Unmanned aerial vehicle pavement flatness tester

Abstract

The invention discloses an unmanned aerial vehicle road surface flatness tester, which comprises an unmanned aerial vehicle, a laser emitter, a camera and a platform, the unmanned aerial vehicle is powered by a battery, the laser emitter is movably connected to the unmanned aerial vehicle and projects a pattern to a road surface, and the camera is arranged at the unmanned aerial vehicle and is used for obtaining the pattern projected by the laser emitter. The platform is used for taking off and landing of the unmanned aerial vehicle, the platform is provided with a cooling device, the cooling device cools the unmanned aerial vehicle, and the battery grabbing mechanism grabs the pushed-out battery and replaces the fully-charged battery. A laser pattern is projected to a road surface by setting an inclination angle, and a camera for vertical shooting is combined, so that tiny fluctuations of the road surface can be captured more clearly, high-contrast light stripes are formed, and accurate analysis of the road surface flatness by a subsequent image processing algorithm is facilitated; compared with a traditional vehicle-mounted or manual detection mode, the unmanned aerial vehicle can quickly cover complex terrains (such as bridges, curves and construction road sections), detection blind areas are reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of road surface smoothness testing technology, specifically relating to a UAV road surface smoothness tester. Background Technology

[0002] In daily highway construction, pavement evenness testers are frequently used. Evenness is one of the important indicators of pavement construction quality and service level. Uneven pavement will increase driving resistance and cause additional vibration to vehicles. This vibration will cause bumpy driving, affecting driving speed, safety, and driving smoothness. Pavement evenness testers are mainly suitable for construction inspection, completion acceptance, and important data indicators for road maintenance of pavement projects such as high-grade highways, urban roads, and airport runways.

[0003] Existing road surface smoothness testers are mounted on the vehicle frame, such as the utility model patent published in China entitled "Road Surface Smoothness Tester" (application number: 202322292446.3).

[0004] However, vehicle-mounted inspections are affected by complex terrain, which reduces their efficiency. Summary of the Invention

[0005] The purpose of this invention is to solve the aforementioned technical problems in the prior art and to provide a drone-based road surface smoothness tester. By setting an tilt angle to project a laser pattern onto the road surface, combined with a vertically shooting camera, it can more clearly capture the minute undulations of the road surface, forming high-contrast light stripes, which facilitates subsequent image processing algorithms to accurately analyze the road surface smoothness. Compared with traditional vehicle-mounted or manual inspection methods, drones can quickly cover complex terrain (such as bridges, curves, and construction sections), reduce blind spots, and improve inspection efficiency.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A road surface smoothness tester for drones is characterized by comprising a drone, a laser emitter, a camera, and a platform. The drone is powered by a battery. The laser emitter is movably connected to the drone and projects a pattern onto the road surface at a set tilt angle. The camera is mounted on the drone via a mounting bracket and is perpendicular to the ground to acquire the pattern projected by the laser emitter. The platform is used for the take-off and landing of the drone and is equipped with a cooling device to cool the drone.

[0007] Furthermore, the drone is equipped with a mounting plate, on which is mounted a robotic arm. The robotic arm rotates horizontally on the mounting plate via a motor. The robotic arm is also equipped with a second motor, which is connected to another robotic arm. The robotic arm rotates vertically on the robotic arm via a motor. A laser emitter is mounted on the robotic arm.

[0008] Furthermore, the mounting bracket includes a mounting base and a connecting arm. The mounting base is fixed to the bottom surface of the mounting plate, and the camera is fixed to the connecting arm. The connecting arm rotates on the mounting base via a pivot, and the pivot is equipped with a locking cap, which locks onto the mounting base.

[0009] Furthermore, it also includes a battery gripping mechanism. The drone is equipped with a battery box containing a battery. The battery box is equipped with a battery pushing mechanism that pushes the battery out of the battery box and extends the battery out of the drone's through-hole. The battery gripping mechanism is used to grip the pushed-out battery and replace it with a fully charged battery. The battery pushing mechanism introduces the fully charged battery into the battery box.

[0010] Furthermore, the battery pushing mechanism includes a cylinder, the battery is provided with a connector, the connector is provided with a connecting plate, and the piston rod of the cylinder is connected to or disconnected from the connecting plate.

[0011] Furthermore, the piston rod has an end plate at its end, with a through-hole in the end plate. A limiting block is provided on the connecting plate, and a limiting post is located in the mounting hole of the limiting block. A spring is fixed between the limiting post and the limiting block. The drone has a baffle. When the battery is pushed out, the limiting post is inserted into the connecting hole; when a fully charged battery is introduced into the battery box, the baffle blocks the connecting plate, causing the limiting post to disengage from the connecting hole.

[0012] Furthermore, the platform is equipped with a support base at its bottom, and the platform is at a set height from the road surface. The support base is equipped with a connecting block one, and the platform is equipped with a connecting block two. A bolt is provided between the connecting block one and the connecting block two, and the bolt is threaded with a fixing nut.

[0013] Furthermore, the cooling device includes a fan. A fan box is located at the bottom of the platform, and a third motor is located inside the fan box. The third motor drives the fan, which blows air to cool the landing drone.

[0014] Furthermore, the cooling device also includes a liquid cooling pipe and a housing. The housing is equipped with a liquid storage tank, a cooling system, and a circulation pump. The liquid storage tank stores insulating liquid and is connected to the cooling system. The cooling system is connected to the circulation pump, which is connected to the outlet of the housing. The outlet is connected to the liquid cooling pipe, which is connected to the inlet of the housing. The inlet is connected to the liquid storage tank. The platform is provided with a groove for embedding the liquid cooling pipe, which contacts the bottom surface of the UAV.

[0015] Furthermore, the platform is equipped with two positioning mechanisms. The drone lands in the area between the two positioning mechanisms. The positioning mechanism includes a positioning plate, and the positioning plate is equipped with a cylinder. When the drone lands on the platform, the piston rod of the cylinder holds the drone in place.

[0016] The present invention, by adopting the above-described technical solution, has the following beneficial effects: (1) This invention uses a laser emitter to project a pattern at an angle and a camera to capture the pattern projected by the laser emitter. This allows for clearer capture of minute undulations in the road surface, forming high-contrast light stripes, which facilitates accurate analysis of road surface smoothness by subsequent image processing algorithms. Compared with traditional vehicle-mounted or manual inspection methods, drones can quickly cover complex terrain (such as bridges, curves, and construction sections), reduce blind spots, and improve inspection efficiency.

[0017] (2) The platform is not only used for take-off and landing, but also integrates cooling function. It adopts cooling devices (such as air cooling and liquid cooling systems) to actively cool down the high-power components of the UAV, avoid continuous high temperature leading to equipment performance degradation or electronic component aging, and improve equipment reliability.

[0018] (3) The tilt angle of the laser emitter has been optimized to ensure that the projected pattern is clearly visible within the camera's field of view and to reduce ambient light interference; at the same time, the vertical shooting of the camera can avoid image distortion and improve the accuracy of data acquisition.

[0019] This invention achieves high-precision, high-efficiency, and high-reliability road surface smoothness detection through an innovative combination of drones, tilting lasers, vertical cameras, and intelligent cooling platforms. It also solves the problems of insufficient heat dissipation and low data accuracy in existing drone detection solutions, and has significant practical value and market prospects. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the UAV in this invention; Figure 2 This is a schematic diagram of the structure at the bottom of the drone in this invention; Figure 3 This is a schematic diagram of the connection between the laser emitter and the camera in this invention; Figure 4 This is a schematic diagram of the structure when the battery is ejected according to the present invention; Figure 5 This is a schematic diagram of the structure of the present invention when a fully charged battery is introduced into the battery box; Figure 6 This is a schematic diagram of the structure of cylinder one in this invention; Figure 7 This is a schematic diagram of the connection between the battery and the connector in this invention; Figure 8 This is an exploded view of the connection between the limiting post, the limiting block, and the spring in this invention; Figure 9 This is a schematic diagram of the connection between the platform and the support base in this invention; Figure 10 This is a schematic diagram of the support base in this invention; Figure 11 This is a schematic diagram of the platform structure in this invention; Figure 12 This is a schematic diagram of the connection between the liquid cooling pipe and the shell in this invention; Figure 13 This is a schematic diagram showing the connection between the liquid storage tank, cooling system, circulating pump, and liquid cooling pipeline in this invention; Figure 14 This is a schematic diagram of the battery gripping mechanism in this invention; Figure 15 This is a schematic diagram of the positioning mechanism in this invention; Figure 16 This is a schematic diagram of the structure of the present invention when the battery gripping mechanism grips and ejects the battery.

[0021] In the diagram, 1-UAV; 2-Laser emitter; 3-Camera; 4-Mounting plate; 5-Motor 1; 6-Robotic arm 1; 7-Motor 2; 8-Robotic arm 2; 9-Mounting base; 10-Shaft; 11-Locking cap; 12-Connecting arm; 13-Battery; 14-Connector; 15-Cylinder 1; 16-Baffle; 17-Fixed base; 18-End plate; 19-Connecting hole; 20-Through hole; 21-Limiting block; 22-Connecting plate; 23-Limiting post; 24-Mounting hole; 25-Spring; 26-Support base; 27-Connecting block 1; 28-Inner groove; 29-Reinforcing block 1; 30- Reinforcing block 2; 31-Embedded bolt; 32-Locking nut; 33-Platform; 34-Groove; 35-Fan box; 36-Shell; 37-Liquid cooling pipe; 38-Liquid outlet; 39-Liquid inlet; 40-Liquid storage tank; 41-Cooling system; 42-Circulating pump; 43-Air outlet; 44-Fan; 45-Positioning plate; 46-Cylinder 2; 47-Support block; 48-Mobile trolley; 49-Motor 4; 50-Rotating plate; 51-Support plate; 52-Ring 1; 53-Ring 2; 54-Limiting plate; 55-Disc; 56-Cylinder 3; 57-Groove; 58-Air inlet. Detailed Implementation

[0022] like Figures 1 to 16 As shown, this invention provides a road surface smoothness tester for drones, including a drone 1, a laser emitter 2, a camera 3, and a platform 33. The drone 1 has a quadcopter structure and is powered by a battery.

[0023] The drone 1 is equipped with a mounting plate 4, on which a robotic arm 6 is mounted. The robotic arm 6 rotates horizontally on the mounting plate 4 via a motor 5. The robotic arm 6 is also equipped with a second motor 7, which is connected to a second robotic arm 8. The second robotic arm 8 rotates vertically on the robotic arm 6 via the second motor 7. A laser emitter 2 is mounted on the second robotic arm 8 and fixed with an adjustable angle to ensure stable illumination of the road surface at a 30-degree angle. The mounting bracket includes a mounting base 9 and a connecting arm 12. The mounting base 9 is fixed to the bottom surface of the mounting plate 4, and the camera 3 is fixed to the connecting arm 12. The connecting arm 12 rotates on the mounting base 9 via a rotating shaft 10. The rotating shaft 10 has a locking cap 11, which locks onto the mounting base 9, ensuring that the camera 3 lens is perpendicular to the ground. This invention uses a laser emitter 2 to project a pattern at an angle, and a camera 3 to capture the pattern projected by the laser emitter 2. This allows for clearer capture of minute undulations in the road surface, forming high-contrast light stripes, which facilitates subsequent image processing algorithms to accurately analyze the road surface smoothness. Compared to traditional vehicle-mounted or manual inspection methods, the drone 1 can quickly cover complex terrain (such as bridges, curves, and construction sections), reducing blind spots and improving inspection efficiency. The mounting plate 4 of this invention can be a gimbal device, with the laser emitter 2 and camera 3 mounted on it, allowing for angle adjustment of the laser emitter 2 and camera 3. Vibration damping is used between the gimbal device and the drone 1 to reduce the impact of drone 1's vibrations on the inspection equipment. This damping can employ a combination of rubber damping pads and springs, effectively absorbing high-frequency vibrations and buffering low-frequency vibrations, ensuring the stability of the laser emitter 2 and camera 3 during inspection and improving the accuracy of the inspection data.

[0024] This invention installs four support seats 26 on the road surface using pre-embedded bolts 31 and locking nuts 32. The support seats 26 are U-shaped, saving materials. Each support seat 26 has a connecting block 27, a reinforcing block 29 between the connecting block 27 and the support seat 26, and a reinforcing block 30 fixed between two connecting blocks 27. The platform 33 has a connecting block 58, which is embedded in the groove 28 of the connecting block 27. A bolt is provided between the connecting block 27 and the connecting block 58, and the bolt is threaded with a fixing nut, facilitating the fixing or disassembly of the platform 33 and the support seats 26. The platform 33 maintains a set height from the road surface, and can be inspected. To facilitate the quick installation of the platform 33 onto the support seats 26, a slot 57 can be provided on the platform 33, which is aligned with the opening of the support seat 26.

[0025] Platform 33 is equipped with two positioning mechanisms, and UAV 1 lands in the area between the two positioning mechanisms. Each positioning mechanism includes a positioning plate 45, which has a second cylinder 46. A support block 47 on the positioning plate 45 supports the second cylinder 46. When UAV 1 lands on platform 33, the piston rod of the second cylinder 46 presses against UAV 1, improving its stability.

[0026] The platform 33 of the present invention adopts a signal transmission platform, which has multiple functions. On the one hand, it serves as a base station for calibrating location information, and on the other hand, it can serve as a take-off and landing platform 33 for the UAV 1 and a battery swapping and cooling station.

[0027] The signal transmitting platform is equipped with a high-precision positioning module (such as a differential GPS module), enabling it to acquire its own precise geographical location information in real time and transmit signals containing location information to a certain surrounding range via a wireless communication module. The UAV 1 is equipped with a corresponding signal receiving module. During flight, when it receives a signal from the signal transmitting platform, it accurately calculates the positional relationship between the UAV 1 and the signal transmitting platform using algorithms such as signal strength and time difference of arrival. Combined with the known accurate location information of the signal transmitting platform, the current geographical location of the UAV 1 can be precisely determined, thus achieving accurate matching between the captured photos and the GPS location. The positioning module of this invention is existing technology.

[0028] The UAV 1 integrates a data processing unit, which receives location information from the signal receiving module, photos taken by the camera, and the operational status information from the laser transmitter 2. Based on a preset algorithm, the data processing unit associates and stores the photos with their corresponding GPS location information, facilitating subsequent analysis and processing of road surface smoothness data. Simultaneously, the data processing unit can monitor the signals transmitted by the signal transmission platform in real time. If signal anomalies or loss are detected, it promptly sends an early warning to the UAV 1 flight control system, reminding operators to take appropriate measures to ensure the smooth progress of the inspection mission.

[0029] This invention expands the functionality of the signal transmission platform: Platform 33 is equipped with a cooling device to cool down the UAV 1. The cooling device uses both air cooling and liquid cooling systems. Air cooling uses a fan 44. A fan housing 35 is located at the bottom of platform 33, and a motor 33 drives the fan 44. The fan housing 35 has an air inlet 58, and platform 33 has an air outlet 43. The fan 44 blows air through the air outlet 43 to cool the landing UAV 1. The liquid cooling system uses a liquid cooling pipe 37 and a shell 36. The shell 36 has a liquid storage tank 40, a cooling system 41, and a circulation pump 42. The liquid storage tank 40 stores insulating liquid and is connected to the cooling system 41. The cooling system 41 is connected to the circulation pump 42, which is connected to the liquid outlet 38 of the shell 36. The liquid outlet 38 is connected to the liquid cooling pipe 37, which is connected to the liquid inlet 39 of the shell 36. The liquid inlet 39 is connected to the liquid storage tank 40. Platform 33 is provided with groove 34 for embedding liquid cooling pipe 37, and the liquid cooling pipe 37 contacts the bottom surface of UAV 1.

[0030] The cooling device employs a combination of air cooling and liquid cooling. After the UAV 1 lands on the signal transmission platform, the air-cooling fan 44 activates to rapidly dissipate heat from the surface of the UAV 1. Simultaneously, the liquid cooling pipe 37 contacts the heat-generating components of the UAV 1, such as the battery and motor, using insulating liquid to carry away heat, achieving efficient cooling. The cooling device of this invention is intelligently controlled by a temperature sensor. When the temperature sensor detects that the temperature of a component of the UAV 1 exceeds a preset threshold, the cooling device automatically activates, ensuring that all components of the UAV 1 are within their normal operating temperature range before the next flight, extending the service life of the UAV 1 and improving detection efficiency.

[0031] The drone 1 is equipped with a battery box containing a battery 13. The battery box has a battery pushing mechanism that pushes the battery 13 out of the battery box and extends it through the through-hole 20 of the drone 1. A mobile battery gripping mechanism grabs the pushed-out battery 13, replaces it with a fully charged battery 13, and then the battery pushing mechanism guides the fully charged battery 13 back into the battery box.

[0032] The battery pushing mechanism includes a cylinder 15, which is fixed to the mounting base 17 of the UAV 1. The battery 13 is provided with a connector 14, which has a connecting plate 22. The piston rod of the cylinder 15 is connected to or disconnected from the connecting plate 22. The end of the piston rod is provided with an end plate 18, which has a through-hole 19. The connecting plate 22 is provided with a limiting block 21, and a limiting post 23 is provided in the mounting hole 24 of the limiting block 21. A spring 25 is fixed between the limiting post 23 and the limiting block 21. The UAV 1 is provided with a baffle 16. When the battery 13 is pushed out, the limiting post 23 is inserted into the connecting hole 19; when a fully charged battery 13 is introduced into the battery box, the baffle 16 blocks the connecting plate 22, causing the limiting post 23 to disengage from the connecting hole 19. The piston rod driven by the cylinder pushes the battery 13, which is precisely pushed out of the battery box to the predetermined position, so that the battery gripping mechanism can take away the old battery 13 and install the new battery 13 without manual intervention.

[0033] When the battery 13 is ejected, the limiting post 23 is embedded in the connecting hole 19 (compressed by the spring 25), ensuring a rigid connection between the battery 13 and the piston rod and preventing the battery 13 from shaking or falling off during ejection. When the battery 13 is reinstalled, the baffle 16 blocks the connecting plate 22, causing the limiting post 23 to automatically disengage from the connecting hole 19 under the force of the spring 25, achieving rapid separation of the cylinder and the battery 13 and preventing reset interference. This ensures that the new battery 13 is accurately aligned with the battery box during reinstallation, avoiding misalignment or collision.

[0034] The battery gripping mechanism of this invention employs a mobile trolley 48, which is equipped with a motor 49. The motor 49 is rotatably connected to a rotating plate 50, on which a mechanical gripper is mounted. The mechanical gripper consists of two rods, a first rod 52 and a second rod 53, which are hinged together. A cylinder 56 is fixed to the rotating plate 50, and a support plate 51 on the rotating plate 50 also fixes the cylinder 56. The second rod 53 is hinged to a disc 55, and a limit plate 54 is fixed to the rotating plate 50. The first rod 52 is hinged to the limit plate 54. When the cylinder 56 pushes the disc 55 forward, the first rod 52 and the second rod 53 rotate, causing the first rod 52 to clamp the battery 13. Other existing mechanical grippers can also be used in this invention.

[0035] In this invention, fully charged batteries are stored in a battery storage compartment. A robotic gripper picks up a fully charged battery from the storage compartment and moves it to the docking position with the drone's battery. A battery pushing mechanism pushes the battery out and inserts it, achieving a quick and reliable connection between the new battery and the drone. Simultaneously, the depleted battery from the drone is removed and returned to the battery storage compartment, completing the automatic battery swapping process. The battery storage compartment is equipped with a charging management system, which can intelligently charge and manage the stored batteries, ensuring that the batteries are always in good standby condition. The charging management system is existing technology; specifically, refer to the prior art invention patent entitled "A Battery Pack Charging Management System and Management Method" (Authorization Announcement No. CN 102005794 B). This invention will not elaborate on the specific structure of the charging management system.

[0036] This invention achieves high-precision, high-efficiency, and high-reliability road surface smoothness detection through an innovative combination of drones, tilting lasers, vertical cameras, and intelligent cooling platforms. It also solves the problems of insufficient heat dissipation and low data accuracy in existing drone detection solutions, and has significant practical value and market prospects.

[0037] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A road surface smoothness tester for unmanned aerial vehicles (UAVs), characterized in that, include: A drone, which is powered by a battery; A laser emitter is movably connected to the drone and projects a pattern onto the road surface at a set tilt angle. A camera is mounted on the drone via a mounting bracket. The camera is perpendicular to the ground and is used to acquire the pattern projected by the laser emitter. A platform is provided for the take-off and landing of the UAV. The platform is equipped with a cooling device for cooling the UAV.

2. The UAV road surface smoothness tester according to claim 1, characterized in that: The drone is equipped with a mounting plate, and the mounting plate is equipped with a robotic arm. The robotic arm rotates horizontally on the mounting plate via a motor. The robotic arm is also equipped with a second motor, which is connected to a second robotic arm. The second robotic arm rotates vertically on the robotic arm via the second motor. The laser emitter is mounted on the second robotic arm.

3. The UAV road surface smoothness tester according to claim 2, characterized in that: The mounting bracket includes a mounting base and a connecting arm. The mounting base is fixed to the bottom surface of the mounting plate, and the camera is fixed to the connecting arm. The connecting arm rotates on the mounting base via a pivot, and the pivot is provided with a locking cap, which locks onto the mounting base.

4. The UAV road surface smoothness tester according to claim 1, characterized in that: It also includes a battery gripping mechanism. The drone is equipped with a battery box containing a battery. The battery box is equipped with a battery pushing mechanism. The battery pushing mechanism pushes the battery out of the battery box and extends the battery out of the through hole of the drone. The battery gripping mechanism is used to grip the pushed-out battery and replace it with a fully charged battery. The battery pushing mechanism introduces the fully charged battery into the battery box.

5. The UAV road surface smoothness tester according to claim 4, characterized in that: The battery pushing mechanism includes a cylinder, the battery is provided with a connector, the connector is provided with a connecting plate, and the piston rod of the cylinder is connected to or disconnected from the connecting plate.

6. The UAV road surface smoothness tester according to claim 5, characterized in that: The piston rod is provided with an end plate at its end, the end plate is provided with a through connecting hole, the connecting plate is provided with a limiting block, the mounting hole of the limiting block is provided with a limiting post, a spring is fixed between the limiting post and the limiting block, and the drone is provided with a baffle. When the battery is ejected, the limiting post is inserted into the connection hole; When a fully charged battery is introduced into the battery box, the baffle blocks the connecting plate, causing the limiting post to disengage from the connecting hole.

7. The UAV road surface smoothness tester according to claim 1, characterized in that: The platform is provided with a support base at its bottom, and the platform is at a set height from the road surface. The support base is provided with a connecting block one, and the platform is provided with a connecting block two. A bolt is provided between the connecting block one and the connecting block two, and a fixing nut is threaded onto the bolt.

8. The UAV road surface smoothness tester according to claim 1, characterized in that: The cooling device includes a fan, and a fan box is provided at the bottom of the platform. A motor is provided in the fan box, and the motor drives the fan to blow air and dissipate heat from the parked drone.

9. The UAV road surface smoothness tester according to claim 8, characterized in that: The cooling device further includes a liquid cooling pipe and a housing. The housing is equipped with a liquid storage tank, a cooling system, and a circulation pump. The liquid storage tank stores insulating liquid and is connected to the cooling system. The cooling system is connected to the circulation pump, which is connected to the liquid outlet of the housing. The liquid outlet is connected to the liquid cooling pipe, which is connected to the liquid inlet of the housing. The liquid inlet is connected to the liquid storage tank. The platform is provided with a groove for embedding the liquid cooling pipe, which contacts the bottom surface of the UAV.

10. The UAV road surface smoothness tester according to claim 1, characterized in that: The platform is equipped with two positioning mechanisms. The drone is parked in the area between the two positioning mechanisms. Each positioning mechanism includes a positioning plate and a cylinder. When the drone is parked on the platform, the piston rod of the cylinder presses against the drone.

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