Ground-air integrated patrol system

Abstract

The utility model relates to the field of unmanned aerial vehicles, and particularly discloses a ground-air integrated patrol system, which comprises a ground robot, an unmanned aerial vehicle, a terminal communication station and a computer, and is characterized in that when various sensors are installed on the ground robot to execute tasks, the ground robot carries a relay base station and an unmanned aerial vehicle nest and temporarily serves as a temporary port of the unmanned aerial vehicle; and the ground robot and the unmanned aerial vehicle jointly obtain parameters to complete three-dimensional modeling. A part of the ground robot is vacated to carry a large battery and serves as a temporary transfer platform of the unmanned aerial vehicle, the battery load of the unmanned aerial vehicle, power consumption of a sensor and wireless communication consumption can be greatly reduced, the unmanned aerial vehicle can fly flexibly, and the unmanned aerial vehicle can work for a long time along with the ground robot. The ground robot can select a wheel type vehicle body or a four-foot robot dog shape according to needs, ground advantages are fully utilized, and continuous arrangement of fixed charging piles is not needed.

Description

Technical Field

[0001] The utility model belongs to the field of unmanned aerial vehicles, and in particular relates to a ground-to-air integrated patrol system. Background Art

[0002] When inspecting traditional power plants, staff members face difficulties such as large power plant areas, a large number of production equipment, and extremely poor working conditions in some areas. The construction of smart power plants is to establish a modern energy and power system to achieve safe, efficient, green, and low-carbon power generation. Its characteristics are that the production process can be optimized autonomously, and the relevant systems can collect, analyze, judge, and plan their own behaviors. Smart power plants specifically introduce integrated management software platforms, self-organizing network systems, and a variety of robots and their sensors. Various robots patrol and standby around the clock, and go deep into harsh environments such as high dust and high temperature. Then, the information collected from each area is timely sorted and summarized to form reports and three-dimensional point clouds; in the prior art, several relay stations are usually arranged in the power plant area to transmit signals and charge patrol equipment. When drones carry cameras and sensors, there are problems such as many electrical equipment and heavy take-off weight, resulting in a small patrol radius. Ground inspection vehicles do not have the above difficulties except that they can only walk around designated paths on the ground. Utility Model Content

[0003] The utility model aims to provide a ground-to-air integrated patrol system with more flexible patrol areas.

[0004] To achieve the above-mentioned purpose, the utility model provides a ground-to-air integrated patrol system, comprising: a ground robot, an unmanned aerial vehicle, a terminal communication station and a computer; the ground robot comprises a walking mechanism, a plurality of sensors and a relay base station, the unmanned aerial vehicle comprises a flying mechanism and a plurality of sensors, the ground robot and the unmanned aerial vehicle are connected to and communicate with each other, the relay base station receives and sends instructions from the ground robot and the unmanned aerial vehicle, and then the relay base station is connected to the terminal communication station, and the computer summarizes and displays the collected content; the ground robot also comprises a charging nest, the charging nest is installed on the upper surface of the ground robot and always follows the movement of the ground robot, the charging nest is used to temporarily park the unmanned aerial vehicle and charge the unmanned aerial vehicle, and the unmanned aerial vehicle uses the ground robot as the center of the flight radius.

[0005] As an improvement of the above-mentioned solution, the sensors installed on the ground robot include high-definition cameras, dual-spectrum gimbals, ultra-wide-angle radars, three-dimensional lasers, temperature and humidity meters or robotic arms, and the sensors installed on the drone include high-definition cameras, thermal imagers, laser rangefinders, flashing lights or loudspeakers.

[0006] As an improvement of the above solution, the patrol system also includes a fixed charging pile with a fixed position, which is connected to the terminal communication station and is used to charge the ground robot.

[0007] As an improvement of the above solution, the charging nest is installed on the rear side of the ground robot, and a number of sensors are installed on the front side of the ground robot; if the load-bearing requirement of the ground robot is greater than 50kg, the ground robot adopts a wheeled body; if the load-bearing requirement of the ground robot is less than 50kg, the ground robot adopts a four-legged robot dog shape.

[0008] As an improvement of the above solution, the interface displayed by the computer includes a warning information column, a site micro-meteorological column, a patrol task column, a recent report statistics column, and a linkage information column.

[0009] The utility model has the following beneficial effects: the patrol system is aimed at the needs of unmanned and intelligent inspections, with drones and ground robots as carriers, and comprehensively uses image recognition, laser ranging and other technologies to achieve a three-dimensional visual patrol effect, realize the coordination between the ground and the air, and give full play to the advantages of each. Compared with the existing technology, this solution uses the ground robot to free up part of the volume to carry large batteries, and as a temporary transfer platform for drones, it can greatly reduce the battery load, sensor power consumption and wireless communication consumption of drones. Drones can fly flexibly, and drones can work for a long time with ground robots. Ground robots can choose wheeled bodies or four-legged robot dog shapes as needed, making full use of the advantages of the ground without the need to continuously set up fixed charging piles. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic diagram of a patrol system under an embodiment;

[0011] Figure 2 A continuous patrol path between several factory buildings by a drone and a ground robot under an embodiment;

[0012] Figure 3 The present invention is a display interface of a computer in an embodiment.

[0013] Explanation of the reference numerals: 11. UAV; 12. Ground robot; 20. Computer; 30. Terminal communication station; 40. Factory building; 50. Fixed charging station. DETAILED DESCRIPTION

[0014] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inside", "outside", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0015] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If the terms "first", "second", "third" are described, they are only used for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0016] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following is a description of the embodiments of the present invention based on its overall structure.

[0017] Reference Figures 1 to 3The utility model discloses a ground-to-air integrated patrol system, comprising: a ground robot 12, an unmanned aerial vehicle 11, a terminal communication station 30 and a computer 20; the ground robot 12 comprises a walking mechanism, a plurality of sensors and a relay base station, the unmanned aerial vehicle 11 comprises a flying mechanism and a plurality of sensors, the ground robot 12 and the unmanned aerial vehicle 11 are connected and communicate with each other, the relay base station receives and sends instructions from the ground robot 12 and the unmanned aerial vehicle 11, and then the relay base station is connected to the terminal communication station 30, and the computer 20 summarizes and displays the collected content; the ground robot 12 also comprises a charger nest, the charger nest is installed on the upper surface of the ground robot 12 and always follows the ground robot 12 to move, the charger nest is used to temporarily park the unmanned aerial vehicle 11 and charge the unmanned aerial vehicle 11, and the unmanned aerial vehicle 11 takes the ground robot 12 as the center of the flight radius. Compared with the existing technology, this solution uses the ground robot 12 to free up part of its volume to carry a large battery and serve as a temporary transfer platform for the drone 11, which can greatly reduce the battery load, sensor power consumption and wireless communication consumption of the drone 11. The drone 11 can fly flexibly and can work for a long time with the ground robot 12. The ground robot 12 can choose a wheeled body or a four-legged robot dog shape as needed, making full use of the ground advantage without the need to continuously set up fixed charging piles.

[0018] As an improvement of the above scheme, the sensors installed on the ground robot 12 include high-definition cameras, dual-spectrum gimbals, ultra-wide-angle radars, three-dimensional lasers, temperature and humidity meters or mechanical arms, and the sensors installed on the drone 11 include high-definition cameras, thermal imagers, laser rangefinders, warning flashing lights or loudspeakers. The high-definition camera of the ground robot 12 and its image algorithm are used to identify dials, switch cabinet operating status, foreign objects, etc. The high-definition camera, laser rangefinder, and thermal imager of the drone 11 are combined to form an overall three-dimensional model of the factory area, and the high-definition camera simultaneously identifies the wiring status of local electric poles.

[0019] As an improvement of the above solution, the patrol system also includes a small number of fixed charging piles 50 at fixed positions. A machine nest is arranged inside the fixed charging piles 50 to increase the patrol system's ability to resist unexpected situations. The fixed charging piles 50 are connected to the terminal communication station 30 and are used to charge the ground robot 12 or directly charge the drone 11.

[0020] As an improvement of the above solution, the charging nest is installed on the rear side of the ground robot 12, and a number of sensors are installed on the front side of the ground robot 12; if the load-bearing requirement of the ground robot 12 is greater than 50kg, the ground robot 12 uses a wheeled body, and the operating consumption of the ground robot 12 is reduced; if the load-bearing requirement of the ground robot 12 is less than 50kg, the ground robot 12 uses a four-legged robot dog shape, and the ground robot 12 can operate on complex ground.

[0021] As an improvement of the above scheme, the interface displayed by the computer 20 includes a warning information column, a site micro-meteorological column, a patrol task column, a recent report statistics column, and a linkage information column. The warning information is divided into three levels: general, serious, and critical. The number of different problems is represented in the form of a pie chart, and the verification status is listed below. The site micro-meteorological information displays the relative humidity, wind speed and direction, and temperature of the day, and records the humidity and temperature of the corresponding factory building 40. The patrol task is used to display the image information captured by the drone 11 and the ground robot 12, as well as to display the number and completion status of today's tasks. Recent report statistics form a report, and the report reviewer and review time are also displayed.

[0022] The foregoing description of specific exemplary embodiments of the utility model is for the purpose of illustration and illustration. These descriptions are not intended to limit the utility model to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the utility model and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the utility model and various different options and changes. The scope of the utility model is intended to be defined by the claims and their equivalents.

Claims

1. A ground-to-air integrated patrol system, characterized in that: include: A ground robot, an unmanned aerial vehicle, a terminal communication station and a computer; the ground robot includes a walking mechanism, a plurality of sensors and a relay base station, the unmanned aerial vehicle includes a flying mechanism and a plurality of sensors, the ground robot and the unmanned aerial vehicle are connected and communicate with each other, the relay base station receives and sends instructions from the ground robot and the unmanned aerial vehicle, and then the relay base station is connected to the terminal communication station, and the computer summarizes and displays the collected content; the ground robot also includes a charging nest, which is installed on the upper surface of the ground robot and always follows the movement of the ground robot, the charging nest is used to temporarily park the unmanned aerial vehicle and charge the unmanned aerial vehicle, and the unmanned aerial vehicle uses the ground robot as the center of its flight radius.

2. The ground-to-air integrated patrol system according to claim 1 is characterized in that: The sensors installed on the ground robot include high-definition cameras, dual-spectrum gimbals, ultra-wide-angle radars, three-dimensional lasers, temperature and humidity meters or robotic arms, and the sensors installed on the drone include high-definition cameras, thermal imagers, laser rangefinders, flashing lights or loudspeakers.

3. The ground-to-air integrated patrol system according to claim 2 is characterized in that: The patrol system also includes a fixed charging pile at a fixed position, which is connected to the terminal communication station and is used to charge the ground robot.

4. The ground-to-air integrated patrol system according to claim 3 is characterized by: The charging nest is installed on the rear side of the ground robot, and a number of sensors are installed on the front side of the ground robot; if the load-bearing requirement of the ground robot is greater than 50kg, the ground robot adopts a wheeled body; if the load-bearing requirement of the ground robot is less than 50kg, the ground robot adopts a four-legged robot dog shape.

5. The ground-to-air integrated patrol system according to claim 4 is characterized in that: The interface displayed by the computer includes a warning information column, a site micro-meteorological column, a patrol task column, a recent report statistics column, and a linkage information column.

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