Intelligent unmanned aerial vehicle three-dimensional automatic inspection device and method thereof

Abstract

The invention relates to the field of unmanned aerial vehicle routing inspection, and discloses an intelligent unmanned aerial vehicle three-dimensional automatic routing inspection device and a method thereof.The intelligent unmanned aerial vehicle three-dimensional automatic routing inspection device comprises a routing inspection device body used for routing inspection in a routing inspection area, the routing inspection device body comprises a suspension seat and an unmanned aerial vehicle, the suspension seat is fixed to a wall, and the unmanned aerial vehicle is adsorbed to the surface of the suspension seat; the unmanned aerial vehicle comprises an unmanned aerial vehicle shell and a scanner installed in the unmanned aerial vehicle shell, the scanner is connected with the inner side of the unmanned aerial vehicle shell through a steering engine, the lower end of the scanner is provided with a camera protruding out of the horizontal plane of the lower end of the unmanned aerial vehicle shell, and the steering engine drives the scanner to swing and change the orientation of the camera. And secondly, after the unmanned aerial vehicle finishes a section of inspection task, the unmanned aerial vehicle can autonomously fly to a suspension seat fixed on a wall body, a shell of the unmanned aerial vehicle is accurately propped against the lower end of the suspension seat, and a power receiving contact arranged on the unmanned aerial vehicle is in physical contact with a charging contact piece on the suspension seat to form stable electric connection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned aerial vehicle inspection, in particular to an intelligent unmanned aerial vehicle three-dimensional automatic inspection device and method. BACKGROUND

[0002] The unmanned aerial vehicle three-dimensional inspection device is a device for constructing a three-dimensional model of the working environment around the unmanned aerial vehicle through continuous scanning and shooting of the unmanned aerial vehicle, and monitoring on the basis of the constructed model to achieve the purpose of inspection. The inspection work of the unmanned aerial vehicle is continuous, but when constructing the three-dimensional model of the working environment, it needs to maintain stability in the same space coordinate for a long time. Since the battery capacity of the unmanned aerial vehicle is fixed and cannot be extended, the flight stability of the unmanned aerial vehicle will gradually decrease during the process of gradually reducing the battery capacity. In the face of a large and complex environment, the unmanned aerial vehicle cannot effectively construct a three-dimensional model within a limited time. After constructing a three-dimensional model of a small range of environment, the unmanned aerial vehicle needs to be charged intermittently after a period of monitoring, so that when a single unmanned aerial vehicle works, there will be a monitoring vacuum period. SUMMARY

[0003] The present application provides an intelligent unmanned aerial vehicle three-dimensional automatic inspection device and method, which overcomes the shortcomings described in the background art.

[0004] The technical solution adopted by the present application to solve its technical problems is: An intelligent unmanned aerial vehicle three-dimensional automatic inspection device, comprising an inspection device for inspection in an inspection area, the inspection device comprising a hanging seat and an unmanned aerial vehicle, the hanging seat being fixed to a wall, and the unmanned aerial vehicle being adsorbed to the surface of the hanging seat. The unmanned aerial vehicle comprises an unmanned aerial vehicle shell and a scanner installed in the unmanned aerial vehicle shell, the scanner being connected to the inner side of the unmanned aerial vehicle shell through a rudder, and a camera being provided at the lower end of the scanner and protruding from the horizontal plane of the lower end of the unmanned aerial vehicle shell, so as to drive the scanner to swing and change the direction of the camera through the rudder. The upper end of the unmanned aerial vehicle shell is provided with a power receiving contact, the scanner is provided with a storage battery, the power receiving contact is electrically connected to the storage battery, and the lower end of the hanging seat is provided with a charging contact piece corresponding to the power receiving contact. When the unmanned aerial vehicle shell is arranged at the lower end of the hanging seat, the power receiving contact and the charging contact piece form an electrical connection, and the storage battery is charged.

[0005] In a preferred technical solution, the unmanned aerial vehicle shell is provided with a support arm on both sides, a power paddle is rotatably installed on the support arm, each power paddle is driven to swing by an electric push rod, the electric push rod is installed on the surface of the unmanned aerial vehicle shell, and the connection point of the electric push rod and the power paddle is close to the connection point of the power paddle and the support arm.

[0006] A preferred technical solution, the two sides of the upper end of the unmanned aerial vehicle shell are provided with mounting grooves, magnetic blocks one are movably arranged in the two mounting grooves, and the mounting grooves are covered with rubber coverings, the side close to the unmanned aerial vehicle shell of the suspension seat is provided with an annular slide rail, a plurality of adsorption columns are arranged in the annular slide rail in an annular array, all the adsorption columns are fixed on the surface of an internal gear ring, the internal gear ring is driven by a driving gear arranged in the suspension seat, so that the adsorption columns are driven by the driving gear to rotate around the axis of the suspension seat; The adsorption columns are provided with electric push rods two, and the output shafts of the electric push rods two are provided with magnetic blocks two, all the magnetic blocks two correspond to the magnetic blocks one respectively, when the unmanned aerial vehicle shell abuts against the surface of the suspension seat, the magnetic blocks two and the magnetic blocks one are adsorbed.

[0007] A preferred technical solution, the surface of the adsorption column is provided with an inwardly recessed clamping groove one, the corresponding positions of the internal gear ring and each clamping groove one are respectively provided with clamping grooves two, and the adsorption column abuts against the surface of the internal gear ring through the clamping groove one.

[0008] An intelligent unmanned aerial vehicle three-dimensional automatic inspection method, based on the intelligent unmanned aerial vehicle three-dimensional automatic inspection method, the number of inspection areas to be inspected is determined before inspection, and the inspection device is installed in each inspection area in turn, the unmanned aerial vehicle flies in a square wave trajectory in the inspection area, continuously scans and photographs the space environment of the inspection area through the camera during flight, and uploads the image information to modeling software to build a three-dimensional model based on the scanned image information. The unmanned aerial vehicle flies in a square wave trajectory in the inspection area, continuously scans and photographs the space environment of the inspection area through the camera during flight, and uploads the image information to modeling software to build a three-dimensional model based on the scanned image information.

[0009] A preferred technical solution, the scanner is provided with a storage battery, and the storage battery is provided with a BMS battery management system for monitoring the remaining power, and the remaining power of the unmanned aerial vehicle is continuously scanned and photographed in the space environment of the inspection area before the power threshold is reached by setting the power threshold; Each unmanned aerial vehicle establishes a separate image information library for the corresponding inspection area currently photographed before scanning and photographing the inspection area, and the BMS battery management systems in all unmanned aerial vehicles are signal-connected, when the remaining power of the storage battery of one of the unmanned aerial vehicles is lower than the power threshold, the unmanned aerial vehicle flies to below the suspension seat and abuts against the suspension seat, forms an electrical connection between the charging contact and the power receiving contact to charge the storage battery in the unmanned aerial vehicle, and continuously turns on the camera to scan and photograph during the charging process of the unmanned aerial vehicle.

[0010] A preferred technical solution, when the unmanned aerial vehicle flies to below the suspension seat and abuts against the suspension seat, the output shafts of the electric push rods two in the suspension seat extend outward, the magnetic blocks two on the output shafts are adsorbed with the magnetic blocks one arranged on the surface of the corresponding unmanned aerial vehicle, and the unmanned aerial vehicle is driven to rotate by the driving gear to change the camera viewing angle.

[0011] Compared with the prior art, the technical scheme has the following advantages: In the present application, when the unmanned aerial vehicle completes a section of inspection task, it can autonomously fly to the hanging seat fixed on the wall and accurately make the unmanned aerial vehicle shell abut against the lower end of the hanging seat. The power receiving contact provided on the unmanned aerial vehicle physically contacts the charging contact piece hung on the seat to form a stable electrical connection. In addition, in the present application, multiple unmanned aerial vehicles can be arranged in cooperation along the inspection route to deploy multiple hanging seats with charging contact pieces. After an unmanned aerial vehicle completes modeling and monitoring in a certain area, if the power is insufficient, it can fly to the nearest idle hanging seat for charging. At the same time, another unmanned aerial vehicle with full power can take off from another hanging seat to replace the working area of the previous unmanned aerial vehicle. Through this relay operation, the seamless connection of monitoring in the entire inspection area is ensured, and the monitoring vacuum period is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0012] The present application will be further described below in conjunction with the drawings and examples.

[0013] Figure 1 It is a whole diagram of the present application.

[0014] Figure 2 It is a schematic diagram of the inspection device.

[0015] Figure 3 It is a schematic diagram of the unmanned aerial vehicle.

[0016] Figure 4 It is a schematic diagram of the scanner.

[0017] Figure 5 It is Figure 4 It is an enlarged schematic diagram at a in the middle.

[0018] Figure 6 It is a schematic diagram of the hanging seat from the top.

[0019] Figure 7 It is a combination and exploded view of the inner tooth ring and the adsorption column.

[0020] Figure 8 It is a schematic diagram of the unmanned aerial vehicle from the top.

[0021] In the figure: inspection device 100, inspection area 200; Hanging seat 1, unmanned aerial vehicle 2; Seat body 11, ring-shaped sliding rail 12, inner tooth ring 13, adsorption column 14, drive gear 15, charging contact piece 16; Slot two 131; Slot one 141, electric push rod two 142, magnetic block two 143; The unmanned aerial vehicle shell 21, the branch arm 211, the power paddle 212, the electric push rod 213, the power receiving contact 214, the mounting groove 215, the magnetic block 216, the rubber coating 217; The scanner 22, the camera 221, the rudder 222, the battery 223. DETAILED DESCRIPTION

[0022] As Figures 1 to 8 shown, the application proposes a three-dimensional automatic inspection device of intelligent unmanned aerial vehicle, which comprises an inspection device 100 for inspection in an inspection area 200, the inspection device 100 comprises a hanging seat 1 and an unmanned aerial vehicle 2, the hanging seat 1 is fixed on a wall, and the unmanned aerial vehicle 2 is adsorbed on the surface of the hanging seat 1. The unmanned aerial vehicle 2 comprises an unmanned aerial vehicle shell 21 and a scanner 22 installed in the unmanned aerial vehicle shell 21, the scanner 22 is connected with the inner side of the unmanned aerial vehicle shell 21 through a rudder 222, and a camera 221 protruding from the horizontal plane of the lower end of the unmanned aerial vehicle shell 21 is arranged at the lower end of the scanner 22, so as to drive the scanner 22 to swing and change the direction of the camera 221 through the rudder 222. The upper end of the unmanned aerial vehicle shell 21 is provided with a power receiving contact 214, the scanner 22 is provided with a battery 223, the power receiving contact 214 is electrically connected with the battery 223, the corresponding position of the lower end of the hanging seat 1 and the power receiving contact 214 is provided with a charging contact piece 16, when the unmanned aerial vehicle shell 21 is arranged at the lower end of the hanging seat 1, the power receiving contact 214 and the charging contact piece 16 form an electrical connection, and the battery 223 is charged. As shown above, when the unmanned aerial vehicle 2 completes a segment of inspection task, it can autonomously fly to the hanging seat 1 fixed on the wall, and accurately make the unmanned aerial vehicle shell 21 abut against the lower end of the hanging seat 1. At this time, the power receiving contact 214 provided on the unmanned aerial vehicle and the charging contact piece 16 hung on the seat are in physical contact, and a stable electrical connection is formed.

[0023] More importantly, multiple unmanned aerial vehicles 2 can be cooperated to deploy multiple hanging seats 1 with charging contact pieces 16 along the inspection route, one unmanned aerial vehicle (A) can fly to the nearest idle hanging seat for charging after completing modeling and monitoring in a certain area; at the same time, another unmanned aerial vehicle (B) full of electricity can take off from other hanging seats to replace the working area of A, through this “relay type” operation, the standardized interface of the power receiving contact 214 and the charging contact piece 16 is used to realize the multi-machine rotation charging, so as to ensure the seamless connection of monitoring in the whole inspection area 200, and completely eliminate the monitoring vacuum period.

[0024] Secondly, as Figure 2 Figure 6As shown, the upper end of the unmanned aerial vehicle shell 21 is provided with mounting grooves 215 on both sides, and magnetic blocks one 216 are movably arranged in the two mounting grooves 215, and the mounting grooves 215 are covered with rubber coverings 217. One side of the suspension seat 1 close to the unmanned aerial vehicle shell 21 is provided with an annular slide rail 12, and a plurality of adsorption columns 14 are arranged in an annular array in the annular slide rail 12. All the adsorption columns 14 are fixed on the surface of an inner tooth ring 13, and the inner tooth ring 13 is driven by a drive gear 15 arranged in the suspension seat 1, so that the adsorption columns 14 are driven to rotate around the axis of the suspension seat 1 by driving the inner tooth ring 13 by the drive gear 15. The adsorption columns 14 are provided with electric push rods two 142, and magnetic blocks two 143 are arranged on the output shafts of the electric push rods two 142. All the magnetic blocks two 143 correspond to the magnetic blocks one 216 respectively. When the unmanned aerial vehicle shell 21 is arranged on the surface of the suspension seat 1, the magnetic blocks two 143 and the magnetic blocks one 216 are adsorbed. The traditional unmanned aerial vehicle completely stops working when charging, forming a monitoring vacuum period. However, in the present application, the charging process of the unmanned aerial vehicle 2 is no longer interrupted, but becomes a unique and stable working window. When the unmanned aerial vehicle 2 is firmly adsorbed on the suspension seat 1 by the magnetic blocks two 143 and the magnetic blocks one 216, it obtains stable power supply from the charging contact 16 without consuming the power of the battery 223. At this time, even if the body is stationary, the camera 221 (and possibly other integrated sensors) can continue to work. More importantly, by driving the inner tooth ring 13 to rotate through the drive gear 15, the entire unmanned aerial vehicle 2 can be driven to rotate continuously or step by step around the axis of the suspension seat 1 by 360 degrees. This enables the camera 221 to use the suspension seat as a fixed observation point to perform panoramic scanning and monitoring of the surrounding environment without dead angles. This not only makes up for the possible visual blind area during flight inspection, but also continuously collects environmental data during charging, which can be used to update the three-dimensional model in real time or monitor the changes of specific targets, truly realizing "uninterrupted work"; Secondly, the efficiency and quality of three-dimensional modeling are improved: constructing an accurate three-dimensional model requires collecting data from multiple angles. When the unmanned aerial vehicle flies autonomously, it may not be able to stay at the same key position for a long time for multi-angle detailed investigation due to battery endurance. In this design, when the unmanned aerial vehicle is docked on the suspension seat 1 for charging, the system can instruct it to perform slow and high-precision in-place rotation scanning.

[0025] Moreover, the adsorption columns 14 are provided with inwardly recessed clamping grooves one 141, and the inner tooth ring 13 is provided with clamping grooves two 131 corresponding to the clamping grooves one 141 respectively. The adsorption columns 14 are arranged on the surface of the inner tooth ring 13 through the clamping grooves one 141.

[0026] Further, the unmanned aerial vehicle shell 21 is provided with a support arm 211 on both sides, and a power paddle 212 is rotatably installed on the support arm 211. Each power paddle 212 is driven to swing by an electric push rod 213, the electric push rod 213 is installed on the surface of the unmanned aerial vehicle shell 21, and the connecting point of the electric push rod 213 and the power paddle 212 is arranged close to the connecting point of the power paddle 212 and the support arm 211.

[0027] Based on the above, the application further provides a kind of intelligent unmanned aerial vehicle three-dimensional automatic inspection method, based on the described one kind of intelligent unmanned aerial vehicle three-dimensional automatic inspection method, determine the number of inspection area 200 needed to be inspected before inspection, and in turn install the inspection device 100 in each inspection area 200, by the camera 221 installed on unmanned aerial vehicle 2 It is inspected and three-dimensional model is built; Wherein, the unmanned aerial vehicle 2 in inspection area 200 with square wave trajectory flight, and in the process of flight, by camera 221 continuously scanning and shooting the space environment of inspection area 200, and image information is uploaded to modeling software, to scan the image information and build three-dimensional model.

[0028] A preferred technical solution, scanner 22 is provided with battery 223, and battery 223 is provided with BMS battery management system for monitoring residual capacity, by pre-set capacity threshold, let the residual capacity of unmanned aerial vehicle 2 continuously scan and shoot the space environment in inspection area 200 before reaching the capacity threshold; Wherein, each unmanned aerial vehicle 2 before scanning and shooting inspection area 200, the corresponding inspection area 200 currently shot establishes a separate image information library, and BMS battery management system in all unmanned aerial vehicles 2 forms signal connection, when the residual capacity of one of the unmanned aerial vehicles 2 battery 223 is lower than the capacity threshold, fly to the lower of the suspension seat 1, and abut with the suspension seat 1, form electric connection by charging contact 16 and power receiving contact 214, to charge the battery 223 in the unmanned aerial vehicle 2, and in the process of charging the unmanned aerial vehicle 2, continuously open camera 221 and scan and shoot work;And, when the unmanned aerial vehicle 2 flies to the lower of the suspension seat 1 and abuts with the suspension seat 1, each electric push rod two 142 in the suspension seat 1 extends its output shaft outward, by the magnetic block two 143 arranged on the output shaft and the magnetic block one 216 arranged on the surface of the corresponding unmanned aerial vehicle 2 It is adsorbed, and the unmanned aerial vehicle 2 is driven to rotate by driving gear 15, changes the visual angle of camera 221 towards.

[0029] Further, each drone 2 will automatically create an independent video file library corresponding to the area it is responsible for before starting scanning a certain specific inspection area 200. The file library is stored in the local storage device or cloud server and named with different inspection area 200 numbers to ensure the data specificity and traceability. The file library not only contains raw image and video data, but also records metadata such as shooting timestamp, spatial coordinates, attitude information, battery status, etc., providing complete information support for subsequent three-dimensional modeling. Since the built-in battery 223 of the drone 2 is equipped with a BMS battery management system, the remaining power is monitored in real time. When the power of a certain drone (set as drone A) decreases to a preset threshold (for example, 30%), drone A flies back to its own suspension seat 1 along the optimal path, contacts the charging contact 214 with the charging contact 16 to realize automatic charging. In this process, the BMS system broadcasts the low power warning signal to other drones 2 through the wireless network. When the adjacent drone receives the low power warning of drone A, it immediately dispatches another drone (set as drone B) that has completed charging and is in standby state to the inspection area 200 to replace the task. Before taking off, drone B first accesses the existing video file library matching the target inspection area 200 through the wireless communication link. When modeling is performed later, only the corresponding video file library needs to be retrieved to realize the modeling independence between different inspection areas 200.

[0030] The above merely describes preferred embodiments of the present application and therefore cannot limit the scope of the present application. Any equivalent changes and modifications made according to the scope of the present patent and the content of the specification should still be within the scope of the present application.

Claims

1. A smart unmanned aerial vehicle (UAV) three-dimensional automatic inspection device, characterized in that, The device includes an inspection unit for conducting inspections within an inspection area. The inspection unit includes a mounting base and a drone. The mounting base is fixed to a wall, and the drone is attached to the surface of the mounting base. The drone includes a drone shell and a scanner installed inside the drone shell. The scanner is connected to the inside of the drone shell via a servo motor. The lower end of the scanner is equipped with a camera that protrudes from the horizontal plane of the lower end of the drone shell, so that the servo motor can drive the scanner to swing and change the orientation of the camera. The upper part of the drone shell is provided with a power receiving contact, and the scanner contains a storage battery. The power receiving contact is electrically connected to the storage battery. The lower end of the suspension seat is provided with a charging contact corresponding to the power receiving contact. When the drone shell is placed against the lower end of the suspension seat, the power receiving contact and the charging contact form an electrical connection and charge the storage battery.

2. The intelligent unmanned aerial vehicle (UAV) three-dimensional automatic inspection device according to claim 1, characterized in that, Both sides of the drone's shell are equipped with support arms, and propellers are rotatably mounted on the support arms. Each propeller is driven to swing by an electric push rod. The electric push rod is mounted on the surface of the drone's shell, and the connection point between the electric push rod and the propeller is located close to the connection point between the propeller and the support arm.

3. The intelligent unmanned aerial vehicle (UAV) three-dimensional automatic inspection device according to claim 2, characterized in that, The upper part of the drone shell is provided with mounting slots on both sides. A magnetic block is movably installed in each of the two mounting slots, and the outside of the mounting slots is covered with a rubber coating. The suspension seat is provided with an annular slide rail on the side near the drone shell. Multiple adsorption columns are arranged in an annular array in the annular slide rail. All adsorption columns are fixed on the surface of an internal toothed ring. The internal toothed ring is driven by a drive gear set in the suspension seat, so that the adsorption columns are rotated around the axis of the suspension seat by the drive gear driving the internal toothed ring. The adsorption column is equipped with an electric push rod 2, and a magnetic block 2 is installed on the output shaft of the electric push rod 2. All magnetic blocks 2 correspond to each magnetic block 1. When the drone shell is placed against the surface of the suspension seat, the magnetic blocks 2 and magnetic blocks 1 are attracted to each other.

4. The intelligent unmanned aerial vehicle (UAV) three-dimensional automatic inspection device according to claim 3, characterized in that, The adsorption column has an inwardly recessed groove 1 on its circumference. The inner toothed ring has a groove 2 at the corresponding position of each groove 1. The adsorption column abuts against the surface of the inner toothed ring through the groove 1.

5. A method for automatic three-dimensional inspection of intelligent unmanned aerial vehicles (UAVs), based on the method for automatic three-dimensional inspection of intelligent UAVs as described in claim 4, characterized in that, Before the inspection, determine the number of inspection areas that need to be inspected, and install the inspection device in each inspection area in sequence. The inspection is carried out by the camera installed on the drone and a three-dimensional model is constructed. The drone flies in a square wave pattern within the inspection area and continuously scans and photographs the spatial environment of the inspection area through its camera during the flight. The image information is then uploaded to modeling software to build a 3D model.

6. The intelligent unmanned aerial vehicle (UAV) three-dimensional automatic inspection method according to claim 5, characterized in that, The scanner is equipped with a battery, and the battery has a BMS battery management system for monitoring the remaining power. By setting a power threshold, the drone can continue to scan and photograph the spatial environment in the inspection area before the remaining power reaches the threshold. Before scanning and photographing the inspection area, each drone establishes a separate image information database for the corresponding inspection area. The BMS battery management systems in all drones form a signal connection. When the remaining power of the battery of one drone is lower than the power threshold, it flies to the underside of the suspension and abuts against the suspension. It forms an electrical connection with the power receiving contact through the charging contact to charge the battery in the drone. During the charging process, the camera continues to be turned on to scan and photograph.

7. The intelligent unmanned aerial vehicle (UAV) three-dimensional automatic inspection method according to claim 6, characterized in that, When the drone flies to the bottom of the suspension mount and comes into contact with it, each of the electric push rods 2 inside the suspension mount extends its output shaft outward. The magnetic block 2 set on its output shaft attracts the corresponding magnetic block 1 set on the surface of the drone, and drives the drone to rotate through the drive gear, changing the camera's viewing angle.

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