Large unmanned aerial vehicle intelligent operation and maintenance inspection equipment

Abstract

The invention discloses large unmanned aerial vehicle intelligent operation and maintenance inspection equipment which comprises a movable chassis, a telescopic rod and a three-axis stability augmentation holder are arranged on the upper portion of the movable chassis, the three-axis stability augmentation holder is arranged at the top end of the telescopic rod, a camera is arranged on the three-axis stability augmentation holder, and a radar and a three-dimensional sensing sensor are arranged at the front end of the movable chassis. A computer is arranged on the movable chassis, and the telescopic rod, the three-axis stability augmentation holder, the camera, the radar and the three-dimensional perception sensor are all electrically connected with the computer. The device has the beneficial effects that the large-stroke multi-stage electric telescopic rod is combined with the omni-directional rotating holder, so that full-height and multi-angle lossless coverage inspection of the large unmanned aerial vehicle from the belly to the wings is realized; the scheme of fusing the ToF laser radar and the RGBD sensor module is adopted, the dual requirements of large-range environment mapping, positioning, close-range fine sensing and auxiliary reconstruction are considered, and the sensing system is more comprehensive and more reliable.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of unmanned aerial vehicle operation and maintenance detection and automatic robot, and particularly relates to a large unmanned aerial vehicle intelligent operation and maintenance inspection equipment. BACKGROUND

[0002] At present, for the operation and maintenance inspection work of large unmanned aerial vehicles, the industry generally lacks efficient and reliable automatic intelligent means, and mainly relies on manual inspection. However, for large unmanned aerial vehicles, it takes a long time to complete the inspection of the outer surface of the unmanned aerial vehicle by manual inspection, and there may be missed inspection and misinspection. In particular, for small damage on the unmanned aerial vehicle, the reliability of manual visual inspection cannot be guaranteed. Manual inspection personnel have safety hazards when working at the belly or high places.

[0003] At present, the mobile robots for equipment detection in the market are generally general AGV chassis or robot car schemes with fixed track navigation. These devices have obvious deficiencies when used for scanning large unmanned aerial vehicles. First, the general chassis cannot meet the passability requirements of low spaces such as the belly, and the robot car with fixed track navigation has low intelligence and poor versatility. Moreover, the stability of the existing devices cannot guarantee the shooting quality during lifting. Finally, the integration between components is low, and a unified control system cannot be formed.

[0004] Especially when scanning large unmanned aerial vehicles, the device needs to meet the following requirements at the same time: low body to pass through the belly space, wide range of lifting to cover different height layers, high stability to ensure image quality, and intelligence to realize autonomous operation. However, there is a lack of special devices that can meet these requirements in the prior art. SUMMARY

[0005] The application aims to provide a large unmanned aerial vehicle intelligent operation and maintenance inspection equipment, which solves the problems of existing inspection equipment in terms of mobility, height coverage, running stability and system integration.

[0006] The application achieves the above-mentioned purpose by the following technical solutions. A large unmanned aerial vehicle intelligent operation and maintenance inspection equipment, comprising a mobile chassis, wherein the upper part of the mobile chassis is provided with a telescopic rod and a three-axis stabilization gimbal, the top end of the telescopic rod is provided with the three-axis stabilization gimbal, the three-axis stabilization gimbal is provided with a camera, the front end of the mobile chassis is provided with a radar and a three-dimensional perception sensor, and the mobile chassis is provided with a computer, and the telescopic rod, the three-axis stabilization gimbal, the camera, the radar and the three-dimensional perception sensor are electrically connected with the computer.

[0007] Further, the mobile chassis comprises a chassis body, the bottom of the chassis body is provided with a steering drive wheel and a universal driven wheel, the steering drive wheel is located on the geometric center line of the chassis body, used for controlling the traction required for movement and adjusting the walking direction, and the universal driven wheel is located on the symmetrical two sides of the chassis body, used for free steering and following the chassis movement.

[0008] Further, the three-axis stabilization gimbal on the mobile chassis controls the camera thereon to collect images at a low position, and the three-axis stabilization gimbal on the telescopic rod controls the camera thereon to collect images between a middle-low position and a high position.

[0009] Further, the telescopic rod is a multi-stage electric telescopic rod, and the telescopic stroke is 0.2-3 m.

[0010] Further, the three-axis stabilization gimbal has a translation angle of-180° to +180°, a pitch angle of-90° to +90°, and a roll angle of-50° to +50°, used for controlling the shooting angle of the camera and providing stable support and flexible pose adjustment capability for image collection.

[0011] Further, the three-axis stabilization gimbal is further provided with a fill light, and the fill light is located behind the camera.

[0012] Further, the fill light is a ring-shaped fill light, used for providing good lighting conditions for image shooting when the lighting conditions are poor.

[0013] Further, the radar is a ToF laser radar, which obtains point cloud data of the surrounding environment through rotation scanning, used for constructing an environment map in real time based on a SLAM algorithm, realizing autonomous positioning of the device, and performing 360° real-time monitoring of obstacles.

[0014] Further, the three-dimensional perception sensor is an RGBD sensor, which is integrated with an inertial measurement unit, and performs accurate positioning by fusing depth data, color images and inertial data, and provides denser point clouds at a close distance, so as to perform fine obstacle avoidance or three-dimensional reconstruction of surface features of a large unmanned aerial vehicle.

[0015] Further, the computer is a portable computer or a built-in computer, and the computer is embedded with a comprehensive control system, which integrates a laser SLAM navigation algorithm, a visual recognition algorithm and a motion control algorithm, and performs real-time map construction, path target determination and device task state through a human-computer interaction interface.

[0016] The beneficial effects of the present application are as follows: (1) Comprehensive coverage: through the combination of a multi-stage electric telescopic rod with a large stroke and a gimbal rotating in all directions, the large unmanned aerial vehicle is realized from the belly to the wings of the full height, multi-angle non-destructive coverage inspection.

[0017] (2) Flexible movement: The simple structure and efficient control of the drive chassis give the equipment the ability to move flexibly in complex hangar environments and to accurately locate the target point.

[0018] (3) Strong perception capability: The solution of integrating ToF lidar and RGBD sensor module takes into account the dual needs of large-scale environmental mapping, positioning and close-range fine perception and assisted reconstruction, making the perception system more comprehensive and reliable.

[0019] (4) High integration and collaboration of the system: All hardware components work together under the unified computing unit scheduling, realizing automated pipeline operations from autonomous navigation and pose adjustment to image acquisition and quality control, which greatly improves inspection efficiency and systemicity.

[0020] The aforementioned main solution and its various further alternatives can be freely combined to form multiple solutions, all of which are solutions that can be adopted and are claimed in this application; furthermore, the (non-conflicting alternatives) can also be freely combined with each other and with other alternatives. Those skilled in the art, after understanding the solution of this application, will realize from the prior art and common general knowledge that there are many combinations, all of which are technical solutions to be protected by this application, and will not be exhaustively listed here. Attached Figure Description

[0021] Fig. 1 This is a schematic diagram of the front axle side of this application.

[0022] Fig. 2 This is a schematic diagram of the rear axle side of this application.

[0023] Fig. 3 This is a structural side view of this application.

[0024] In the diagram: 1-Mobile chassis, 2-Telescopic rod, 3-Three-axis stabilization gimbal, 4-Camera, 5-Fill light, 6-Radar, 7-3D perception sensor, 8-Computer, 9-Power supply; 101-Chassis body, 102-Steering drive wheel, 103-Universal driven wheel. Detailed Implementation

[0025] The following non-limiting embodiments are used to illustrate this application.

[0026] Example 1 refer to Figs. 1-3 As shown, a large-scale unmanned aerial vehicle (UAV) intelligent operation and maintenance inspection equipment includes a mobile chassis 1, a telescopic pole 2, a three-axis stabilization gimbal 3, a camera 4, a supplementary light 5, a radar 6, a three-dimensional perception sensor 7, a computer 8, and a power supply 9.

[0027] The upper part of the mobile chassis 1 is equipped with a telescopic rod 2 and a three-axis stabilization gimbal 3. The top of the telescopic rod 2 is equipped with the three-axis stabilization gimbal 3, and a camera 4 is mounted on the three-axis stabilization gimbal 3. The front end of the mobile chassis 1 is equipped with a radar 6 and a three-dimensional perception sensor 7. The mobile chassis 1 is equipped with a computer 8. The telescopic rod 2, the three-axis stabilization gimbal 3, the camera 4, the radar 6 and the three-dimensional perception sensor 7 are all electrically connected to the computer 8.

[0028] The device can move flexibly in the hangar environment via the mobile chassis 1, and works in conjunction with the telescopic rod 2 and the three-axis stabilization gimbal 3 to enable the camera 4 to capture images of large drones from all directions. The radar 6 and the three-dimensional perception sensor 7 provide environmental perception and autonomous navigation functions for the device's movement. The computer 8 integrates and controls the functions and status of the above components.

[0029] Through its innovative mechanical structure and intelligent control system, and by using intelligent decision-making, motion control, and data processing, this equipment enables comprehensive, high-precision, and adaptive operation and maintenance inspections of large drones in complex hangar environments. It provides a smart, automated robotic equipment inspection solution that replaces manual labor for the operation and maintenance of large drones.

[0030] The mobile chassis 1 is used to enable the equipment to move independently, and has forward, backward, and turning functions to move and relocate its various components. Its main function is to transport camera 4 to a designated position for image acquisition, and its secondary function is to facilitate the movement between the equipment base station and the large drone. The mobile chassis 1 is only 35cm high to meet the space requirements when moving under the drone.

[0031] The mobile chassis 1 includes a chassis body 101, steering drive wheels 102, and omnidirectional driven wheels 103. The steering drive wheels 102 and omnidirectional driven wheels 103 are located at the bottom of the chassis body 101. The steering drive wheels 102 are located on the geometric center line of the chassis body 101 and serve as the sole power source for the equipment, controlling the traction force required for movement (controlling the movement speed) and adjusting the direction of travel. The omnidirectional driven wheels 103 are located on symmetrical sides of the chassis body 101, allowing for free steering and following the chassis's movement. The steering drive wheels 102 and omnidirectional driven wheels 103 work together to enable the equipment to move flexibly in complex hangar environments.

[0032] The three-axis stabilized gimbal 3 on the mobile chassis 1 controls the camera 4 on it to acquire images at a low position. At this time, the mobile chassis 1 moves under the belly of the drone and takes pictures from a low angle. The three-axis stabilized gimbal 3 at the top of the telescopic boom 2 controls the camera 4 on it to acquire images between low to medium and high positions. At this time, the mobile chassis 1 moves around the perimeter of the drone and takes pictures from a level or downward angle. The cameras 4 in both positions together meet the multi-altitude image acquisition needs of large drones.

[0033] Telescopic pole 2 is a multi-stage electric telescopic pole, preferably a three-stage carbon fiber telescopic pole, driven by a servo electric actuator. It has a maximum load of 10kg and a telescopic stroke of 0.2~3m to cover the area from the belly height to the wing height of a large UAV. The base of telescopic pole 2 is fixed to the upper surface of the mobile chassis 1, and the top is used to support the three-axis stabilization gimbal 3, camera 4, and fill light 5. During low-level inspections, telescopic pole 2 is fully retracted to ensure that the camera 4 and fill light 5 do not interfere with the belly of the UAV. During mid- or high-level inspections, telescopic pole 2 is partially or fully extended to ensure that the camera 4 has the corresponding shooting height.

[0034] The three-axis gimbal stabilization head 3 has a translation angle of -180° to +180°, a pitch angle of -90° to +90°, and a roll angle of -50° to +50°. The rotation angle can be precisely controlled via a program to adjust the shooting angle of the camera 4, providing stable support and flexible pose adjustment capabilities for image acquisition. The three-axis gimbal stabilization head 3 is driven by a brushless motor, with a positioning accuracy of ±0.1°.

[0035] The camera 4 mounted on the three-axis stabilization gimbal 3 is an 8-megapixel multi-zoom camera, serving as the core image acquisition device, and is equipped with a soft light to ensure supplementary lighting. The three-axis stabilization gimbal 3 also has a supplementary light 5, located behind the camera 4. The supplementary light 5 is a ring light used to provide good lighting conditions for image shooting in poor lighting conditions.

[0036] Radar 6 is a ToF (Time-of-Flight) lidar, located at the front of the mobile chassis 1, used for environmental perception and navigation. It acquires point cloud data of the surrounding environment through rotational scanning, which is used to build an environmental map in real time based on the SLAM (Simultaneous Localization and Mapping) algorithm, enabling the device to autonomously locate itself and perform 360° obstacle real-time monitoring.

[0037] The 3D perception sensor 7 is an RGBD sensor, also located at the front of the mobile chassis and above the ToF LiDAR, used to sense the motion attitude and stability of the mobile chassis. The RGBD sensor integrates an inertial measurement unit (IMU), capable of simultaneously acquiring depth information and color images of the environment. By fusing depth data, color images, and inertial data, it achieves precise positioning and provides a denser point cloud at close range for fine obstacle avoidance or 3D reconstruction of the surface features of large UAVs. On one hand, it can assist the ToF LiDAR in achieving more accurate positioning; on the other hand, it can provide a denser point cloud at close range for fine obstacle avoidance or preliminary 3D reconstruction of the UAV's surface features.

[0038] Computer 8 is either a portable computer or a built-in computer. Portable computers (laptops) have the advantages of being detachable and having expandable interfaces, but their overall structure is not stable and their integration is relatively low. Built-in computers are embedded inside the mobile chassis 1, with relatively high integration, but their overall expandability is poor. Computer 8 has an embedded integrated control system that integrates laser SLAM navigation algorithms, visual recognition algorithms, and motion control algorithms. It performs real-time map construction, path target determination, and device task status through a human-computer interaction interface.

[0039] Computer 8, as the core of the equipment's integrated control system, communicates and coordinates with all the aforementioned actuators and sensors via wired or wireless means. It is responsible for running navigation algorithms, processing sensor data, executing motion control logic (such as controlling the coordinated motion of the multi-stage electric telescopic rod and the three-axis stabilization gimbal), managing the image acquisition process, and processing human-machine interaction commands.

[0040] The mobile chassis 1 has a built-in 40000mAh lithium iron phosphate battery pack to power its movement, and an external 16000mAh battery pack supporting PD fast charging to power the three-axis stabilization gimbal 3 and the telescopic pole 2. The device preferably uses a self-organized local area network for communication.

[0041] The inspection process of the equipment is as follows: (1) Underbody shooting: The image acquisition device on the intelligent operation and maintenance inspection equipment is working, the three-axis stabilization gimbal is tilted to about 45°, and the height is about 20cm less than the underbody height, and it can smoothly enter the underbody. (2) Fuselage shooting: The multi-stage electric telescopic rod is raised to about the fuselage height, the three-axis stabilization gimbal is tilted to 45°, and the side of the fuselage is covered. (3) Wing shooting: The multi-stage electric telescopic rod is raised to about 40cm more than the wing height, the three-axis stabilization gimbal is tilted to 30°, and the upper surface of the wing is shot.

[0042] The foregoing basic examples and their further alternative examples can be freely combined to form multiple embodiments, all of which are embodiments that can be adopted and claimed in this application. In the scheme of this application, each alternative example can be arbitrarily combined with any other basic example and alternative example.

[0043] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A large unmanned aerial vehicle intelligent operation and maintenance inspection equipment, comprising a mobile chassis (1), characterized in that: The upper part of the mobile chassis (1) is provided with a telescopic rod (2) and a three-axis stabilization holder (3), the top end of the telescopic rod (2) is provided with the three-axis stabilization holder (3), the three-axis stabilization holder (3) is provided with a camera (4), the front end of the mobile chassis (1) is provided with a radar (6) and a three-dimensional perception sensor (7), the mobile chassis (1) is provided with a computer (8), and the telescopic rod (2), the three-axis stabilization holder (3), the camera (4), the radar (6) and the three-dimensional perception sensor (7) are electrically connected with the computer (8).

2. The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, characterized in that: The mobile chassis (1) comprises a chassis main body (101), the bottom of the chassis main body (101) is provided with a steering drive wheel (102) and a universal driven wheel (103), the steering drive wheel (102) is located on the geometric center line of the chassis main body (101) and is used for controlling the traction required for movement and adjusting the walking direction, and the universal driven wheel (103) is located on the symmetrical two sides of the chassis main body (101) and is used for free steering and following the chassis movement. 3.The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, characterized in that: The three-axis stabilization holder (3) on the mobile chassis (1) controls the camera (4) thereon to collect images at a low position, and the three-axis stabilization holder (3) on the telescopic rod (2) controls the camera (4) thereon to collect images between a middle-low position and a high position.

4. The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1 or 3, characterized in that: The telescopic rod (2) is a multi-stage electric telescopic rod, and the telescopic stroke is 0.2-3 m.

5. The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1 or 3, characterized in that: The three-axis stabilization holder (3) has a translation angle of -180° to +180°, a pitch angle of -90° to +90° and a roll angle of -50° to +50°, which is used for controlling the shooting angle of the camera (4) and providing stable support and flexible pose adjustment capability for image collection. 6.The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, characterized in that: The three-axis stabilization holder (3) is further provided with a fill light (5), and the fill light (5) is located behind the camera (4).

7. The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 6, characterized in that: The fill light (5) is a ring-shaped fill light, which is used for providing good lighting conditions for image shooting when the lighting conditions are poor. 8.The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, characterized in that: The radar (6) is a ToF laser radar, which obtains point cloud data of the surrounding environment through rotary scanning, is used for constructing an environment map in real time based on a SLAM algorithm, realizing autonomous positioning of the device and performing 360° real-time monitoring of obstacles. 9.The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, characterized in that: The three-dimensional perception sensor (7) is an RGBD sensor, which is integrated with an inertial measurement unit, performs accurate positioning by fusing depth data, color images and inertial data, and provides denser point clouds at a close distance to perform fine obstacle avoidance or three-dimensional reconstruction of surface features of a large unmanned aerial vehicle.

10. The large unmanned aerial vehicle intelligent operation and maintenance inspection equipment according to claim 1, 8 or 9, characterized in that: The computer (8) is a portable computer or a built-in computer, the computer (8) is embedded with a comprehensive control system, integrates a laser SLAM navigation algorithm, a visual recognition algorithm and a motion control algorithm, and performs real-time map construction, path target determination and device task state through a human-computer interaction interface.

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