An unmanned aerial vehicle and mobile robot cooperative inspection system and method for a smart construction site

Abstract

The application discloses a kind of unmanned aerial vehicle and mobile robot collaborative inspection system and method of wisdom construction site, it is related to intelligent construction technical field.The system includes unmanned aerial vehicle and mobile robot, unmanned aerial vehicle and mobile robot are all carried with docking module, the docking of unmanned aerial vehicle and mobile robot and separation are realized by docking module, the docking module of unmanned aerial vehicle includes unmanned aerial vehicle support and the support groove being set on unmanned aerial vehicle support, the docking module of mobile robot includes body recess and clamping device, in docking process, unmanned aerial vehicle support is embedded in body recess, is locked by clamping device column support groove, completes the docking of unmanned aerial vehicle and mobile robot.Unmanned aerial vehicle and mobile robot in the system can complete collaborative work from mechanical aspect, overcome the disadvantages of prior art limited to digital collaboration, realize more efficient construction site inspection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent construction, in particular to a UAV and mobile robot cooperative inspection system and method for a smart construction site. BACKGROUND

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

[0003] At present, most construction sites still rely on manual inspection for quality management, i.e. professional inspection personnel periodically or irregularly check the construction site to find problems and timely supervise rectification. However, although the manual inspection method commonly used in the current construction industry plays its due role to a certain extent, this method still has many shortcomings.

[0004] The traditional inspection method has many drawbacks: first, it highly depends on manual on-site inspection and data recording, which is not only inefficient, but also greatly weakens the timeliness of problem handling due to the inability to realize real-time data uploading and feedback, thereby affecting the overall quality and efficiency of the inspection work; second, there are loopholes in the supervision of inspection personnel, and the manually reported data may be incorrect, delayed or even false, which damages the reliability and credibility of the inspection results; in addition, it is difficult to clearly and intuitively show the whole picture of the problem by relying on text records, which is not convenient for quickly identifying and solving problems.

[0005] In order to improve the inspection efficiency of the construction site, a UAV and mobile robot cooperative method can be used to conduct comprehensive detection of the construction site. However, most of the current mobile robots and UAVs only share information through cooperation technology, i.e. indicating the level of data cooperation, and have not realized air-ground integrated cooperation, i.e. in the detection process, not only the sharing of data, but also the accurate contact of the UAV and mobile robot through the cooperative method to complete the efficient inspection of the on-site construction situation.

[0006] In view of the above problems, the traditional inspection method is not suitable for the development of the new era, and the current UAV and robot cooperative method also has many drawbacks. Therefore, how to highly cooperate between the UAV and mobile robot to realize air-ground integrated cooperation has become a technical problem to be solved in the prior art. SUMMARY

[0007] In view of the deficiencies in the prior art, the present application aims to provide a UAV and mobile robot cooperative inspection system and method for a smart construction site, which can complete cooperative work from a mechanical aspect, overcoming the drawbacks of the prior art limited to digital cooperation, and realizing more efficient construction site inspection.

[0008] In order to achieve the above object, the present application is realized by the following technical scheme:

[0009] The first aspect of the present application provides a kind of unmanned aerial vehicle and mobile robot cooperative inspection system of wisdom construction site, including unmanned aerial vehicle and mobile robot, unmanned aerial vehicle and mobile robot are all carried with docking module and inspection module, the docking of unmanned aerial vehicle and mobile robot is realized by docking module and separation, the docking module of unmanned aerial vehicle includes unmanned aerial vehicle support and the support recess that is set on unmanned aerial vehicle support, the docking module of mobile robot includes body recess and clamping device, in docking process, unmanned aerial vehicle support is embedded in body recess, is locked by clamping device column support recess, the docking of unmanned aerial vehicle and mobile robot is completed, and cooperative inspection is carried out after docking using unmanned aerial vehicle inspection module and mobile robot inspection module.

[0010] Further, when mobile robot cannot reach high place, unmanned aerial vehicle assists mobile robot to lift to high place, when unmanned aerial vehicle cannot high-altitude operation, mobile robot carries unmanned aerial vehicle through ground section.

[0011] Further, unmanned aerial vehicle also carries unmanned aerial vehicle mobile module, unmanned aerial vehicle obstacle avoidance module and unmanned aerial vehicle positioning module, mobile robot also carries mobile robot mobile module, mobile robot obstacle avoidance module, mobile robot positioning module and mobile robot display module, unmanned aerial vehicle positioning module and mobile robot positioning module are used to realize equipment positioning, mobile robot display module is used to carry out interface display, unmanned aerial vehicle mobile module and mobile robot mobile module are used to drive equipment to move, unmanned aerial vehicle obstacle avoidance module and mobile robot obstacle avoidance module are used to avoid obstacle during equipment movement.

[0012] Further, the mobile module of mobile robot includes fan-shaped tire, tire telescopic rod, rotating shaft and robot chassis, two support frames are installed below robot chassis, each support frame is equipped with two multi-joint deformation tires, each multi-joint deformation tire is composed of four fan-shaped tires, each fan-shaped tire is connected by a tire telescopic rod, four tire telescopic rods are connected to fan-shaped tire respectively, each tire telescopic rod is connected with rotating shaft combination.

[0013] Further, when encountering step, mobile module is according to the height of step, and tire telescopic rod is lengthened, four fan-shaped tires are opened to different angles, so that mobile robot can climb the step.

[0014] Further, the clamping device is installed inside the mobile robot body, two clamping devices are installed on each side of the mobile robot body, each clamping device is composed of a device base, four connecting gears, four connecting rods, two clamping heads and eight pins, the device base is installed inside the mobile robot body, two connecting gears are installed on each side of the device base, the connecting gears and the device base are connected through the pins; the connecting rods are above the connecting gears, the connecting rods and the device base are connected through the pins, the clamping heads are on both sides of the device base and are connected with the connecting gears and the connecting rods through the pins, the clamping heads are driven to move by the rotation of the connecting gears, and the clamping heads on both sides are clamped and separated.

[0015] Further, when the unmanned aerial vehicle is docked with the mobile robot, the clamping head of each clamping device is tightly attached to the bracket groove of the unmanned aerial vehicle bracket and is locked.

[0016] Further, the unmanned aerial vehicle docking module further comprises a docking visual sensor, and the mobile robot docking module further comprises an indication mark, alignment work is required before docking, the docking visual sensor of the unmanned aerial vehicle is docked with the indication mark of the mobile robot, and the mobile robot is powered by the unmanned aerial vehicle.

[0017] Further, the unmanned aerial vehicle docking module further comprises a charging socket, and the mobile robot docking module further comprises a charging connector, during the docking of the unmanned aerial vehicle and the mobile robot, the charging socket at the bottom of the unmanned aerial vehicle is docked with the charging connector at the top of the mobile robot, and the mobile robot powers the unmanned aerial vehicle.

[0018] The second aspect of the present application provides a cooperative inspection method of the unmanned aerial vehicle and mobile robot cooperative inspection system of the smart construction site.

[0019] According to the task requirement, the unmanned aerial vehicle and the mobile robot perform inspection work respectively;

[0020] When docking is required, the unmanned aerial vehicle is recalled with the mobile robot position as the docking point, after the unmanned aerial vehicle reaches the docking point, the unmanned aerial vehicle and the mobile robot are docked through the docking modules of the unmanned aerial vehicle and the mobile robot, and the cooperation of the unmanned aerial vehicle and the mobile robot is realized.

[0021] The cooperative unmanned aerial vehicle and mobile robot continue to perform inspection work according to the task requirement.

[0022] The above one or more technical solutions have the following beneficial effects:

[0023] The application discloses a kind of wisdom construction site unmanned aerial vehicle and mobile robot cooperative inspection system and method, the cooperative inspection system mainly includes mobile robot and unmanned aerial vehicle, both can independently carry out work respectively, also can be accurately docked and form an entirety, when mobile robot cannot reach high place by stair and other traditional ways, unmanned aerial vehicle can assist mobile robot to be lifted to high place. Similarly, mobile robot can also carry unmanned aerial vehicle to enter or pass through ground section that unmanned aerial vehicle is inconvenient to pass through. Mobile robot adopts the movement of four multi-joint tires rotation, multi-joint tire can be opened claw, to ensure the climbing performance of mobile robot, can make mobile robot automatically climb stairs.

[0024] Mobile robot and unmanned aerial vehicle cooperative working system can carry out various detection work in building simultaneously and accurately build 3D modeling, which can improve the intelligent, accurate and visual level of project management.

[0025] The unmanned aerial vehicle of the application is provided with a dust sensor, a noise sensor and a broadcasting device, which can accurately measure the dust concentration and noise decibels of the area passed by the unmanned aerial vehicle during inspection, and timely remind the on-site workers through the broadcast of the broadcasting device.

[0026] The advantages of the additional aspects of the application will be partially given in the following description, partially will become obvious from the following description, or be known by the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0027] The drawings accompanying the specification of the application are used to provide further understanding of the application, the illustrative embodiments of the application and the description thereof are used to explain the application, and do not constitute undue limitation on the application.

[0028] Figure 1 It is a left front view of the mobile robot of the embodiment one of the application;

[0029] Figure 2 It is a right front view of the mobile robot of the embodiment one of the application;

[0030] Figure 3 It is a left rear view of the mobile robot of the embodiment one of the application;

[0031] Figure 4 It is a right rear view of the mobile robot of the embodiment one of the application;

[0032] Figure 5 It is a section view of the mobile robot of the embodiment one of the application;

[0033] Figure 6 It is a schematic view of the laser sensor standby state of the embodiment one of the application;

[0034] Figure 7A schematic diagram of the working state of the laser sensor of the embodiment of the present application;

[0035] Figure 8 A schematic diagram of the tire opening of the mobile robot of the embodiment of the present application;

[0036] Figure 9 A schematic diagram of the tire closing of the mobile robot of the embodiment of the present application;

[0037] Figure 10 A schematic diagram of the mobile robot climbing stairs of the embodiment of the present application;

[0038] Figure 11 A left front view of the unmanned aerial vehicle of the embodiment of the present application;

[0039] Figure 12 A right front view of the unmanned aerial vehicle of the embodiment of the present application;

[0040] Figure 13 A left rear view of the unmanned aerial vehicle of the embodiment of the present application;

[0041] Figure 14 A right rear view of the unmanned aerial vehicle of the embodiment of the present application;

[0042] Figure 15 An upper view of the unmanned aerial vehicle of the embodiment of the present application;

[0043] Figure 16 A lower view of the unmanned aerial vehicle of the embodiment of the present application;

[0044] Figure 17 A schematic diagram of the maximum angle of rotation of the support of the unmanned aerial vehicle of the embodiment of the present application;

[0045] Figure 18 A schematic diagram of the minimum angle of rotation of the support of the unmanned aerial vehicle of the embodiment of the present application;

[0046] Figure 19 A schematic diagram of the cooperation of the unmanned aerial vehicle and the mobile robot of the embodiment of the present application;

[0047] Figure 20 A sectional view of the cooperation of the unmanned aerial vehicle and the mobile robot of the embodiment of the present application;

[0048] Figure 21 A detailed view of the clamping device of the embodiment of the present application;

[0049] Figure 22 A schematic diagram of the clamping device before clamping of the embodiment of the present application;

[0050] Figure 23 A schematic diagram of the clamping device after clamping of the embodiment of the present application;

[0051] 1, high-definition camera, 2, rotating support, 3, laser sensor, 4, rotating platform, 5, electric push rod, 6, top round hole, 7, camera, 8, holder, 9, dust sensor, 10, docking visual sensor, 11, indicating mark, 12, unmanned aerial vehicle support, 13, body groove, 14, support groove, 15, charging socket, 16, charging connector, 17, clamping device, 18, chuck, 19, connecting rod, 20, connecting gear, 21, pin bolt, 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

[0052] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0053] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of a feature, step, operation, device, component and / or combinations thereof;

[0054] Example 1:

[0055] The embodiment one of the present application provides a kind of unmanned aerial vehicle and mobile robot cooperative inspection system of wisdom construction site, unmanned aerial vehicle and mobile robot in the system can cooperate, have many aspects of use in construction site inspection:1.the mobile robot and unmanned aerial vehicle can realize air-ground integration cooperation, unmanned aerial vehicle and mobile robot can be loaded on each other, cooperatively complete the task in complex environment.2.the mobile robot adopts multi-joint deformation tire, the tire has four joints, each joint is controlled by a telescopic rod, four telescopic rods converge to the axle center of tire.When the robot moves normally, the telescopic rod of tire is default tight, tire can smoothly roll to ensure that the robot moves normally, when mobile robot climbs stairs, four telescopic rods are lengthened, expand and open four joints of tire, so that the tire of robot is more convenient to contact and force with stair step, ensure the climbing performance of robot.3.combined with laser sensor 3 of unmanned aerial vehicle and mobile robot, the size of building, wall flatness, height accuracy and other accurate measurements are carried out, to ensure the accuracy of detection result.4.the unmanned aerial vehicle is equipped with dust sensor 9, noise sensor and broadcast equipment, so that the dust concentration and noise decibel of the area passed through can be accurately measured when it is patrolled, and the on-site staff is reminded in time through the broadcast of broadcast equipment, so that corresponding preventive measures are made.5.it has important significance to improve the efficiency and quality of the entire construction industry.6.the mobile robot can transmit the video picture of construction site in real time by high-definition camera during inspection, so that management personnel can remotely monitor the real-time situation of construction site, and take corresponding measures in time according to different situations of construction site.7.the mobile robot and unmanned aerial vehicle are equipped with corresponding navigation module, obstacle avoidance module and docking module, so that unmanned aerial vehicle and mobile robot can normally and safely carry out inspection and shooting work, effectively deal with the environment of construction site, and accurately and quickly deliver inspection information.

[0056] The detailed structure of the system is as follows:

[0057] The cooperative inspection system includes unmanned aerial vehicle and mobile robot, as shown in Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 And Figure 18 , the unmanned aerial vehicle is loaded with unmanned aerial vehicle docking module, unmanned aerial vehicle inspection module, unmanned aerial vehicle movement module, unmanned aerial vehicle obstacle avoidance module and unmanned aerial vehicle positioning module, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4As shown, the mobile robot includes a body, and the body is mounted with a mobile robot docking module, a mobile robot inspection module, a mobile robot moving module, a mobile robot obstacle avoidance module, a mobile robot positioning module, and a mobile robot display module. The UAV inspection module and the mobile robot inspection module are used to complete the inspection work, mainly used for shooting buildings, and after computer processing, the model of the current building can be generated, thereby reflecting and predicting the construction progress of the construction site. The UAV detects the dust concentration and noise decibels around the building, and the mobile robot measures the bay and depth of the rooms inside the building. The UAV positioning module and the mobile robot positioning module are used to realize device positioning, determine the accurate position of the UAV and the mobile robot in the space environment, and ensure the accuracy of navigation and path planning. The mobile robot display module is used for interface display, and the mobile robot display screen 32 displays the data information measured by the mobile robot (such as the bay and depth of the room measured by the laser sensor), and the sound broadcast device 33 broadcasts the relevant information measured by the UAV (such as dust concentration and noise decibels). The UAV moving module and the mobile robot moving module are used to drive the device to move, and the mobile robot ensures the flexibility of movement when measuring inside the building through the moving module. The UAV obstacle avoidance module and the mobile robot obstacle avoidance module are used to avoid obstacles during device movement, and the UAV and the mobile robot can avoid obstacles in time when working according to the surrounding environmental obstacles, thereby ensuring the safety of the inspection and measurement environment. The UAV docking module and the mobile robot docking module are mainly used for the cooperative work of the mobile robot and the UAV.

[0058] In a specific embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the UAV and the mobile robot are each mounted with a docking module, and the docking module is used to realize the docking and separation of the UAV and the mobile robot. The UAV docking module includes a docking visual sensor 10, a UAV support 12, a support groove 14, and a charging socket 15, the mobile robot docking module includes an indication mark 11, a body groove 13, a charging connector 16, and a clamping device 17, the clamping device 17 includes a chuck 18, a connecting rod 19, a connecting gear 20, a pin 21, and a device base 22. In this module, the UAV and the mobile robot can independently work, or can be precisely docked and formed as a whole. When the mobile robot cannot reach a high place through traditional means such as stairs, the UAV can assist the mobile robot to ascend to the high place. Similarly, the mobile robot can also carry the UAV to enter or pass through the ground section where the UAV cannot fly.

[0059] The detailed docking process is as follows:

[0060] The UAV is in the docking cooperation state with the mobile robot before taking off, and the position at this time is regarded as the homing point. It needs to be particularly pointed out that the UAV and the mobile robot are in the docking cooperation state before and after work, and the cooperation of the two can also reduce the occupation of space. During the work process, they are separated or re-docked according to the work needs.

[0061] When the UAV and the mobile robot work, the remote terminal can display the specific spatial position of the UAV and the mobile robot through positioning. If the UAV needs to work cooperatively with the mobile robot, the remote terminal first controls the mobile robot to move to a relatively open area outdoors, at which time the coordinate position of the mobile robot is recorded, and the mobile robot stays at this place before cooperating with the UAV. The homing point of the UAV is updated to the current coordinate position of the mobile robot through the remote terminal, and the UAV automatically returns. When the UAV automatically returns to the upper side of the new homing point, the automatic return of the UAV is cancelled, and the UAV is kept in a hovering state at a certain height (the hovering position height is slightly higher than the mobile robot) to start the docking work.

[0062] Before docking, alignment work needs to be performed. The visual sensor of the UAV is docked with the indicating mark 11 of the mobile robot, and the mobile robot supplies power to the UAV.

[0063] Specifically, the UAV support 12 is opened to the maximum angle; the four bottom docking visual sensors 10 on the bottom surface of the UAV and the four indicating marks 11 on the top surface of the mobile robot are respectively identified and slowly docked, the UAV slowly descends, and each bottom docking visual sensor 10 is attached to the indicating mark 11. During the docking process of the UAV and the mobile robot, the charging socket 15 on the bottom of the UAV is docked with the charging connector 16 on the top of the mobile robot, and the mobile robot can supply power to the UAV.

[0064] The docking module of the UAV includes the UAV support 12 and the support groove 14 arranged on the UAV support 12, and the docking module of the mobile robot includes the body groove 13 and the clamping device 17. During the docking process, the UAV support 12 is slowly closed to the minimum angle, and is embedded into the body groove 13, and after the UAV support 12 is completely closed, the clamping device 17 clamps the column support groove 14 to realize locking, and the docking of the UAV and the mobile robot is completed, as shown in Figure 19 , Figure 20 illustrated, the next work can be performed. When the mobile robot cannot reach a high place, the UAV assists the mobile robot to ascend to a high place, and when the UAV cannot work at a high altitude, the mobile robot carries the UAV through the ground section. During the docking process of the UAV and the mobile robot, the laser sensor 3 of the mobile robot remains in standby state, as shown in Figure 6 illustrated.

[0065] Among them, as shown in Figure 21 ,Figure 22 and Figure 23 As shown in FIG. 17, the clamping device 17 is installed inside the mobile robot body, two clamping devices 17 are installed on each side of the mobile robot body for fixing and locking the UAV support 12, each clamping device 17 is composed of a device base 22, four connecting gears 20, four connecting rods 19, two clamping heads 18 and eight pins 21, the device base 22 is installed inside the mobile robot body, two connecting gears 20 are installed on each side of the device base 22, the connecting gears 20 and the device base 22 are connected by the pins 21; the connecting rod 19 is above the connecting gear 20, the connecting rod 19 and the device base 22 are connected by the pins 21, the clamping head 18 is on both sides of the device base 22, and is connected with the connecting gear 20 and the connecting rod 19 by the pins 21, the movement of the connecting rod 19 is driven by the rotation of the connecting gear 20, thereby driving the movement of the clamping head 18, and the two clamping heads 18 are clamped and separated. When the UAV is docked with the mobile robot, the UAV support 12 can rotate by 90°, which is used to support and fix the UAV, so that the UAV maintains a stable attitude and angle during flight; the UAV support 12 and the clamping device can also be combined with the mobile robot body to achieve the purpose of cooperative operation. Figure 22 and Figure 23 As shown in FIG. 18 and FIG. 19, the clamping head of each clamping device of the mobile robot is tightly attached to and locked with the support groove 14 of the UAV support 12. The UAV support 12 and the clamping device are used to ensure the stability of the UAV and the mobile robot during cooperative operation, and after docking, the UAV and the mobile robot perform cooperative inspection by using the UAV inspection module and the mobile robot inspection module.

[0066] In this embodiment, the clamping device can be driven by a motor, or by a hydraulic or pneumatic system, and the connecting rod and the clamping head are pushed by a hydraulic cylinder or a pneumatic cylinder 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.

[0067] In a specific embodiment, the mobile module of the UAV includes four wings 27 installed on the body. The wings 27 are used to realize the flight of the UAV.

[0068] 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, and two support frames are installed below the robot chassis. The support frame is a transversely connected support frame below the robot chassis. The support frame is connected with the rotating shaft 25 and is used to support the rotating shaft 25 of the multi-joint deformable tire. Each support frame is provided with two multi-joint deformable tires, as shown in FIG. 20 and FIG. 21. Figure 8 and Figure 9As shown, each multi-joint deformable tire is composed of four sector-shaped tires 23, each sector-shaped tire 23 is connected by a tire telescopic rod 24, four tire telescopic rods 24 are connected to the rear of the sector-shaped tires 23 respectively, and the other end of each tire telescopic rod 24 is connected to a rotating shaft 25 to combine. Figure 10 As shown, when encountering a step, the moving module extends the tire telescopic rod to an appropriate height according to the height of the step, and the four sector-shaped tires 23 are opened to different angles, so that the mobile robot can climb the step.

[0069] Specifically, the optimal length of extension 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 adjustment of the extension amount of the telescopic rod is small, and vice versa. When encountering a step that needs to be climbed, the tire telescopic rod of the robot can be continuously extended and tried to climb until the extension length is the best for climbing.

[0070] The multi-joint deformable tire of the embodiment is divided into four sections, and the tire shape of each section is 1 / 4 of a circular tire. The centers of the tires of each section are connected to a telescopic rod. When the four telescopic rods are contracted, the four sections of the tire are attached to each other to form a circular tire, which can ensure the normal movement of the robot. When the robot needs to climb stairs or pass through a stepped obstacle, the telescopic rod of the tire is extended to make each section of the tire extend outward by a distance. In this way, when the robot climbs, the tire can be more fully in contact with the stair steps and bear force, ensuring the climbing performance of the robot.

[0071] In a specific embodiment, the inspection module of the mobile robot includes a high-definition camera 1, a rotating support 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 picture of the construction site in real time; the laser sensor 3 can measure the bay and depth dimensions of the rooms inside the building during acceptance measurement, and can also identify objects and construct a three-dimensional map of the surrounding environment during work. Through collaborative work, the mobile robot and the unmanned aerial vehicle in this module can simultaneously carry out various detection work inside and outside the building and accurately build a 3D model of the building, which can improve the intelligentization, accuracy, and visualization level of project management.

[0072] Specifically, as shown in Figure 5 , Figure 6 and Figure 7As 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, laser sensor 3 is activated, and electric push rod 5 extends, driving it upward, allowing laser sensor 3 to extend through circular hole 6 on the top of the robot body. After the laser sensor 3 is pushed up to a certain distance outside the top of the robot body, laser sensor 3 can rotate with the help of rotating platform 4 to measure the interior of the room. With the cooperation of rotating platform 4, laser sensor 3 can detect the room's dimensions 360° or identify the features of objects in the room, generating data on the room's span and depth, as well as constructing a three-dimensional map of the surrounding environment. Laser sensor 3 can also perform pre-processing and feature extraction on the scanned data, and identify the features of the scanned objects. After completing the measurement, laser sensor 3 automatically retracts into the body.

[0073] 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.

[0074] like Figure 11 、 Figure 12 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 16 、 Figure 17 and Figure 18 As shown, a gimbal 8 is installed under the drone's fuselage, 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 to detect the noise and dust in the surrounding environment during the drone's flight. A dust sensor 9 is installed in front of the fuselage to detect the dust concentration in the area during the drone's flight. 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 with high accuracy. The sound broadcast device 33 is installed on the top of the drone, mainly used to broadcast information such as the dust concentration and noise decibels in the current area, to remind on-site staff and enable them to take corresponding preventive measures. When the drone's own dust sensor detects that the dust concentration in the area is too high during the inspection process, the sound broadcast device 33 on the top of the drone will alert the surrounding staff.

[0075] The mobile robot moves on the ground or in the room, and the inspection module of the mobile robot captures the inside of the building of the construction site through the high-definition camera 7 inside the mobile robot, and generates a 3D model of the inside of the building after processing; the unmanned aerial vehicle operates outside the building, and the inspection module of the unmanned aerial vehicle captures the external information of the ground building in the form of a photo or a video through the unmanned aerial vehicle camera 7, and forms a 3D model of the outside of the building after processing. By integrating the modeling information obtained by the mobile robot and the unmanned aerial vehicle, a complete building 3D modeling can be generated, potential problems in construction can be predicted, a more reasonable construction scheme can be made, and the intelligentization, accuracy and visualization level of project management can be improved.

[0076] In a specific embodiment, in order to enable the mobile robot to intuitively display the measured data, a mobile robot display module is arranged at the front of the mobile robot body, and the display module is a display screen 32 for displaying the data measured by the robot. The display screen can also be used to set the robot or to define the travel route of the robot.

[0077] In a specific embodiment, 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 detection, the mobile robot adopts a UWB positioning module 30. This positioning technology is used indoors, and the signal can penetrate through obstacles such as walls and human bodies, which makes the signal coverage and stability of UWB better in indoor environment.

[0078] In order to determine the spatial position of the unmanned aerial vehicle during detection, the unmanned aerial vehicle is provided with a positioning module, which can provide high-precision satellite navigation positioning. The positioning module of the unmanned aerial vehicle is an RTK positioning module 31, which is installed on the top of the unmanned aerial vehicle and is used to accurately determine the spatial position of the unmanned aerial vehicle. When the unmanned aerial vehicle and the mobile robot need to cooperate, the unmanned aerial vehicle 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.

[0079] In a specific embodiment, the obstacle avoidance module of the mobile robot includes a laser radar 28, which functions to ensure that the robot detects obstacles around it in time and avoids obstacles in time when the mobile robot moves in a narrow space such as the inside of a building, and ensures the safety of the inspection process of the robot.

[0080] Specifically, in order 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 installed at the center of the four sides of the robot chassis 26, so that the mobile robot has good obstacle avoidance ability during detection.

[0081] The obstacle avoidance module of the unmanned aerial vehicle comprises an obstacle avoidance visual sensor 29, which is used to identify objects in the surrounding environment when the unmanned aerial vehicle is flying, and to perform an obstacle avoidance operation according to the information, so as to avoid the changed environment in time and ensure the safety of the unmanned aerial vehicle during flight.

[0082] Specifically, two obstacle avoidance visual sensors 29 are arranged in front and behind the unmanned aerial vehicle respectively; two obstacle avoidance visual sensors 29 are arranged on the top of the fuselage; and four bottom docking visual sensors 10 are arranged on the bottom of the fuselage. The above visual sensors can detect the environment around the unmanned aerial vehicle during flight, thereby ensuring the safety of the unmanned aerial vehicle during inspection. The bottom docking visual sensor 10 can also play an alignment role during docking of the mobile robot and the unmanned aerial vehicle.

[0083] The cooperative working method of the mobile robot and the unmanned aerial vehicle designed in the embodiment is as follows: the mobile robot and the unmanned aerial vehicle can carry each other, and cooperatively complete a working task in a complex environment. The unmanned aerial vehicle is docked with the four indicating markers on the top of the mobile robot through the four docking visual sensors on the bottom of the unmanned aerial vehicle, and the bracket on the bottom of the unmanned aerial vehicle is embedded into the inside of the top shell of the mobile robot to be fixed. In this way, when the mobile robot cannot reach a relatively high floor through climbing, the unmanned aerial vehicle can assist in lifting the mobile robot to the floor. The mobile robot can also carry the unmanned aerial vehicle to enter and pass through a ground section that is inconvenient for the unmanned aerial vehicle to pass through.

[0084] In order to ensure the climbing performance of the mobile robot, the mobile tire of the mobile robot can be split into four joint petals along the axis of the tire and expanded to cope with a higher step of stairs. When the mobile robot walks on the ground, the four parts of the tire are contracted together to form a circle to ensure the stability of the normal walking of the robot. When the mobile robot is to climb the stairs, the four joints of the tire are expanded and moved forward, so that the joints of the tire are in full contact and force with the steps of the stairs, thereby ensuring the stability of the climbing.

[0085] When the unmanned aerial vehicle is locked with the robot, the mobile robot can charge the unmanned aerial vehicle, and the unmanned aerial vehicle can also set and plan its flight route. When the power of the unmanned aerial vehicle decreases to a certain threshold, the unmanned aerial vehicle automatically returns and is locked with the mobile robot, thereby ensuring the flight inspection efficiency of the unmanned aerial vehicle.

[0086] Embodiment two

[0087] The embodiment two of the present application provides a cooperative inspection method of the unmanned aerial vehicle and the mobile robot cooperative inspection system of the smart construction site in the first aspect, which comprises the following steps:

[0088] According to the task requirement, the unmanned aerial vehicle and the mobile robot are respectively used for inspection work;

[0089] When docking is needed, the mobile robot position is taken as the docking point, the unmanned aerial vehicle is recalled, the unmanned aerial vehicle reaches the docking point, and docking work is performed through the docking modules of the unmanned aerial vehicle and the mobile robot, so as to realize the cooperation of the unmanned aerial vehicle and the mobile robot.

[0090] The cooperative unmanned aerial vehicle and the mobile robot continue to perform the inspection work according to the task requirement.

[0091] The steps involved in the above embodiment two correspond to embodiment one, and the specific implementation can refer to the relevant description part of embodiment one.

[0092] Although the specific embodiments of the present application are described above in combination with the drawings, the present application is not limited to the scope of the present application. Those skilled in the art should understand that various modifications or deformations made by those skilled in the art on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A collaborative inspection system of drones and mobile robots for smart construction sites, characterized by: The unmanned aerial vehicle and the mobile robot are provided with docking modules and inspection modules, the docking modules are used for docking and separating the unmanned aerial vehicle and the mobile robot, the docking module of the unmanned aerial vehicle comprises an unmanned aerial vehicle support and a support groove arranged on the unmanned aerial vehicle support, the docking module of the mobile robot comprises a body groove and a clamping device, during docking, the unmanned aerial vehicle support is opened to the maximum angle, four bottom docking visual sensors on the bottom surface of the unmanned aerial vehicle are respectively identified with four indicating marks on the top surface of the mobile robot and slowly docked, the unmanned aerial vehicle is slowly lowered until each bottom docking visual sensor is close to the indicating mark, the unmanned aerial vehicle support is slowly closed to the minimum angle, the unmanned aerial vehicle support is embedded in the body groove, and the clamping device is used for clamping the support groove to realize locking, thereby completing the docking of the unmanned aerial vehicle and the mobile robot, and the unmanned aerial vehicle inspection module and the mobile robot inspection module are used for cooperative inspection after docking; When the unmanned aerial vehicle and the mobile robot are docked, the clamping head of each clamping device is close to and locked with the support groove of the unmanned aerial vehicle support; The mobile robot is provided with a laser sensor, a rotating platform and an electric push rod inside the body, the laser sensor is arranged on the rotating platform, the rotating platform is connected with the top end of the electric push rod, the electric push rod is in a normal retracted state, the laser sensor is inside the body of the mobile robot after retraction, when the laser sensor works, the electric push rod is elongated to drive the laser sensor to rise and extend through the top circular hole of the body, and the charging socket on the bottom of the unmanned aerial vehicle is docked with the charging connector on the top of the mobile robot during docking of the unmanned aerial vehicle and the mobile robot. 2.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 1, wherein, When the mobile robot cannot reach a high place, the unmanned aerial vehicle assists the mobile robot to ascend to the high place, and when the unmanned aerial vehicle cannot work at a high altitude, the mobile robot carries the unmanned aerial vehicle to pass the ground section. 3.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 1, wherein, The unmanned aerial vehicle is also provided with an unmanned aerial vehicle moving module, an unmanned aerial vehicle obstacle avoidance module and an unmanned aerial vehicle positioning module, the mobile robot is also provided with a mobile robot moving module, a mobile robot obstacle avoidance module, a mobile robot positioning module and a mobile robot display module, the unmanned aerial vehicle positioning module and the mobile robot positioning module are used for realizing equipment positioning, the mobile robot display module is used for interface display, the unmanned aerial vehicle moving module and the mobile robot moving module are used for driving equipment movement, and the unmanned aerial vehicle obstacle avoidance module and the mobile robot obstacle avoidance module are used for obstacle avoidance during equipment movement. 4.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 1, wherein, The moving module of the mobile robot comprises a fan-shaped tire, a tire telescopic rod, a rotating shaft and a robot chassis, two support frames are arranged below the robot chassis, each support frame is provided with two multi-joint deformation tires, each multi-joint deformation tire is composed of four fan-shaped tires, each fan-shaped tire is connected with a tire telescopic rod, four tire telescopic rods are connected with the fan-shaped tires respectively, and each tire telescopic rod is connected with the rotating shaft to be combined. 5.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 4, wherein, When a step is encountered, the moving module is elongated according to the height of the step, four fan-shaped tires are opened to different angles, and the mobile robot can climb the step. 6.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 1, wherein, The clamping device is installed inside the mobile robot body, two clamping devices are installed on each side of the mobile robot body, each clamping device is composed of a device base, four connecting gears, four connecting rods, two clamping heads and eight pins, the device base is installed inside the mobile robot body, two connecting gears are installed on each side of the device base, the connecting gears and the device base are connected by pins; the connecting rods are above the connecting gears, the connecting rods and the device base are connected by pins, the clamping heads are on both sides of the device base and are connected with the connecting gears and the connecting rods by pins, the clamping heads move with the rotation of the connecting gears, the clamping heads on both sides are clamped and separated. 7.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 1, wherein, The unmanned aerial vehicle docking module further comprises a docking visual sensor, and the mobile robot docking module further comprises an indication mark, alignment work is required before docking, the docking visual sensor of the unmanned aerial vehicle is docked with the indication mark of the mobile robot, and the mobile robot is used to supply power to the unmanned aerial vehicle. 8.The intelligent construction site unmanned aerial vehicle and mobile robot cooperative inspection system of claim 7, wherein, The unmanned aerial vehicle docking module further comprises a charging socket, and the mobile robot docking module further comprises a charging connector, during the docking of the unmanned aerial vehicle and the mobile robot, the charging socket at the bottom of the unmanned aerial vehicle is docked with the charging connector at the top of the mobile robot, and the mobile robot supplies power to the unmanned aerial vehicle.

9. A collaborative inspection method for the unmanned aerial vehicle and mobile robot collaborative inspection system of the smart construction site according to any one of claims 1-8, characterized in that, The method comprises the following steps: According to the task requirements, the unmanned aerial vehicle and the mobile robot perform inspection work respectively; When docking is required, the unmanned aerial vehicle is recalled with the position of the mobile robot as the docking point, after the unmanned aerial vehicle reaches the docking point, the unmanned aerial vehicle and the mobile robot are docked through the docking modules of the unmanned aerial vehicle and the mobile robot, and the unmanned aerial vehicle and the mobile robot are coordinated; The coordinated unmanned aerial vehicle and mobile robot continue to perform inspection work according to the task requirements.

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