Unmanned aerial vehicle and mobile robot collaborative inspection system and method for intelligent construction site

Abstract

The invention discloses an unmanned aerial vehicle and mobile robot collaborative inspection system and method for an intelligent construction site, and relates to the technical field of intelligent construction. The system comprises an unmanned aerial vehicle and a mobile robot, docking modules are carried on the unmanned aerial vehicle and the mobile robot, docking and separation of the unmanned aerial vehicle and the mobile robot are achieved through the docking modules, and the docking module of the unmanned aerial vehicle comprises an unmanned aerial vehicle support and a support groove formed in the unmanned aerial vehicle support; the docking module of the mobile robot comprises a fuselage groove and a clamping device, in the docking process, the unmanned aerial vehicle support is embedded into the fuselage groove, the clamping device clamps the support groove to achieve locking, and docking of the unmanned aerial vehicle and the mobile robot is completed. According to the system, the unmanned aerial vehicle and the mobile robot can complete collaborative operation from the mechanical aspect, the defect that the prior art is limited to digital collaboration is overcome, and more efficient construction site inspection is achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and in particular to a drone and mobile robot collaborative inspection system and method for a smart construction site. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] At present, most construction sites still rely on manual inspections for quality management, that is, professional inspectors conduct regular or irregular inspections of the construction site to identify problems and urge timely rectification. However, although the manual inspection method currently used in the construction industry has played its due role to a certain extent, this method still has many shortcomings.

[0004] The traditional inspection method has many disadvantages: first, it is highly dependent on manual on-site inspections and data recording, which is not only inefficient, but also greatly weakens the timeliness of problem handling due to the inability to achieve real-time data upload and feedback, thus affecting the overall quality and efficiency of the inspection work; second, there are loopholes in the supervision of inspection personnel, and manually reported data may contain errors, delays, or even fraud, which undermines the reliability and credibility of the inspection results; in addition, it is difficult to intuitively and clearly show the full picture of the problem with text records alone, which is not conducive to quickly identifying and solving problems.

[0005] In order to improve the inspection efficiency of construction sites, drones and mobile robots can be used to conduct all-round inspections of construction sites. However, most mobile robots and drones currently only share information through collaborative technology, which means that they only stay at the level of data collaboration and have not achieved air-ground integrated collaboration. That is, during the inspection process, the two not only share data, but also work through precise contact between drones and mobile robots to complete efficient inspections of on-site construction conditions.

[0006] In view of the above problems, the traditional inspection method is no longer suitable for the development of the new era, and the current drone and robot collaboration method also has many drawbacks. Therefore, how to achieve air-ground integrated collaboration through the high degree of cooperation between drones and mobile robots has become a technical problem that needs to be solved urgently by existing technologies. Summary of the invention

[0007] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a drone and mobile robot collaborative inspection system and method for smart construction sites, in which the drone and mobile robot can complete collaborative operations from a mechanical aspect, overcoming the drawback of the prior art that is limited to digital collaboration, and achieving more efficient construction site inspections.

[0008] In order to achieve the above object, the present invention is implemented through the following technical solutions: A first aspect of the present invention provides a collaborative inspection system of unmanned aerial vehicles and mobile robots for smart construction sites, including a unmanned aerial vehicle and a mobile robot, both of which are equipped with a docking module and an inspection module, and the docking module is used to achieve docking and separation of the unmanned aerial vehicle and the mobile robot, the docking module of the unmanned aerial vehicle includes a unmanned aerial vehicle bracket and a bracket groove arranged on the unmanned aerial vehicle bracket, the docking module of the mobile robot includes a fuselage groove and a clamping device, during the docking process, the unmanned aerial vehicle bracket is embedded in the fuselage groove, and the clamping device is used to lock the bracket groove to complete the docking of the unmanned aerial vehicle and the mobile robot, and after docking, the unmanned aerial vehicle inspection module and the mobile robot inspection module are used to perform collaborative inspection.

[0009] Furthermore, when the mobile robot cannot reach a high place, the drone assists the mobile robot to be lifted to a high place; when the drone cannot operate at high altitude, the mobile robot carries the drone through the ground section.

[0010] Furthermore, the drone is also equipped with a drone movement module, a drone obstacle avoidance module and a drone positioning module, and the mobile robot is also equipped with a mobile robot movement module, a mobile robot obstacle avoidance module, a mobile robot positioning module and a mobile robot display module. The drone positioning module and the mobile robot positioning module are used to realize device positioning, the mobile robot display module is used for interface display, the drone movement module and the mobile robot movement module are used to drive the device to move, and the drone obstacle avoidance module and the mobile robot obstacle avoidance module are used to avoid obstacles during the movement of the device.

[0011] Furthermore, the mobile module of the mobile robot includes fan-shaped tires, tire telescopic rods, rotating shafts and a robot chassis. Two support frames are installed under the robot chassis. Each support frame is equipped with two multi-joint deformable tires. Each multi-joint deformable tire is composed of four fan-shaped tires. Each fan-shaped tire is connected by a tire telescopic rod. After the four tire telescopic rods are respectively connected to the fan-shaped tires, each tire telescopic rod is connected to the rotating shaft and combined.

[0012] Furthermore, when encountering steps, the mobile module extends the tire telescopic rod according to the height of the step, and the four fan-shaped tires open to different angles, allowing the mobile robot to climb the steps.

[0013] Furthermore, the clamping device is installed inside the mobile robot body, and two clamping devices are installed on each side of the mobile robot body. Each clamping device consists of a device base, four connecting gears, four connecting rods, two chucks and eight pins. The device base is installed inside the mobile robot body, and two connecting gears are installed on each side of the device base, and the connecting gears and the device base are connected by pins; the connecting rod is above the connecting gear, and the connecting rod is connected to the device base by pins, and the chucks are on both sides of the device base, and are respectively connected to the connecting gears and the connecting rods by pins. As the connecting gears rotate, the connecting rods are driven to move, thereby driving the chucks to move, thereby realizing the clamping and separation of the chucks on both sides.

[0014] Furthermore, when the UAV is docked with the mobile robot, the clamping head of each clamping device is tightly attached to and locked in the bracket groove of the UAV bracket.

[0015] Furthermore, the UAV docking module also includes a docking visual sensor, and the mobile robot docking module also includes an indicator mark. Alignment work is required before docking. The docking visual sensor of the UAV is docked with the indicator mark of the mobile robot, and the mobile robot is used to power the UAV.

[0016] Furthermore, the drone docking module also includes a charging socket, and the mobile robot docking module also includes a charging connector. During the docking process between the drone and the mobile robot, the charging socket at the bottom of the drone docks with the charging connector at the top of the mobile robot, and the mobile robot supplies power to the drone.

[0017] A second aspect of the present invention provides a collaborative inspection method of the collaborative inspection system of a drone and a mobile robot for a smart construction site according to the first aspect, comprising the following steps: According to the task requirements, the UAV and mobile robot are ordered to perform inspection work respectively; When docking is required, the mobile robot is used as the docking point to recall the drone. After the drone arrives at the docking point, the docking module of the drone and the mobile robot is used to perform docking, thus achieving collaboration between the drone and the mobile robot. Collaborative drones and mobile robots continue to carry out inspections as required by the mission.

[0018] One or more of the above technical solutions have the following beneficial effects: The present invention discloses a collaborative inspection system and method of drones and mobile robots for smart construction sites. The collaborative inspection system mainly includes a mobile robot and a drone. The two can work independently or be precisely docked to form a whole. When the mobile robot cannot reach a high place through traditional methods such as stairs, the drone can assist the mobile robot to rise to a high place. Similarly, the mobile robot can also carry the drone to enter or cross ground sections that are inconvenient for the drone to pass. The mobile robot adopts a mobile method of rotating four multi-joint tires. The multi-joint tires can be opened into a claw shape to ensure the climbing performance of the mobile robot, and the mobile robot can automatically climb stairs.

[0019] The collaborative working system of mobile robots and drones can realize various inspection tasks and accurate building 3D modeling inside and outside the building at the same time, which can improve the intelligence, precision and visualization level of project management.

[0020] The drone of the present invention is equipped with a dust sensor, a noise sensor and a broadcasting device. When it is inspecting, it can accurately measure the dust concentration and noise decibels of the area it inspects, and promptly remind on-site staff through the broadcasting of the broadcasting device.

[0021] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0023] Figure 1 This is a left front view of a mobile robot according to a first embodiment of the present invention; Figure 2 This is a right front view of a mobile robot according to a first embodiment of the present invention; Figure 3 This is a left rear view of the mobile robot according to the first embodiment of the present invention; Figure 4 This is a right rear view of the mobile robot according to the first embodiment of the present invention; Figure 5 This is a cross-sectional view of a mobile robot according to a first embodiment of the present invention; Figure 6 This is a schematic diagram of a laser sensor in a standby state according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the working state of the laser sensor according to the first embodiment of the present invention; Figure 8 This is a schematic diagram of the tires of a mobile robot with the tires opened according to the first embodiment of the present invention; Fig. 9 This is a schematic diagram of the tire closure of a mobile robot according to the first embodiment of the present invention; Fig.10 This is a schematic diagram of a mobile robot climbing stairs according to Embodiment 1 of the present invention; Fig.11 This is a left front view of the drone according to the first embodiment of the present invention; Fig.12 This is a right front view of the drone according to the first embodiment of the present invention; Fig.13 This is a left rear view of the drone according to the first embodiment of the present invention; Fig.14 This is a right rear view of the drone according to the first embodiment of the present invention; Fig.15 This is a top view of a drone according to Embodiment 1 of the present invention; Fig.16 This is a bottom view of a drone according to Embodiment 1 of the present invention; Fig.17 This is a schematic diagram of the maximum rotation angle of the drone bracket according to the first embodiment of the present invention; Fig.18 This is a schematic diagram of the minimum rotation angle of the drone bracket according to the first embodiment of the present invention; Fig.19 This is a schematic diagram of the cooperative working of a UAV and a mobile robot according to the first embodiment of the present invention; Fig. 20 This is a cross-sectional view of a UAV and a mobile robot working in collaboration according to Embodiment 1 of the present invention; Fig.21 A detailed diagram of a clamping device according to a first embodiment of the present invention; Fig. 22 This is a schematic diagram of a clamping device before clamping according to an embodiment of the present invention; Fig.23 This is a schematic diagram of the clamping device after clamping according to the first embodiment of the present invention; Among them, 1. HD camera, 2. rotating bracket, 3. laser sensor, 4. rotating platform, 5. electric push rod, 6. top round hole, 7. camera, 8. gimbal, 9. dust sensor, 10. docking visual sensor, 11. indicator mark, 12. drone bracket, 13. fuselage groove, 14. bracket groove, 15. charging socket, 16. charging connector, 17. clamping device, 18. chuck, 19. connecting rod, 20. connecting gear, 21. pin, 22. device base, 23. fan-shaped tire, 24. tire telescopic rod, 25. rotating shaft, 26. robot chassis, 27. wing, 28. laser radar, 29. obstacle avoidance visual sensor, 30. UWB positioning module, 31. RTK positioning module, 32. display screen, 33. sound broadcast device. DETAILED DESCRIPTION

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or their combinations; Embodiment 1: Embodiment 1 of the present invention provides a drone and mobile robot collaborative inspection system for a smart construction site. The drone and mobile robot in the system can work together and have many uses in construction site inspection: 1. The mobile robot and drone can realize air-ground integrated collaboration, and the drone and mobile robot can carry each other to collaboratively complete work tasks in complex environments. 2. The mobile robot uses a multi-joint deformable tire, which has four joints, each joint is controlled by a retractable rod, and the four retractable rods converge at the axis of the tire. When the robot moves normally, the retractable rod of the tire is tightened by default, and the tire can roll smoothly to ensure the normal movement of the robot. When the mobile robot climbs the stairs, the four retractable rods extend, expand and open the four joints of the tire, so that the robot's tire is more convenient to contact and bear force with the stair steps, ensuring the robot's climbing performance. 3. By combining the mobile robot with the laser sensor 3 carried by the drone, the size of the building, the flatness of the wall, the height accuracy, etc. are accurately measured to ensure the accuracy of the detection results. 4. The drone is equipped with a dust sensor 9, a noise sensor and a broadcasting device, so that when it is inspecting, it can accurately measure the dust concentration and noise decibel in the area it passes through, and promptly remind the on-site staff through the broadcasting equipment so that they can take corresponding preventive measures. 5. It is of great significance to improve the efficiency and quality of the entire construction industry. 6. During the inspection process, the mobile robot can transmit the video images of the construction site in real time through a high-definition camera, so that management personnel can remotely monitor the real-time situation of the construction site and take corresponding measures in time for different situations on the construction site. 7. The mobile robot and drone are equipped with corresponding navigation modules, obstacle avoidance modules and docking modules, which can ensure that the drone and mobile robot can perform inspection and shooting work normally and safely, effectively respond to the environment of the construction site, and accurately and quickly transmit inspection information.

[0026] The detailed structure of the system is as follows: The collaborative inspection system includes drones and mobile robots, such as Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 and Fig.18 As shown in FIG, the drone is equipped with a drone docking module, a drone inspection module, a drone movement module, a drone obstacle avoidance module and a drone positioning module. Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the mobile robot includes a fuselage, on which a mobile robot docking module, a mobile robot inspection module, a mobile robot movement module, a mobile robot obstacle avoidance module, a mobile robot positioning module and a mobile robot display module are mounted. The drone inspection module and the mobile robot inspection module are used to complete the inspection work, mainly for photographing the building, and after computer processing, a model of the current building can be generated, thereby reflecting and predicting the construction progress of the construction site. The dust concentration and noise decibel around the building are detected by the drone, and the span and depth of the room inside the building are measured by the mobile robot. The drone positioning module and the mobile robot positioning module are used to realize equipment positioning, determine the precise position of the drone and the mobile robot in the space environment, and ensure the accuracy of its navigation and path planning. The mobile robot display module is used for interface display, and the data information measured by the mobile robot is displayed on the display screen 32 (the laser sensor measures the span and depth of the room, etc.), and the sound broadcast device 33 broadcasts the relevant information measured by the drone through voice (dust concentration and noise decibel, etc.). The UAV mobile module and the mobile robot mobile module are used to drive the movement of the equipment. When the mobile robot is measuring inside a building, the mobile module ensures its flexibility. The UAV obstacle avoidance module and the mobile robot obstacle avoidance module are used to avoid obstacles during the movement of the equipment. When the UAV and the mobile robot are working, they can avoid the surrounding environmental obstacles in time to ensure the safety of their inspection and measurement environment. The UAV docking module and the mobile robot docking module are mainly used for the collaborative operation of the mobile robot and the UAV.

[0027] In a specific embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4As shown, both the drone and the mobile robot are equipped with docking modules, and the docking and separation of the drone and the mobile robot are achieved through the docking module. The drone docking module includes a docking visual sensor 10, a drone bracket 12, a bracket groove 14 and a charging socket 15. The mobile robot docking module includes an indicator mark 11, a fuselage groove 13, a charging connector 16 and a clamping device 17. The clamping device 17 includes a clamp 18, a connecting rod 19, a connecting gear 20, a pin 21 and a device base 22. In this module, the drone and the mobile robot can work independently, or they can dock accurately and form a whole. When the mobile robot cannot reach a high place through traditional methods such as stairs, the drone can assist the mobile robot to rise to a high place. Similarly, the mobile robot can also carry a drone to enter or cross ground sections where the drone cannot fly.

[0028] The detailed docking process is as follows: Before taking off, the drone is in a docking and collaborative state with the mobile robot, and the current position is regarded as the return point. It should be noted that the drone and the mobile robot are in a docking and collaborative state before and after work. The collaboration between the two can also reduce the space occupied. During the work process, they can be separated or re-docked according to work needs.

[0029] When the drone and the mobile robot are working, the remote terminal can display the specific spatial positions of the drone and the mobile robot through positioning. If the drone needs to work with the mobile robot, the remote terminal first controls the mobile robot to move to a relatively open area outdoors, at which time the coordinates of the mobile robot are recorded, and the mobile robot stays here before cooperating with the drone. The remote terminal updates the drone's return point to the current coordinates of the mobile robot, and the drone automatically returns. When the drone automatically returns to the new return point, cancel the drone's automatic return, and keep the drone in a hovering state at a certain height (the hovering position is slightly higher than the mobile robot) to start docking.

[0030] Before docking, alignment work needs to be performed, the visual sensor of the UAV is docked with the indicator mark 11 of the mobile robot, and the mobile robot is used to power the UAV.

[0031] Specifically, the drone bracket 12 is opened to the maximum angle; the four bottom docking visual sensors 10 on the bottom of the drone are respectively identified and slowly docked with the four indicator marks 11 on the top of the mobile robot, and the drone slowly descends until each bottom docking visual sensor 10 is close to the indicator mark 11. During the docking process of the drone and the mobile robot, the charging socket 15 at the bottom of the drone is docked with the charging connector 16 on the top of the mobile robot, and the mobile robot can power the drone.

[0032] The docking module of the drone includes a drone bracket 12 and a bracket groove 14 set on the drone bracket 12, and the docking module of the mobile robot includes a fuselage groove 13 and a clamping device 17. During the docking process, the drone bracket 12 is slowly closed to the minimum angle, and is inserted into the fuselage groove 13 by movement. After the drone bracket 12 is completely closed, the clamping device 17 clamps the bracket groove 14 to achieve locking, and the docking of the drone and the mobile robot is completed. Fig.19 , Fig. 20 As shown, the following work can be done. When the mobile robot cannot reach a high place, the drone assists the mobile robot to rise to a high place. When the drone cannot work at high altitude, the mobile robot carries the drone through the ground section. During the docking process between the drone and the mobile robot, the laser sensor 3 of the mobile robot remains in standby mode, as shown in FIG. Figure 6 shown.

[0033] Among them, Fig.21 , Fig. 22 and Fig.23 As shown, the clamping device 17 is installed inside the mobile robot body, and two clamping devices 17 are installed on each side of the mobile robot body for fixing and locking the drone bracket 12. Each clamping device 17 is composed of a device base 22, four connecting gears 20, four connecting rods 19, two clamps 18 and eight pins 21. The device base 22 is installed inside the mobile robot body, and two connecting gears 20 are installed on both sides of the device base 22, and the connecting gears 20 and the device base 22 are connected by pins 21; the connecting rod 19 is above the connecting gear 20, and the connecting rod 19 is connected to the device base 22 by the pins 21. The clamps 18 are on both sides of the device base 22, and are respectively connected to the connecting gears 20 and the connecting rods 19 by the pins 21. As the connecting gear 20 rotates, the connecting rod 19 is driven to move, thereby driving the clamps 18 to move, thereby realizing the clamping and separation of the clamps 18 on both sides. When the UAV is docked with the mobile robot, the UAV bracket 12 can rotate 90° to support and fix the UAV so that it can maintain a stable posture and angle during flight; it can also be combined with the clamping device in the mobile robot body to achieve the purpose of collaborative operation between the two. Fig. 22 and Fig.23 As shown, the clamping head of each clamping device of the mobile robot is tightly attached to and locked in the bracket groove 14 of the drone bracket 12. The drone bracket 12 and the clamping device are used to ensure the stability of the drone and the mobile robot when working together. After docking, the drone inspection module and the mobile robot inspection module are used to perform collaborative inspections.

[0034] In this embodiment, the clamping device can be driven by a motor or a hydraulic or pneumatic system, and a hydraulic cylinder or a pneumatic cylinder is used to push the connecting rod and the clamp to achieve clamping and loosening. If the clamping device is driven by a motor or a hydraulic or pneumatic system, the driving device can be operated by remote control: the remote terminal can send instructions to control the action of the driving device to achieve clamping and separation.

[0035] In a specific embodiment, the mobile module of the drone includes four wings 27 mounted on the fuselage. The wings 27 are used to realize the flight of the drone.

[0036] The mobile module of the mobile robot includes a fan-shaped tire 23, a tire telescopic rod 24, a rotating shaft 25, and a robot chassis 26. Two support frames are installed below the robot chassis 26. The support frames are two horizontally connected brackets below the mobile robot chassis. The support frames are connected to the rotating shaft 25 and are used to support the rotating shaft 25 of the multi-joint deformable tire. Each support frame is equipped with two multi-joint deformable tires, such as Figure 8 and Fig. 9 As shown, each multi-jointed deformable tire is composed of four fan-shaped tires 23, each fan-shaped tire 23 is connected by a tire telescopic rod 24, and after the four tire telescopic rods 24 are respectively connected to the fan-shaped tires 23, the other end of each tire telescopic rod 24 is connected to the rotating shaft 25. Fig.10 As shown, when encountering a step, the mobile module extends the tire telescopic rod to a suitable height according to the height of the step, and then the four fan-shaped tires 23 are opened to different angles, so that the mobile robot can climb the step.

[0037] Specifically, the optimal extension length needs to adjust the extension amount of the telescopic rod according to the height of each step. If the step height is relatively small, the extension amount of the telescopic rod is adjusted to be small, otherwise, the extension amount is increased. When encountering steps that need to be climbed, the robot's tire telescopic rod can be continuously extended and tried to climb until it is extended to the best climbing length.

[0038] The multi-joint deformable tire of this embodiment is divided into four sections, and the shape of each section of the tire is 1 / 4 of the circular tire. The center of each section of the tire is connected to a telescopic rod. When the four telescopic rods are retracted, the four sections of the tire fit together to form a circular tire, which can ensure the normal movement of the robot. When the robot needs to climb stairs or walk over step-shaped obstacles, the telescopic rod of the tire is extended to make each section of the tire extend outward for a distance, so that when the robot climbs, the tire can more fully contact and bear force with the stair steps, thereby ensuring the climbing performance of the robot.

[0039] In a specific embodiment, the inspection module of the mobile robot includes a high-definition camera 1, a rotating bracket 2, a laser sensor 3, a rotating platform 4, an electric push rod 5 and a top circular hole 6. The high-definition camera 1 can shoot and record the environment inside the building and view the video images of the construction site in real time; the laser sensor 3 can measure the span and depth of the room inside the building during the acceptance measurement, and can also identify objects and build a three-dimensional map of the surrounding environment during work. In this module, the mobile robot and the drone can work together to carry out various inspection tasks inside and outside the building at the same time and accurately build 3D building models, which can improve the intelligence, precision and visualization level of project management.

[0040] Specifically, Figure 5 , Figure 6 and Figure 7 As shown in the figure, a rotating bracket 2 is installed in front of the mobile robot body, and a high-definition camera 1 is fixed inside the rotating bracket 2 to ensure that the robot's high-definition camera 1 has high flexibility during shooting. A laser sensor 3, a rotating platform 4 and an electric push rod 5 are installed inside the body. The laser sensor 3 is installed on the rotating platform 4, and the rotating platform 4 is connected to the top of the electric push rod 5. The electric push rod 5 is normally in a tightened state. After tightening, the laser sensor 3 is inside the body of the mobile robot. When the mobile robot needs to enter a room for measurement, Figure 5 As shown in the lower right figure, the laser sensor 3 is working, and the electric push rod 5 is extended to drive it upward, so that the laser sensor 3 is extended through the top circular hole 6 of the fuselage. After the laser sensor 3 is pushed up to a distance outside the top of the robot fuselage, the laser sensor 3 can be rotated with the help of the rotating platform 4 to measure the interior of the room. Through the cooperation of the rotating platform 4, the room size is detected 360° or the features of the objects in the room are identified, and the room span and depth data and the three-dimensional map of the surrounding environment are generated; the laser sensor 3 can also perform pre-processing, feature extraction and other operations on the scanned data, and perform feature recognition on the scanned objects. After the laser sensor 3 finishes the measurement work, it automatically retracts into the fuselage.

[0041] The inspection module of the drone includes a camera 7, a gimbal 8, a dust sensor 9, a noise sensor, a dust sensor 9 and a sound broadcasting device 33.

[0042] like Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 and Fig.18As shown, a gimbal 8 is installed under the fuselage of the drone, and a camera 7 is installed at the center of the gimbal. The drone camera 7 is mainly used for aerial photography of the drone. The shooting angle can be freely adjusted during flight, and it has good flexibility. The noise sensor and dust sensor 9 are mainly used for the drone to detect the noise and dust in the surrounding environment during flight. A dust sensor 9 is installed in front of the fuselage to detect the dust concentration in the area during the flight of the drone. The noise sensor is installed above the drone camera 7, so that the drone can measure the dust concentration in the air against the wind during flight, and it has high accuracy. The sound broadcast device 33 is installed on the top of the drone, mainly used to broadcast information such as dust concentration and noise decibel in the current area, to remind on-site staff and make them take corresponding preventive measures. When the drone is in the process of inspection, its own dust sensor detects that the dust concentration in the area is too high, and the surrounding staff are reminded through the sound broadcast device 33 on the top of the drone.

[0043] The mobile robot moves on the ground or indoors, and the inspection module of the mobile robot takes pictures of the interior of the building at the construction site through its internal high-definition camera 7, and generates a 3D model of the interior of the building after processing; the drone works outside the building, and the inspection module of the drone captures the external information of the ground building in the form of photos or videos through the drone camera 7, and forms a 3D model of the exterior of the building after processing. By integrating the modeling information obtained by the mobile robot and the drone, a complete 3D model of the building can be generated, potential problems in construction can be predicted, a more reasonable construction plan can be formulated, and the intelligence, precision and visualization level of project management can be improved.

[0044] In a specific embodiment, in order to enable the mobile robot to intuitively display the measured data, a mobile robot display module is installed in front of the mobile robot body, and the display module is a display screen 32, which is used to display the data measured by the robot. The display screen can also be used to set the robot or define the robot's travel route.

[0045] In a specific implementation, the positioning module of the mobile robot adopts a UWB positioning module 30. In order to enable the control device to detect the specific position of the mobile robot during the detection process, the mobile robot adopts a UWB positioning module 30. This positioning technology is used indoors, and the signal can penetrate obstacles such as walls and human bodies, which makes the UWB signal coverage and stability better in indoor environments.

[0046] In order to determine the spatial position of the drone during detection, a positioning module of the drone is provided, which can provide high-precision satellite navigation positioning. The positioning module of the drone is an RTK positioning module 31, which is installed on the top of the drone and is used to accurately determine the spatial position of the drone. When the drone and the mobile robot need to cooperate, the drone first determines the approximate position of the mobile robot through the RTK positioning device, and hovers to a certain height above the mobile robot according to the route planning.

[0047] In a specific embodiment, the obstacle avoidance module of the mobile robot includes a laser radar 28, which is used to ensure that the robot detects surrounding obstacles and takes evasive actions in a timely manner when the mobile robot moves in a small space such as inside a building, thereby ensuring the safety of the robot's inspection process.

[0048] Specifically, to ensure the safety of the robot during indoor inspection and measurement, the obstacle avoidance module of the mobile robot adopts a laser radar 28, which is respectively installed at the center of the four sides of the robot chassis 26, so that the mobile robot has good obstacle avoidance ability during the detection process.

[0049] The obstacle avoidance module of the drone includes an obstacle avoidance visual sensor 29, which is used to identify objects in the surrounding environment when the drone is flying, and perform obstacle avoidance operations based on this information, and avoid the surrounding changing environment in time to ensure the safety of the drone during flight.

[0050] Specifically, two obstacle avoidance visual sensors 29 are installed in the front and rear directions of the drone; two obstacle avoidance visual sensors 29 are installed on the top of the fuselage; and four bottom docking visual sensors 10 are installed at the bottom of the fuselage. The above visual sensors can detect the surrounding environment of the drone during flight to ensure the safety of the drone during inspection. The bottom docking visual sensor 10 can also play an alignment role during the docking process between the mobile robot and the drone.

[0051] The collaborative operation method of a mobile robot and a drone designed in this embodiment is that the mobile machine can work collaboratively with the drone: the drone and the mobile robot can carry each other to collaboratively complete work tasks in complex environments. The drone docks with the four indicator marks on the top of the mobile robot through the four docking visual sensors at the bottom of the drone, and the bracket at the bottom of the drone is embedded in the top shell of the robot and fixed. This ensures that when the mobile robot needs to go to a higher floor but cannot reach it by climbing the stairs, the drone can assist in lifting the mobile robot to the floor; the mobile robot can also carry the drone to enter and cross ground sections that are inconvenient for the drone to pass.

[0052] In order to ensure the climbing performance of the mobile robot, the mobile tire of the mobile robot can be split into four joints along the axis of the tire and open to cope with stairs with higher steps. When the mobile robot walks on flat ground, the four parts of the tire are compressed together into a circle to ensure the stability of the robot's normal walking; when the mobile robot wants to climb stairs, the four joints of the tire are opened and move forward, so that the tire joints are fully in contact with the steps of the stairs and receive force, thereby ensuring its climbing stability.

[0053] When the drone and the robot are locked, the mobile robot can charge the drone, and the drone can also set and plan its flight route. When the drone's battery power drops to a certain threshold, it will automatically return and dock and lock with the mobile robot to ensure the drone's flight inspection efficiency.

[0054] Embodiment 2: Embodiment 2 of the present invention provides a collaborative inspection method of the collaborative inspection system of a drone and a mobile robot for a smart construction site according to the first aspect, comprising the following steps: According to the task requirements, the UAV and mobile robot are ordered to perform inspection work respectively; When docking is required, the mobile robot is used as the docking point to recall the drone. After the drone arrives at the docking point, the docking module of the drone and the mobile robot is used to perform docking, thus achieving collaboration between the drone and the mobile robot. Collaborative drones and mobile robots continue to carry out inspections as required by the mission.

[0055] The steps involved in the above embodiment 2 correspond to those in embodiment 1. For the specific implementation method, please refer to the relevant description part of embodiment 1.

[0056] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A drone and mobile robot collaborative inspection system for smart construction sites, characterized in that: It includes a drone and a mobile robot, both of which are equipped with a docking module and an inspection module. The docking module is used to realize the docking and separation of the drone and the mobile robot. The docking module of the drone includes a drone bracket and a bracket groove set on the drone bracket. The docking module of the mobile robot includes a fuselage groove and a clamping device. During the docking process, the drone bracket is embedded in the fuselage groove, and the clamping device clamps the bracket groove to achieve locking, thereby completing the docking of the drone and the mobile robot. After docking, the drone inspection module and the mobile robot inspection module are used to perform collaborative inspection.

2. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 1, characterized in that: When the mobile robot cannot reach a high place, the drone helps the mobile robot to be lifted to a high place. When the drone cannot operate at high altitude, the mobile robot carries the drone through the ground section.

3. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 1, characterized in that: The drone is also equipped with a drone movement module, a drone obstacle avoidance module and a drone positioning module. The mobile robot is also equipped with a mobile robot movement module, a mobile robot obstacle avoidance module, a mobile robot positioning module and a mobile robot display module. The drone positioning module and the mobile robot positioning module are used to realize device positioning, the mobile robot display module is used for interface display, the drone movement module and the mobile robot movement module are used to drive the device to move, and the drone obstacle avoidance module and the mobile robot obstacle avoidance module are used to avoid obstacles during the movement of the device.

4. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 1, characterized in that: The mobile module of the mobile robot includes fan-shaped tires, tire telescopic rods, rotating shafts and a robot chassis. Two support frames are installed under the robot chassis. Each support frame is equipped with two multi-joint deformable tires. Each multi-joint deformable tire is composed of four fan-shaped tires. Each fan-shaped tire is connected by a tire telescopic rod. After the four tire telescopic rods are respectively connected to the fan-shaped tires, each tire telescopic rod is connected to the rotating shaft and combined.

5. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 4, characterized in that: When encountering steps, the mobile module extends the tire telescopic rod according to the height of the steps, and the four fan-shaped tires open to different angles, allowing the mobile robot to climb the steps.

6. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 1, characterized in that: The clamping device is installed inside the mobile robot body, and two clamping devices are installed on each side of the mobile robot body. Each clamping device consists of a device base, four connecting gears, four connecting rods, two chucks and eight pins. The device base is installed inside the mobile robot body, and two connecting gears are installed on both sides of the device base, and the connecting gears and the device base are connected by pins; the connecting rod is above the connecting gear, and the connecting rod is connected to the device base by pins, and the chucks are on both sides of the device base, and are respectively connected to the connecting gears and the connecting rods by pins. As the connecting gears rotate, the connecting rods are driven to move, thereby driving the chucks to move, thereby realizing the clamping and separation of the chucks on both sides.

7. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 6, characterized in that: When the UAV is docked with the mobile robot, the clamping head of each clamping device is tightly attached to and locked in the bracket groove of the UAV bracket.

8. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 1, characterized in that: The UAV docking module also includes a docking visual sensor, and the mobile robot docking module also includes an indicator mark. Alignment work is required before docking. The UAV's docking visual sensor docks with the mobile robot's indicator mark, and the mobile robot is used to power the UAV.

9. The UAV and mobile robot collaborative inspection system for smart construction sites as claimed in claim 8, characterized in that: The drone docking module also includes a charging socket, and the mobile robot docking module also includes a charging connector. During the docking process between the drone and the mobile robot, the charging socket at the bottom of the drone docks with the charging connector at the top of the mobile robot, and the mobile robot supplies power to the drone.

10. A collaborative inspection method for a drone and mobile robot collaborative inspection system for a smart construction site as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: According to the task requirements, the UAV and mobile robot are ordered to perform inspection work respectively; When docking is required, the mobile robot is used as the docking point to recall the drone. After the drone arrives at the docking point, the docking module of the drone and the mobile robot is used to perform docking, thus achieving collaboration between the drone and the mobile robot. Collaborative drones and mobile robots continue to carry out inspections as required by the mission.

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