Cubic six-dimensional wall thickness measurement unmanned aerial vehicle

Abstract

The invention relates to the technical field of metal structure detection and unmanned aerial vehicle application, in particular to a cubic six-dimensional wall thickness measurement unmanned aerial vehicle which comprises a multi-rotor unmanned aerial vehicle body, a fixing rod assembly, a cubic frame type protection shell and at least six ultrasonic thickness sensors. The six fixing rods extend outwards from the six directions of the unmanned aerial vehicle body to form a framework, and the cubic frame type protection shell is fixed to the outer end of the framework and wraps the unmanned aerial vehicle body. The ultrasonic thickness sensors are correspondingly installed on the six outer surfaces of the protection shell. Omnibearing protection of the unmanned aerial vehicle and the rotor wings is achieved through the cubic protection shell, and the collision risk during close measurement is avoided; meanwhile, the sensors arranged in six directions enable the unmanned aerial vehicle to be close to the surface to be measured from any direction for thickness measurement, the structure is simple and reliable, the device is particularly suitable for thickness detection operation of metal components which are dangerous or difficult to be manually approached in high altitude and narrow space, and the detection safety and efficiency are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of metal structure inspection and UAV application technology, and in particular to a UAV for measuring the six-dimensional wall thickness of a cube. Background Technology

[0002] Currently, a large number of metal components in industrial settings require regular thickness testing, such as high-altitude pipelines, tank walls, tower components, and various steel structures. These components are often located at high altitudes or in complex locations. Manual measurement requires scaffolding, lifting equipment, or other high-altitude work methods, which is not only inefficient but also poses significant safety risks. Although ultrasonic metal wall thickness measurement technology is relatively mature on the ground or in accessible conditions, most ultrasonic probes still require proximity to the metal surface to obtain stable data. Therefore, traditional inspection still mainly relies on operators directly approaching the measured part. Existing drone technology is mostly used for video inspection, infrared detection, or surface image acquisition, and does not have the structural conditions to bring thickness sensors close to the metal surface. Current high-altitude metal thickness inspection mainly relies on manual approach to the measured component, which is not only highly dangerous and inefficient, but also difficult to access in some locations due to space constraints. Although drones are used for routine inspections, structural and safety limitations prevent them from safely and stably approaching the metal surface without protection, making it difficult to meet the close-range contact requirements for thickness measurement. Meanwhile, when drones approach metal components, the fuselage and propeller area are susceptible to collision risks due to airflow disturbances or structural interference. The lack of a mechanism to provide external protection and assist in close proximity makes it difficult to reliably achieve close-proximity thickness detection.

[0003] To enable drones for close-range thickness measurement, a structure is needed on the outside of the drone to limit safe distances and prevent direct contact between the drone and the object being measured. Furthermore, if measurements in multiple directions are desired, several sensors need to be mounted on the external structure to accommodate different approach attitudes. However, currently, there is no mature solution that can form a monolithic protective frame on the outside of the drone and allow for the placement of multi-directional ultrasonic metal wall thickness measurement sensors on its outer surface. Existing drones lack this external protective structure, making it difficult to balance safety and measurement requirements in high-altitude thickness measurement operations close to metal surfaces.

[0004] Therefore, there is a need for a detection device that is simple in structure, compatible with conventional UAVs, can provide external protection for the airframe, and can deploy ultrasonic metal wall thickness detection sensors in multiple directions, so as to meet the requirements for measuring the contact thickness of metal components in high-altitude environments. Summary of the Invention The purpose of this invention is to provide a cube six-dimensional wall thickness measurement drone that can solve the above-mentioned technical problems.

[0005] This invention provides a cube six-dimensional wall thickness measurement drone, including a drone body, which is a multi-rotor drone, and further comprising: The fixed rod assembly consists of six rigid rods, which are fixedly connected to the main body of the drone in six directions: front, back, left, right, top, and bottom, respectively, and extend outward to form a spatial support frame; A cubic frame-type protective shell is fixedly installed on the outer end of the fixed rod assembly. The protective shell covers the main body of the UAV and its rotor. The protective shell is a cubic or near-cubic frame structure. At least six ultrasonic thickness sensors are respectively installed on the six outer surfaces of the cubic frame protective shell, with the measuring surface of each ultrasonic thickness sensor facing the outside of the protective shell.

[0006] Furthermore, each of the ultrasonic thickness sensors is mounted in the central region of the six outer surfaces of the cubic frame protective shell via a central support rod, with the ultrasonic thickness sensor located at the end of the central support rod.

[0007] Furthermore, the main body of the drone is an octocopter drone, with its motor and propeller arranged in two layers, upper and lower.

[0008] Furthermore, the main body of the drone includes a central frame, eight motors and propellers, a flight control board and a battery; the eight motors are divided into upper and lower layers, with four motors in each layer arranged at the four corners of the central frame.

[0009] Furthermore, each rod in the fixed rod assembly is connected to the central frame of the drone body via a connector and fasteners.

[0010] Furthermore, the cubic frame protective shell is made of lightweight, high-strength metal or composite material.

[0011] Furthermore, the ultrasonic thickness sensor is electrically connected to the data acquisition module installed inside the drone body via a cable.

[0012] Furthermore, the UAV body is also equipped with a wireless data transmission module that is communicatively connected to the data acquisition module, used to transmit the thickness data collected by the data acquisition module to the ground control station. The data acquisition module and the wireless data transmission module together form a data acquisition and transceiver unit.

[0013] Furthermore, it also includes a ranging module, installed on the main body of the UAV or the protective shell, for monitoring the distance to the target component during flight.

[0014] Furthermore, it also includes a ground control terminal that is communicatively connected to the UAV, for receiving and displaying the thickness data measured by the ultrasonic thickness sensor.

[0015] Beneficial effects: This invention provides all-around collision protection for the UAV rotor and fuselage through a cubic frame-type protective shell. It integrates ultrasonic sensors on its six outer surfaces, enabling six-dimensional wall thickness measurement and adapting to complex spatial attitudes. A fixed rod rigidly connects the protective shell to the UAV body, eliminating the need for complex robotic arms or active adjustment mechanisms. This results in a simple, lightweight structure with minimal impact on UAV flight performance and low manufacturing costs. The protective shell maintains a safe distance between the UAV body and the measured surface, effectively avoiding rotor airflow interference and direct collision risks, ensuring the safety of the UAV equipment and the operational process. Operators can control the UAV to approach the measured component from any direction and use the corresponding sensors for measurement. This is particularly suitable for high-altitude, narrow, or dangerous areas, significantly reducing the need for manual high-altitude operations and improving testing efficiency. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the main body of the UAV in this invention; Figure 3 This is a side view of the overall structure of the present invention; Figure 4 This is a schematic diagram of the cubic frame-type protective shell in this invention.

[0018] Explanation of reference numerals in the attached diagram: 1-UAV body, 2-rigid rod, 3-cubic frame protective shell, 4-ultrasonic thickness sensor, 5-central support rod, 6-central frame, 7-motor, 8-propeller, 9-flight control board, 10-battery, 11-data acquisition and transceiver unit. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Example like Figures 1 to 4 As shown, a cubic six-dimensional wall thickness measurement drone mainly includes a drone body 1, a fixed rod assembly, a cubic frame protective shell 3, and an ultrasonic thickness sensor 4.

[0023] The main body of the UAV is preferably an octocopter UAV with stronger lift and stability. Its motors and propellers are arranged in two layers, including a central frame 6, eight motors 7 and propellers 8, a flight control board 9, a battery 10, a data acquisition module and a wireless data transmission module (the two together constitute a data acquisition and transceiver unit 11). The eight motors are arranged in two layers, with four motors in each layer located at the four corners of the central frame. The ultrasonic thickness sensor 4 is electrically connected to the data acquisition module installed in the main body of the UAV 1 via a cable. The main body of the UAV 1 is also equipped with a wireless data transmission module that communicates with the data acquisition module to send the thickness data collected by the data acquisition module to the ground control station.

[0024] The fixed rod assembly consists of six rigid rods 2 (such as the front rod, rear rod, left rod, right rod, upper rod, and lower rod), which are rigidly connected to the central frame 6 at six locations via screws and connecting seats, extending outward to form a cubic support frame. These rigid rods 2 can be made of lightweight, high-strength materials such as carbon fiber tubes.

[0025] A cubic frame-type protective shell 3 is fixedly installed at the outer ends of the six rigid rods 2, forming a cubic frame that completely encloses the main body of the drone 1. The protective shell can be made of aluminum alloy profiles or composite materials, providing protection while ensuring a lightweight overall design.

[0026] At the center of each of the six outer surfaces of the cubic frame-type protective shell 3, an ultrasonic thickness sensor 4 is mounted via a central support rod 5. The sensor probes face outwards to allow for measurements when the UAV is close to the metal surface. All sensors are connected via cables to a data acquisition module within the central frame 6. After processing, the measurement data is transmitted to the ground control station via a wireless data transmission module.

[0027] In another embodiment, multiple ultrasonic thickness sensors can also be arrayed on the outer surface of each protective shell to increase the coverage area of ​​a single measurement. Furthermore, laser or ultrasonic ranging modules can be integrated into the UAV to assist flight and maintain a constant measurement distance.

[0028] During operation, the operator remotely controls the drone to fly near the metal component to be measured, adjusts the drone's attitude so that one side of the protective shell containing the sensor is aligned with the surface being measured, and slowly approaches. Once the sensor enters the effective measurement distance (typically a few millimeters to tens of millimeters), the measurement is triggered, and the wall thickness data is obtained. By changing the drone's attitude, sensors in different directions can be used sequentially to measure different parts of the component.

[0029] This invention features a compact structure that integrates protection and measurement functions, providing a safe, efficient, and flexible solution for thickness detection of high-altitude metal components.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cube six-dimensional wall thickness measurement UAV, comprising a UAV body, wherein the UAV body is a multi-rotor UAV, characterized in that, Also includes: The fixed rod assembly consists of six rigid rods, which are fixedly connected to the main body of the drone in six directions: front, back, left, right, top, and bottom, respectively, and extend outward to form a spatial support frame; A cubic frame-type protective shell is fixedly installed on the outer end of the fixed rod assembly. The protective shell covers the main body of the UAV and its rotor. The protective shell is a cubic or near-cubic frame structure. At least six ultrasonic thickness sensors are respectively installed on the six outer surfaces of the cubic frame protective shell, with the measuring surface of each ultrasonic thickness sensor facing the outside of the protective shell.

2. The cubic six-dimensional wall thickness measuring UAV according to claim 1, characterized in that, Each of the ultrasonic thickness sensors is mounted in the central region of the six outer surfaces of the cubic frame-type protective shell via a central support rod, with the ultrasonic thickness sensor located at the end of the central support rod.

3. The cubic six-dimensional wall thickness measuring UAV according to claim 1, characterized in that, The main body of the drone is an octocopter drone, with its motor and propeller arranged in two layers, upper and lower.

4. The cubic six-dimensional wall thickness measuring UAV according to claim 3, characterized in that, The main body of the drone includes a central frame, eight motors and propellers, a flight control board and a battery; the eight motors are divided into upper and lower layers, with four motors in each layer arranged at the four corners of the central frame.

5. The cubic six-dimensional wall thickness measuring UAV according to claim 4, characterized in that, Each rod in the fixed rod assembly is connected to the central frame of the UAV body via a connector and fasteners.

6. The cubic six-dimensional wall thickness measuring UAV according to claim 1, characterized in that, The cubic frame protective shell is made of lightweight, high-strength metal or composite material.

7. The six-dimensional cube wall thickness measuring UAV according to claim 1, characterized in that, The ultrasonic thickness sensor is electrically connected to the data acquisition module installed inside the drone body via a cable.

8. The cubic six-dimensional wall thickness measuring UAV according to claim 7, characterized in that, The UAV body is also equipped with a wireless data transmission module that is communicatively connected to the data acquisition module, which is used to send the thickness data collected by the data acquisition module to the ground control station.

9. The cubic six-dimensional wall thickness measuring UAV according to claim 1, characterized in that, It also includes a ranging module, which is installed on the main body of the UAV or the protective shell, for monitoring the distance to the target component during flight.

10. The cubic six-dimensional wall thickness measuring UAV according to claim 8, characterized in that, It also includes a ground control terminal that is communicatively connected to the UAV, for receiving and displaying the thickness data measured by the ultrasonic thickness sensor.

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