing effect.

[0041] Furthermore, four brackets 101 are fixedly connected in a divergent shape along the central axis of the frame 100, and one end of the four brackets 101 is provided with an installation groove 109 for installing the motor 102. The installation groove 109 can support the motor 102 to fix it, and the outer surfaces of the four motors 102 are fixedly connected with a protective cover 104, which can prevent foreign objects from accidentally touching the rotating blades 103.

[0042] Specifically, the four-in-one ESC 105 is connected to the multiple motors 102 through lines, the high-definition camera 106 is responsible for obtaining images and three-dimensional data of the inspection object, and the visual module 107 realizes target recognition and visual measurement through image processing algorithms. It is equipped with a high-precision GNSS receiver and an inertial measurement unit IMU, which can achieve autonomous positioning and navigation through inertial navigation when the GPS signal is weak or missing. It is also equipped with environmental perception sensors to implement obstacle detection and avoidance. Based on an efficient edge computing platform or cloud computing service, it processes the image data collected by the autonomous navigation module 108 in real time, extracts effective information and feeds it back to the flight control unit 110. It adopts a two-way communication protocol to ensure real-time data transmission between the drone and the ground control center, supports instant analysis and remote control of inspection results, and when encountering a rack 1 When the high-definition camera 106 is hit by wind during flight, it will vibrate. At this time, the frame 100 is vibrated and the transmission support 204 is shaken, thereby being misaligned with the straight bar 202. At this time, when the straight bar 202 is misaligned, it will squeeze the buffer piston rod 208 to make its piston end slide in the buffer cylinder 207, thereby pushing the lubricating oil in the buffer cylinder 207 to be transported to the inside of the oil shell 206 through the oil pipe 211. As the amplitude of the vibration increases, the lubricating oil in the first spring 209 will be difficult to be pushed into the oil shell 206, thereby increasing the resistance of the buffer piston rod 208, thereby achieving shock absorption.

[0043] In summary, the four motors 102 are arranged in a divergent shape along the central axis of the frame 100, and are independently controlled by the four-in-one electric adjustment 105, so as to realize highly flexible adjustment and stable flight of the UAV. This design enables the UAV to quickly respond to the instructions of the flight control unit 110, accurately adjust the flight attitude, and meet the needs of complex inspection tasks. The high-definition camera 106 is responsible for acquiring the image and three-dimensional data of the inspection object, and cooperates with the visual module 107 to realize target recognition and visual measurement through the image processing algorithm. The design of the shock-absorbing component effectively suppresses the impact of the shaking of the frame 100 on the high-definition camera 106. When the UAV is impacted by wind, the shock-absorbing component can absorb and disperse the vibration energy, protect the high-definition camera 106 from damage, and ensure that the image it captures is clear and stable. At the same time, the flow of lubricating oil between the buffer cylinder 207 and the oil shell 206 produces a damping effect, which further enhances the shock-absorbing effect. The optical flow sensor and laser ranging module inside the flight control unit 110 can sense obstacles in the surrounding environment in real time, and realize obstacle detection and avoidance. This enhances the autonomous flight capability of the UAV.

[0044] Example 2: Please refer to Figure 4 , Figure 5 as well as Figure 6 The present invention also provides a technical solution, which is different from the technical solution of the first embodiment: a machine vision autonomous navigation drone for inspection tasks, a cleaning disk 400 for cleaning the high-definition camera 106 is arranged inside the frame 100, and a driving component for driving the high-definition camera 106 to tilt is arranged inside the frame 100, and the driving component includes a cylinder 300 rotatably connected to the inside of the frame 100, and the output end of the cylinder 300 is rotatably connected to a shell 301 sleeved on the outer surface of the high-definition camera 106, and the inside of the frame 100 is fixedly connected with a support leg 200, and both ends of the support 204 are fixedly connected with a rotating shaft 203 rotatably connected to the support leg 200, and the outer surface of the rotating shaft 203 is sleeved with a first torsion spring 205 for driving the support 204 to reset. By setting the driving component, the inclination angle of the high-definition camera 106 can be effectively adjusted, thereby meeting different shooting requirements.

[0045] Furthermore, an extension plate 302 is fixedly connected to one side of the leg 200, and a rotating rod 303 is rotatably connected to the top of the extension plate 302. A trigger plate 304 that contacts the connecting seat 201 is fixedly connected to one side of the rotating rod 303. An encoder 306 whose output shaft is fixedly connected to the rotating rod 303 is fixedly connected to the top of the extension plate 302. The transmission connecting seat 201 is tilted by tilting the high-definition camera 106, thereby pushing the trigger plate 304 to move and driving the rotating rod 303 to rotate. At this time, the rotating rod 303 is connected to the output shaft of the encoder 306, so that the tilt angle of the high-definition camera 106 can be known.

[0046] Among them, see Figure 7 , Fig.11 as well as Fig.12 The outer surface of the rotating rod 303 is fixedly connected with an arc plate 305, the top of the extension plate 302 is fixedly connected with an air cylinder 309, the top of the air cylinder 309 is slidably connected with a lifting piston rod 307 adapted thereto, and the inside of the air cylinder 309 is fixedly connected with a second spring 311 for driving the lifting piston rod 307 to reset. A guide groove 312 is provided at the bottom of the arc plate 305, and the top of the lifting piston rod 307 is rotatably connected with a ball 308 slidably connected to the guide groove 312. The ball 308 and the guide groove 312 cooperate with each other and can have a certain reset force under the action of the second spring 311, thereby driving the trigger plate 304 to reset.

[0047] For further information, see Fig.13 , Fig.14 as well as Fig.15 The frame 100 is fixedly connected with a connecting piece 403 inside, and one end of the connecting piece 403 is fixedly connected with a support plate 401 for supporting the cleaning plate 400. The bottom of the cleaning plate 400 is fixedly connected with a connecting shaft 406 rotatably connected to the support plate 401. The outer surface of the connecting shaft 406 is fixedly connected with a connecting rod 407, and one end of the connecting rod 407 is fixedly connected with a contact wheel 408. The support plate 401 is rotatably connected with a rotating shaft 409, and the outer surface of the rotating shaft 409 is fixedly connected with an arc disk 410 that can contact with the contact wheel 408. The rotation of the arc disk 410 can effectively drive the connecting shaft 406 to rotate, thereby driving the cleaning plate 400 to rotate and clean the mirror surface of the high-definition camera 106.

[0048] Among them, see Fig.14 , Fig.15 as well as Fig.16The outer surface of the rotating shaft 409 is sleeved with a second torsion spring 411 for driving its own reset. The outer surface of the rotating shaft 409 is fixedly connected with a transmission disk 412. A straight groove 414 is provided on the top of the transmission disk 412. A release groove 415 connected to one end of the straight groove 414 is provided on the top of the transmission disk 412. A power storage groove 416 is provided on the top of the transmission disk 412, and one end of the power storage groove 416 is connected to the release groove 415, and the other end is connected to the other end of the straight groove 414. One side of the support plate 401 is fixedly connected with an air receiving cylinder 404, and the air receiving cylinder 404 is connected to the air delivery cylinder 309 through an air pipe 310. One end of the air receiving cylinder 404 is slidably connected with a transmission piston rod 405 adapted thereto, and one end of the transmission piston rod 405 is fixedly connected There is a guide bar 413 slidably connected to the inside of the straight groove 414, and the moving transmission guide bar 413 of the transmission piston rod 405 slides in the straight groove 414. When the guide bar 413 slides in the straight groove 414, the high-definition camera 106 is gradually tilted so that its mirror surface is close to the cleaning plate 400, and when the guide bar 413 slides to the release groove 415, the mirror surface of the high-definition camera 106 just fits the top surface of the cleaning plate 400. At this time, under the action of the second torsion spring 411, the transmission plate 412 rotates rapidly, causing the arc plate 410 to contact the resistance wheel 408 and the transmission shaft 406 to rotate. At the same time, the guide bar 413 slides through the release groove 415 and enters the power storage groove 416. The subsequent reset will drive the rotating shaft 409 to reset and store power for the second torsion spring 411.

[0049] It is worth mentioning that the top of the cleaning plate 400 is provided with a plurality of cavities for storing cleaning liquid, the top of the cleaning plate 400 is provided with a plurality of nozzles 402 respectively connected to the cavities, a plurality of liquid pushing plates 419 are provided in the plurality of cavities, and the bottoms of the plurality of liquid pushing plates 419 are fixedly connected with sliding rods 418 slidably connected to the cleaning plate 400, the top of the support plate 401 is fixedly connected with a plurality of inclined bars 417, and the bottoms of the plurality of sliding bars 418 are rotatably connected with climbing wheels 419 adapted to the inclined bars 417. 20, and the rotation of the connecting shaft 406 drives the cleaning disc 400 to rotate, which will drive the climbing wheel 420 to climb on the inclined bar 417, so that the liquid pushing plate 419 moves up to squeeze the cavity of the cleaning disc 400, so that the cleaning liquid in the cavity is discharged to the mirror surface through the nozzle 402, and at the same time, the cleaning liquid will be swept away by the cleaning disc 400 after contacting the mirror surface of the high-definition camera 106, ensuring that the cleaning liquid does not remain on the surface of the high-definition camera 106, and the comprehensiveness of the cleaning of the mirror surface of the high-definition camera 106 can be improved through multiple operations.

[0050] Specifically, when the orientation of the high-definition camera 106 needs to be adjusted, the cylinder 300 can be opened to push the sleeve 301 to move, thereby pulling the high-definition camera 106 to tilt and change the orientation of the high-definition camera 106. At the same time, when the high-definition camera 106 is tilted, the connecting seat 201 will be driven to tilt together, thereby pushing the trigger plate 304 to move and causing the rotating rod 303 to rotate. At this time, the encoder 306 can obtain the rotation angle of the rotating rod 303 to know the orientation angle of the high-definition camera 106. At the same time, when the rotating rod 303 rotates, it will drive the arc plate 305 to move together, thereby squeezing the lifting piston rod 307 to move downward and compressing the second spring 311. Subsequently, the second spring 311 can facilitate the lifting piston rod 307 to reset and drive the rotating rod 303 to reset. When the mirror surface of the high-definition camera 106 encounters a lot of dust, the cylinder 300 can be continuously driven to move, thereby continuously driving the piston end of the lifting piston rod 307 to slide in the gas cylinder 309, and the gas in the gas cylinder 309 is transported to the The inside of the air receiving cylinder 404, at this time, the increase of gas in the air receiving cylinder 404 will push the transmission piston rod 405 to move and then drive the guide bar 413 to slide inside the straight groove 414. At the same time, the high-definition camera 106 continues to tilt and finally its mirror surface fits the surface of the cleaning disk 400. At the same time, the guide bar 413 is located at the connection between the straight groove 414 and the release groove 415. Then, the rotating shaft 409 is quickly reset under the action of the second torsion spring 411, which will drive the arc disk 410 to rotate and push the resistance wheel 4 08 moves and drives the connecting shaft 406 to rotate, and then drives the cleaning disc 400 to rotate. At this time, the cleaning disc 400 rubs the mirror surface of the high-definition camera 106, and the climbing wheel 420 slides on the top surface of the inclined bar 417 to push the liquid pushing plate 419 to move up to spray cleaning liquid and cooperate with the cleaning disc 400 to clean the mirror surface of the high-definition camera 106. When the high-definition camera 106 is subsequently driven to reset, the transmission piston rod 405 retracts to drive the guide bar 413 to slide in the force storage groove 416, thereby storing force for the second torsion spring 411.

[0051] In summary, through the push of the cylinder 300, the tilt angle of the high-definition camera 106 can be flexibly adjusted to meet different shooting requirements. The lifting piston rod 307 moves under the pressure of the arc plate 305 and is reset by the second spring 311. This design not only provides a stable reset force for the trigger plate 304, but also ensures that the high-definition camera 106 can smoothly return to the initial position after tilting, thereby improving the stability and reliability of the drone. The design of the cleaning disk 400 enables the mirror of the high-definition camera 106 to be automatically cleaned during the flight of the drone. This not only avoids the degradation of shooting quality caused by dust and dirt, but also extends the service life of the high-definition camera 106. The force storage mechanism of the second torsion spring 411 enables the rotating shaft 409 to be quickly reset after being subjected to external force, thereby driving the arc disk 410 to rotate and triggering the rotation of the cleaning disk 400.

[0052] Working principle: When in use, first connect the four-in-one ESC 105 and multiple motors 102 through lines, the high-definition camera 106 is responsible for acquiring images and three-dimensional data of the inspection object, and the visual module 107 realizes target recognition and visual measurement through image processing algorithms. It is equipped with a high-precision GNSS receiver and an inertial measurement unit IMU, which can achieve autonomous positioning and navigation through inertial navigation when the GPS signal is weak or missing. It is also equipped with environmental perception sensors to implement obstacle detection and avoidance. Based on an efficient edge computing platform or cloud computing service, it processes the image data collected by the autonomous navigation module 108 in real time, extracts effective information and feeds it back to the flight control unit 110. It uses a two-way communication protocol to ensure real-time data transmission between the drone and the ground control center, and supports instant analysis and remote control of inspection results.

[0053] When the frame 100 is hit by wind during flight, the high-definition camera 106 will vibrate. At this time, the frame 100 is vibrated and the transmission support 204 is shaken, thereby being misaligned with the straight bar 202. At this time, when the straight bar 202 is misaligned, the buffer piston rod 208 is squeezed to make the piston end slide in the buffer cylinder 207, thereby pushing the lubricating oil in the buffer cylinder 207 to be transported to the inside of the oil shell 206 through the oil delivery pipe 211. As the amplitude of the vibration increases, the lubricating oil in the first spring 209 will be difficult to be pushed into the oil shell 206, thereby increasing the resistance of the buffer piston rod 208, thereby achieving shock absorption.

[0054] When the orientation of the high-definition camera 106 needs to be adjusted, the cylinder 300 can be opened to push the sleeve 301 to move and pull the high-definition camera 106 to tilt and change the orientation of the high-definition camera 106. At the same time, when the high-definition camera 106 is tilted, the connecting seat 201 will be driven to tilt together, thereby pushing the trigger plate 304 to move and causing the rotating rod 303 to rotate. At this time, the encoder 306 can obtain the rotation angle of the rotating rod 303 to know the orientation angle of the high-definition camera 106. At the same time, when the rotating rod 303 rotates, it will drive the arc plate 305 to move together, thereby squeezing the lifting piston rod 307 to move downward and compressing the second spring 311. Then, the second spring 311 can facilitate the lifting piston rod 307 to reset and drive the rotating rod 303 to reset.

[0055] When the mirror surface of the high-definition camera 106 encounters a lot of dust, the cylinder 300 can be continuously driven to move, thereby continuously driving the piston end of the lifting piston rod 307 to slide in the gas cylinder 309, and the gas in the gas cylinder 309 is transported to the inside of the gas receiving cylinder 404 through the air pipe 310. At this time, the increase in gas in the gas receiving cylinder 404 will push the transmission piston rod 405 to move, thereby driving the guide bar 413 to slide inside the straight groove 414. At the same time, the high-definition camera 106 continues to tilt and finally its mirror surface fits the surface of the cleaning disk 400. At the same time, the guide bar 413 is located at the connection between the straight groove 414 and the release groove 415. Subsequently, the rotating shaft 409 is quickly reset under the action of the second torsion spring 411, which will drive the arc disk 410 to rotate, push the resistance wheel 408 to move, drive the connecting shaft 406 to rotate, and then drive the cleaning disk 400 to rotate. At this time, the cleaning disk 400 rubs the mirror surface of the high-definition camera 106, and at the same time, the climbing wheel 420 slides on the top surface of the inclined bar 417, pushing the liquid pushing plate 419 to move upward to spray cleaning liquid and cooperate with the cleaning disk 400 to clean the mirror surface of the high-definition camera 106. When the high-definition camera 106 is subsequently driven to reset, the transmission piston rod 405 retracts, which will drive the guide bar 413 to slide in the force storage groove 416, thereby storing force for the second torsion spring 411.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A machine vision autonomous navigation drone for inspection tasks, comprising a frame (100), characterized in that: Four motors (102) are arranged in a divergent shape along the central axis of the frame (100), and the output shafts of the four motors (102) are all fixedly connected to blades (103); a four-in-one electric regulator (105) connected to the circuits of the four motors (102) is fixedly connected inside the frame (100); a flight control unit (110) is fixedly connected to the top of the four-in-one electric regulator (105); an autonomous navigation module (108) for controlling the flight control unit (110) is fixedly connected inside the frame (100); a high-definition camera (106) is arranged inside the frame (100); and a control unit (108) for controlling the high-definition camera is fixedly connected inside the frame (100). (106), the frame (100) is provided with a connecting seat (201) fixedly connected to the high-definition camera (106), the connecting seat (201) is provided with a support (204) connected to the frame (100), the support (204) is provided with an oil shell (206) filled with lubricating oil, the outer surface of the oil shell (206) is provided with a shock-absorbing component for buffering the connecting seat (201), the frame (100) is provided with a cleaning disk (400) for cleaning the high-definition camera (106), and the frame (100) is provided with a driving component for driving the high-definition camera (106) to tilt; The shock absorbing assembly comprises a straight bar (202) fixedly connected to the inside of a connecting seat (201) and slidably connected to a support (204); a plurality of connecting handles (210) are rotatably connected to the inside of the support (204); the plurality of connecting handles (210) are respectively fixedly connected to buffer cylinders (207); the bottoms of the plurality of buffer cylinders (207) are respectively connected to oil delivery pipes (211) connected to an oil shell (206); the tops of the plurality of buffer cylinders (207) are slidably connected to buffer piston rods (208) adapted thereto; the ends of the plurality of buffer piston rods (208) away from their movable ends are rotatably connected to the inside of the straight bar (202); the insides of the plurality of buffer cylinders (207) are respectively fixedly connected to first springs (209) for driving the buffer piston rods (208) to return to their original positions.

2. The machine vision autonomous navigation drone for inspection tasks according to claim 1, characterized in that: The driving assembly comprises a cylinder (300) rotatably connected to the inside of a frame (100); an output end of the cylinder (300) is rotatably connected to a casing (301) sleeved on the outer surface of a high-definition camera (106); a leg (200) is fixedly connected to the inside of the frame (100); both ends of the support (204) are fixedly connected to a rotating shaft (203) rotatably connected to the leg (200); and a first torsion spring (205) for driving the support (204) to return to its original position is sleeved on the outer surface of the rotating shaft (203).

3. The machine vision autonomous navigation drone for inspection tasks according to claim 2, characterized in that: An extension plate (302) is fixedly connected to one side of the support leg (200), a rotating rod (303) is rotatably connected to the top of the extension plate (302), a trigger plate (304) that contacts the connection seat (201) is fixedly connected to one side of the rotating rod (303), and an encoder (306) whose output shaft is fixedly connected to the rotating rod (303) is fixedly connected to the top of the extension plate (302).

4. The machine vision autonomous navigation drone for inspection tasks according to claim 3, characterized in that: The outer surface of the rotating rod (303) is fixedly connected to an arc plate (305), the top of the extension plate (302) is fixedly connected to an air delivery cylinder (309), the top of the air delivery cylinder (309) is slidably connected to a lifting piston rod (307) adapted thereto, and the inside of the air delivery cylinder (309) is fixedly connected to a second spring (311) for driving the lifting piston rod (307) to return to its original position, a guide groove (312) is provided at the bottom of the arc plate (305), and the top of the lifting piston rod (307) is rotatably connected to a ball (308) slidably connected to the guide groove (312).

5. The machine vision autonomous navigation drone for inspection tasks according to claim 1, characterized in that: Four brackets (101) are fixedly connected in a divergent manner along the central axis of the frame (100), and one end of each of the four brackets (101) is provided with a mounting groove (109) for mounting a motor (102), and the outer surfaces of the four motors (102) are fixedly connected with protective covers (104).

6. The machine vision autonomous navigation drone for inspection tasks according to claim 4, characterized in that: A connecting piece (403) is fixedly connected inside the frame (100); one end of the connecting piece (403) is fixedly connected to a support plate (401) for supporting the cleaning plate (400); a connecting shaft (406) rotatably connected to the support plate (401) is fixedly connected to the bottom of the cleaning plate (400); a connecting rod (407) is fixedly connected to the outer surface of the connecting shaft (406); one end of the connecting rod (407) is fixedly connected to a contact wheel (408); a rotating shaft (409) is rotatably connected inside the support plate (401); and an arc-shaped plate (410) capable of contacting the contact wheel (408) is fixedly connected to the outer surface of the rotating shaft (409).

7. The machine vision autonomous navigation drone for inspection tasks according to claim 6, characterized in that: The outer surface of the rotating shaft (409) is sleeved with a second torsion spring (411) for driving the rotating shaft (409) to reset itself; the outer surface of the rotating shaft (409) is fixedly connected to a transmission disc (412); a straight groove (414) is provided on the top of the transmission disc (412); a release groove (415) connected to one end of the straight groove (414) is provided on the top of the transmission disc (412); a force storage groove (416) is provided on the top of the transmission disc (412); and one end of the force storage groove (416) is connected to the release groove (415). The support plate (401) is connected to a gas receiving cylinder (404) at one end, and the other end is connected to the other end of the straight groove (414). One side of the support plate (401) is fixedly connected to a gas receiving cylinder (404). The gas receiving cylinder (404) is connected to a gas delivery cylinder (309) via an air pipe (310). One end of the gas receiving cylinder (404) is slidably connected to a transmission piston rod (405) adapted thereto. One end of the transmission piston rod (405) is fixedly connected to a guide bar (413) slidably connected to the inside of the straight groove (414).

8. The machine vision autonomous navigation drone for inspection tasks according to claim 7, characterized in that: The top of the cleaning plate (400) is provided with a plurality of cavities for storing cleaning liquid, the top of the cleaning plate (400) is provided with a plurality of nozzles (402) respectively connected to the cavities, a plurality of liquid pushing plates (419) are provided in the plurality of cavities, and the bottoms of the plurality of liquid pushing plates (419) are fixedly connected to sliding rods (418) slidably connected to the cleaning plate (400), the top of the supporting plate (401) is fixedly connected to a plurality of inclined bars (417), and the bottoms of the plurality of sliding bars (418) are rotatably connected to climbing wheels (420) adapted to the inclined bars (417).

9. The machine vision autonomous navigation drone for inspection tasks according to claim 1, characterized in that: The visual module (107) includes a GNSS receiver and an inertial measurement unit, and the flight control unit (110) also includes an optical flow sensor for sensing obstacles and a laser ranging module.

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