Inspection unmanned aerial vehicle applied to limited space

Abstract

The utility model belongs to the technical field of inspection unmanned aerial vehicles, and particularly relates to an inspection unmanned aerial vehicle applied to a limited space. Comprising a machine body mainboard, the machine body mainboard comprises a front end, a rear end and front and back faces, a first mounting module is arranged on the front face of the front end of the machine body mainboard, a second mounting module is arranged on the back face of the front end of the machine body mainboard, and a third mounting module is arranged on the front face of the rear end of the machine body mainboard; the sensor layout mode of the inspection unmanned aerial vehicle comprises a hemispherical laser radar and camera layout, an omnidirectional laser radar coverage layout, a laser radar and GNSS fusion positioning layout, and a laser radar and thickness gauge layout. According to the utility model, through the arrangement of the three mounting modules, flexible replacement of sensors such as a laser radar, a multi-band fusion camera, a GNSS positioning device and a thickness gauge in various different combination forms can be supported, various function combinations are formed, and unmanned aerial vehicle inspection work in different limited space area environments is covered.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection drones, and specifically relates to an inspection drone used in confined spaces. Background Art

[0002] Most existing drones rely heavily on GNSS systems for positioning and can only operate in open outdoor spaces. They cannot operate indoors or in confined spaces such as tunnels, pipes, tanks, and underground.

[0003] To address this situation, some manufacturers have designed drones equipped with a lidar and use the SLAM algorithm to enable the drone to obtain positioning and fly normally in confined spaces. However, because the field of view that a single lidar sensor can sense is limited, in some highly dynamic flight conditions and some complex scenarios, a single lidar sensor often easily causes the SLAM algorithm to diverge, ultimately leading to positioning failure and inability to complete the flight.

[0004] However, it cannot be said that the problem can be solved by simply installing multiple lidar sensors. Different sensing capabilities are required under different environmental conditions, and the installation structure area must be planned for the drone to meet the needs of working in confined spaces. Utility Model Content

[0005] In response to the above-mentioned problems existing in the prior art, the purpose of the present utility model is to provide a patrol drone for use in confined spaces that can carry multiple different sensors and realize the normal operation of the drone in different confined spaces. It can be flexibly replaced according to different environmental conditions to form a variety of different functional combinations to cover different application scenarios.

[0006] In order to solve the above problems, the technical solutions adopted by the present invention are as follows:

[0007] A patrol drone for use in confined spaces includes a main body, the main body including a front end, a rear end, and two front and back sides; a first mounting module is provided on the front side of the main body, a second mounting module is provided on the rear side of the main body, and a third mounting module is provided on the front side of the main body;

[0008] The sensor layout of the inspection drone includes:

[0009] Hemispherical LiDAR + Camera layout: In this layout, the second mounting module is equipped with a gimbal camera sensor, and the third mounting module is equipped with a LiDAR sensor;

[0010] Omnidirectional LiDAR coverage layout, in which the first mounting module is equipped with a gimbal camera sensor, the second mounting module is equipped with a LiDAR sensor, and the third mounting module is equipped with a LiDAR sensor;

[0011] LiDAR + GNSS fusion positioning layout, in which the first mounting module is equipped with a GNSS positioning sensor, the second mounting module is equipped with a gimbal camera sensor, and the third mounting module is equipped with a LiDAR sensor;

[0012] Laser radar + thickness gauge layout. In this layout, the first mounting module is installed with a thickness gauge sensor, the second mounting module is installed with a gimbal camera sensor, and the third mounting module is installed with a laser radar sensor.

[0013] Furthermore, a laser radar bracket tilted outward is provided at the second mounting module and the third mounting module respectively.

[0014] Furthermore, the four corners of the fuselage main board are respectively connected to a front left arm, a front right arm, a rear left arm, and a rear right arm, and the outer ends of the front left arm, the front right arm, the rear left arm, and the rear right arm are respectively connected and converged above and below the fuselage main board through vertical edge guard plates.

[0015] Furthermore, side guard plates are connected between the front left arm and the rear left arm, between the front right arm and the rear right arm, and between the rear left arm and the rear right arm.

[0016] Furthermore, the bottom ends of the front left arm, the front right arm, the rear left arm, and the rear right arm are commonly connected to a bottom plate located below the fuselage mainboard.

[0017] Furthermore, a casing is installed on the front of the mainboard of the fuselage, and installation space for the first mounting module and the third mounting module is reserved on the casing.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] Through the setting of three mounting modules, the utility model can support the flexible replacement of sensors such as lidar, multi-band fusion camera, GNSS positioning, thickness gauge, etc. in a variety of different combinations, forming a variety of functional combinations to cover drone inspection work in different confined space area environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 It is a side structural diagram of the utility model;

[0022] Figure 3 This is a schematic diagram of the hemispherical lidar + camera layout;

[0023] Figure 4 This is a schematic diagram of the structure of the omnidirectional lidar coverage layout;

[0024] Figure 5 This is a schematic diagram of the structure of the LiDAR + GNSS fusion positioning layout;

[0025] Figure 6 This is a schematic diagram of the structure of the laser radar + thickness gauge layout;

[0026] In the figure: 1- fuselage main board, 11- first mounting module, 12- second mounting module, 13- third mounting module, 2- housing, 3- front left arm, 4- front right arm, 5- rear left arm, 6- rear right arm, 7- vertical edge guard plate, 8- bottom plate, 9- side guard plate, 10- laser radar bracket. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with specific embodiments.

[0028] like Figure 1 As shown, the inspection drone used in confined spaces described in the present invention includes a fuselage mainboard 1, which includes a front end, a rear end, and two sides. A first mounting module 11 is provided on the front face of the fuselage mainboard 1, a second mounting module 12 is provided on the front back, and a third mounting module 13 is provided on the rear face.

[0029] Elsewhere, the main body 1 is topped with a housing 2, which provides space for mounting the first and third mounting modules 11 and 13. The second and third mounting modules 12 and 13 are each equipped with an outwardly tilted laser radar bracket 10. The four corners of the main body 1 are connected to the front left arm 3, front right arm 4, rear left arm 5, and rear right arm 6, respectively. Propeller blades are located on the front and rear surfaces of the front and rear left arms 3 and 4, respectively. Irregularly curved vertical edge guards 7 are attached to the outer ends of the front, front, and rear left arms 3, 4, and 5, respectively. These four vertical edge guards 7 converge at the top of the main body 1, while at the bottom, the four side guards 7 are connected to a base plate 8. Furthermore, side guards 9 are connected between the front and rear left arms 3 and 5, between the front and rear right arms 4 and 6, and between the rear and rear left arms 5 and 6. Thus, the vertical edge guard plate 7, the bottom plate 8, and the side guard plate 9 together constitute the omnidirectional collision protection frame of the quad-rotor drone, preventing the core part of the drone from being damaged when working in a confined space, thereby greatly improving safety.

[0030] like Figure 2 As shown, these three mounting modules can be installed with different sensors according to different needs.

[0031] Specifically, such as Figure 3 As shown, a hemispherical lidar + camera layout is used. In this layout, the second mounting module 12 houses a gimbal camera sensor, and the third mounting module 13 houses a lidar sensor. This layout is suitable for basic indoor inspections. The lidar sensor provides a point cloud view of the upper and rear hemisphere of the drone. By running a laser SLAM algorithm, it generates positioning data for the drone's indoor positioning control. The gimbal camera sensor, controlled by the operator and the drone, can focus on the target area, collecting visible light and infrared thermal images of the target area for inspection tasks.

[0032] like Figure 4 As shown, the omnidirectional lidar coverage layout, under this layout, the first mounting module 11 is installed with a gimbal camera sensor, the second mounting module 12 is installed with a lidar sensor, and the third mounting module 13 is installed with a lidar sensor. This layout is suitable for indoor inspections in complex environments. Compared with the first layout, this layout can provide a full 360° coverage point cloud field of view around the drone. In some complex environments, such as the corners of buildings, the drone may have limited field of view of the lidar in a single hemisphere layout at certain special attitude angles, and it may not be able to collect enough point cloud information for positioning. At this time, the drone laser SLAM algorithm of the first layout will fail. Under this layout, the lidar in the other hemisphere can still work at this time, providing positioning information to achieve indoor inspection tasks in complex environments.

[0033] like Figure 5 As shown, a LiDAR + GNSS fusion positioning layout is used. In this layout, the first mounting module 11 is equipped with a GNSS positioning sensor, the second mounting module 12 is equipped with a gimbal camera sensor, and the third mounting module 13 is equipped with a LiDAR sensor. This layout is suitable for inspections in semi-GNSS-obstructed scenarios, such as under bridges and building exteriors. In such inspections, the drone can sometimes obtain GNSS positioning, but at other times the satellite signal is blocked, making it impossible to locate. The UAV laser SLAM algorithm in this layout can fuse GNSS information with LiDAR observation information to achieve fusion positioning for the drone, providing the drone with continuous high-precision position information in a global coordinate system.

[0034] like Figure 6 As shown, the LiDAR + Thickness Gauge configuration uses the first mounting module 11 to mount the thickness gauge sensor, the second mounting module 12 to mount the gimbal camera sensor, and the third mounting module 13 to mount the LiDAR sensor. This configuration is suitable for tank inspections. The drone can use LiDAR data to run a SLAM algorithm to fly inside or outside the tank and press the thickness gauge forward against the tank to measure its thickness, thus completing the inspection.

[0035] To sum up, during the design of this invention, by setting mounting modules at three positions of the fuselage, four types of drone inspection work that can be performed in different restricted environments can be realized. The sensor layout can be flexibly changed according to the application scenario, and an omnidirectional collision protection frame is used to improve the safety of the drone.

Claims

1. A patrol drone for use in confined spaces, comprising a mainboard, characterized in that: The main body includes a front end, a rear end, and two front and back sides. A first mounting module is provided on the front side of the main body, a second mounting module is provided on the back side of the main body, and a third mounting module is provided on the front side of the main body. The sensor layout of the inspection drone includes: Hemispherical LiDAR + Camera layout: In this layout, the second mounting module is equipped with a gimbal camera sensor, and the third mounting module is equipped with a LiDAR sensor; Omnidirectional LiDAR coverage layout, in which the first mounting module is equipped with a gimbal camera sensor, the second mounting module is equipped with a LiDAR sensor, and the third mounting module is equipped with a LiDAR sensor; LiDAR + GNSS fusion positioning layout, in which the first mounting module is equipped with a GNSS positioning sensor, the second mounting module is equipped with a gimbal camera sensor, and the third mounting module is equipped with a LiDAR sensor; Laser radar + thickness gauge layout. In this layout, the first mounting module is installed with a thickness gauge sensor, the second mounting module is installed with a gimbal camera sensor, and the third mounting module is installed with a laser radar sensor.

2. The inspection drone for confined spaces according to claim 1, characterized in that: The second mounting module and the third mounting module are respectively provided with a laser radar bracket inclined outward.

3. The inspection drone for confined spaces according to claim 1, characterized in that: The four corners of the fuselage main board are respectively connected with a front left arm, a front right arm, a rear left arm and a rear right arm, and the outer ends of the front left arm, the front right arm, the rear left arm and the rear right arm are respectively connected above and below the fuselage main board through vertical edge guard plates.

4. The inspection drone for confined spaces according to claim 3, characterized in that: Side guard plates are connected between the front left arm and the rear left arm, between the front right arm and the rear right arm, and between the rear left arm and the rear right arm.

5. The inspection drone for confined spaces according to claim 3, characterized in that: The bottom ends of the front left arm, the front right arm, the rear left arm and the rear right arm are commonly connected to a bottom plate located below the mainboard of the fuselage.

6. The inspection drone for confined spaces according to claim 1, characterized in that: A housing is installed on the front of the mainboard, and installation space for the first mounting module and the third mounting module is reserved on the housing.

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