Multi-rotor autonomous inspection unmanned aerial vehicle for highway slope cracks

Abstract

The utility model relates to the technical field of highway slope inspection, in particular to a multi-rotor autonomous inspection unmanned aerial vehicle for highway slope cracks, which comprises an unmanned aerial vehicle main body, rotor mechanisms and undercarriages, the undercarriages are installed on the two sides of the bottom wall of the unmanned aerial vehicle body, the four rotor wing mechanisms are installed on the periphery of the top of the unmanned aerial vehicle body, the unmanned aerial vehicle body, the rotor wing mechanisms and the undercarriages are connected for operation, and a crack inspection equipment box is detachably installed at the bottom of the unmanned aerial vehicle body. A high-definition camera and a laser scanner are arranged at the bottom of the unmanned aerial vehicle body, the high-definition camera is used for visually shooting and inspecting the highway slope, the laser scanner is used for obtaining three-dimensional data of the surface of the slope and identifying cracks, and the high-definition camera and the laser scanner are matched with each other to achieve internal and external comprehensive detection; the high-definition camera and the laser scanner face the interior of the crack inspection equipment box and are jointly communicated with a fan device.

Description

Technical Field

[0001] This utility model relates to the field of highway slope inspection technology, specifically a multi-rotor autonomous inspection drone for highway slope cracks. Background Technology

[0002] The autonomous inspection drone for highway slope cracks is an intelligent device that integrates high-definition cameras, LiDAR, multispectral sensors, and artificial intelligence (AI) algorithms. It can fly autonomously and collect high-precision images and 3D data of the slope in real time. Through AI technology, it can automatically identify potential hazards such as cracks and displacements and generate detailed inspection reports. It provides an efficient and accurate solution for slope safety monitoring and maintenance, significantly improving inspection efficiency and reducing labor costs and risks.

[0003] However, when using drones for inspection, some highway slopes are located in relatively remote areas and are prone to vegetation growth. This can have some impact when using drones for low-altitude inspections. Specifically, the drones may block the cameras and the laser scanners, causing some slope surfaces to be unscanned, resulting in incomplete data and potentially missing or distorted information about cracks.

[0004] Therefore, in view of the above-mentioned problems, this technical solution proposes a multi-rotor highway slope crack autonomous inspection drone. Utility Model Content

[0005] The purpose of this invention is to provide a multi-rotor autonomous inspection drone for highway slope cracks, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] The multi-rotor autonomous inspection drone for highway slope cracks includes a drone body, rotor mechanism, and landing gear. The landing gear is installed on both sides of the bottom wall of the drone body, and four sets of rotor mechanisms are installed around the top of the drone body. The connection and operation between the drone body, rotor mechanism, and landing gear adopts the existing multi-rotor drone structure and operating principle. At the same time, a crack inspection equipment box is detachably installed on the bottom of the drone body. The crack inspection equipment box inspects the highway slope for cracks while the drone body is in flight. The bottom of the drone body is equipped with a high-definition camera and a laser scanner. The high-definition camera is used to visually inspect the highway slope, and the laser scanner acquires three-dimensional data of the slope surface to identify cracks. The two work together to achieve comprehensive internal and external inspection.

[0008] Two sets of air cylinders are symmetrically arranged at the bottom of the drone body located on both sides of the high-definition camera and laser scanner. The air cylinders are rotatably installed in the bottom wall of the crack inspection equipment box, and the bottom wall of the air cylinder is connected to an exhaust vent along its axis. The exhaust vent extends to the outside of the bottom of the crack inspection equipment box. The rotation of the air cylinder adjusts the exhaust angle of the exhaust vent, and then the exhaust vents on both sides blow away the weeds and vegetation on the highway slope to be inspected, so that the slope of the corresponding detection area of ​​the high-definition camera and laser scanner is not blocked, which improves the accuracy of the high-definition camera and laser scanner to a certain extent. The high-definition camera and laser scanner are connected to a fan device facing the inside of the crack inspection equipment box. The fan device generates air flow, which is then controlled to be discharged outward through the exhaust vent and air cylinder.

[0009] Compared with the prior art, the beneficial effects of this utility model are: by detachably installing a crack inspection equipment box at the bottom of the drone body, and then installing a high-definition camera and laser scanner at the bottom of the crack inspection equipment box, the high-definition camera and laser scanner are used to inspect the slope inside and out. At the same time, the two sets of rotatable exhaust pipes are used to clear the obscured slope, thereby improving the accuracy of this drone in detecting cracks on highway slopes to a certain extent. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the internal structure of a multi-rotor highway slope crack autonomous inspection drone.

[0011] Figure 2 This is a top-down structural diagram of a multi-rotor autonomous inspection drone for cracks on highway slopes.

[0012] Figure 3 This is a partial structural diagram of the crack inspection equipment box in a multi-rotor highway slope crack autonomous inspection drone, viewed from below.

[0013] Figure 4 This is a schematic diagram of the air cylinder structure in a multi-rotor highway slope crack autonomous inspection drone.

[0014] Figure 5 for Figure 1 A magnified structural diagram of A in the diagram.

[0015] Figure 6 for Figure 1 A magnified structural diagram of B in the diagram.

[0016] Figure 7 for Figure 1 A magnified structural diagram of C.

[0017] The components include: UAV body 10, rotor mechanism 11, landing gear 12, exhaust port 13, crack inspection equipment box 14, high-definition camera 15, laser scanner 16, mounting hole block 17, battery pack 18, threaded rod 22, threaded hole 23, fan motor 24, connecting valve 26, fan blade 27, input hose 28, end pipe 29, angle adjustment motor 30, exhaust outlet 31, positioning slide rail 32, positioning block 33, and air cylinder 34. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., 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," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0021] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Please see Figures 1-4The multi-rotor autonomous inspection drone for highway slope cracks includes a drone body 10, a rotor mechanism 11, and a landing gear 12. The landing gear 12 is installed on both sides of the bottom wall of the drone body 10. The rotor mechanism 11 has four sets installed around the top of the drone body 10. The connection and operation between the drone body 10, the rotor mechanism 11, and the landing gear 12 adopts the existing multi-rotor drone structure and operating principle. At the same time, a crack inspection equipment box 14 is detachably installed at the bottom of the drone body 10. The crack inspection equipment box 14 inspects the highway slope for cracks while the drone body 10 is in flight. The bottom of the drone body 10 is equipped with a high-definition camera 15 and a laser scanner 16. The high-definition camera 15 is used to visually inspect the highway slope, and the laser scanner 16 acquires three-dimensional data of the slope surface and identifies cracks. The two work together to achieve comprehensive internal and external inspection.

[0023] Two sets of air cylinders 34 are symmetrically arranged at the bottom of the main body 10 of the drone located on both sides of the high-definition camera 15 and the laser scanner 16. The air cylinders 34 are rotatably installed in the bottom wall of the crack inspection equipment box 14, and the bottom wall of the air cylinder 34 is connected to the exhaust outlet 31 along its axis. The exhaust outlet 31 extends to the outside of the bottom of the crack inspection equipment box 14. That is, the exhaust angle of the exhaust outlet 31 is adjusted by rotating the air cylinder 34. Then, under the action of the exhaust outlets 31 on both sides, the weeds and vegetation on the highway slope to be inspected are blown away, so that the slope of the corresponding detection area of ​​the high-definition camera 15 and the laser scanner 16 is not blocked, which improves the accuracy of the high-definition camera 15 and the laser scanner 16 to a certain extent. The high-definition camera 15 and the laser scanner 16 are connected to the inside of the crack inspection equipment box 14 by a fan device. That is, the fan device generates air flow, which is then controlled to be discharged outward through the exhaust outlet 31 and the air cylinder 34.

[0024] In the embodiments of the present invention, see Figure 6 The crack inspection equipment box 14 has four mounting holes 17 at the top corners. A threaded rod 22 is inserted into the mounting hole 17. The top of the threaded rod 22 is connected to the bottom of the drone body 10 with a threaded hole 23. The threaded rod 22 passes through the mounting hole 17 and is threaded into the threaded hole 23, thereby realizing the detachable connection between the crack inspection equipment box 14 and the drone body 10.

[0025] See Figure 4 , Figure 5 , Figure 7The exhaust outlet 31 has a cylindrical shaft installed at both ends. One end of the cylindrical shaft is rotatably connected to the bottom wall of the crack inspection equipment box 14, and the other end of the cylindrical shaft is connected to an angle adjustment motor 30. The angle adjustment motor 30 is set as a bidirectional servo motor, which can quickly change direction to accurately adjust the swing direction of the exhaust outlet 31. Two rings of positioning slide rails 32 are symmetrically opened on both sides of the circumferential side wall of the air cylinder 34. Positioning blocks 33 are installed in the bottom wall of the crack inspection equipment box 14 corresponding to the positioning slide rails 32. The positioning blocks 33 are placed inside the positioning slide rails 32 and rotate to maintain the stable rotation of the air cylinder 34.

[0026] The side of the air cylinder 34 facing the inside of the crack inspection equipment box 14 is connected to the end pipe 29. The end of the end pipe 29 is connected to the input hose 28. The tops of the two input hoses 28 are connected to the fan device. By utilizing the extension and retraction function of the end pipe 29, the gas can still be smoothly transmitted to the exhaust outlet 31 and discharged outward when the exhaust outlet 31 is rotating.

[0027] The fan unit includes a fan motor 24 installed in the upper middle part of the crack inspection equipment box 14. The bottom of the fan motor 24 is connected to a fan blade 27. The bottom end of the fan blade 27 is connected to an exhaust pipe. The bottom end of the exhaust pipe is connected to the input hoses 28 on both sides to transmit gas. At the same time, a battery pack 18 is installed on one side inside the crack inspection equipment box 14. The battery pack 18 is electrically connected to the fan motor 24 and the angle adjustment motor 30, that is, it is powered by the battery pack 18. At the same time, a connecting valve 26 is connected upward at the top of the fan motor 24. The connecting valve 26 has an exhaust port 13 that extends to the outside of the top of the UAV body 10. The bottom end of the exhaust port 13 is connected to the laser scanner 16 by plugging in, so as to maintain the gas flow inside the fan motor 24 and the fan blade 27, so that it can run smoothly and generate high-speed gas.

[0028] Specifically, while the crack inspection equipment box 14 is installed at the bottom of the drone body 10, the connecting valve 26 is simultaneously inserted into the bottom of the exhaust port 13.

[0029] The crack inspection equipment box 14 also houses a control module, which is electrically connected to the angle adjustment motor 30, battery pack 18, and fan motor 24. The operating principles of these components are as follows:

[0030] System startup: Power supply is activated, and the control module starts the high-definition camera 15 and the laser scanner 16.

[0031] Data acquisition: Laser scanner 16 scans the slope to generate a 3D point cloud.

[0032] High-definition camera 15 captures images of the slope surface.

[0033] Data transmission: The control module transmits point cloud data and images to the processing unit.

[0034] Data processing: Point cloud processing: Analyze point cloud data to identify crack location and size.

[0035] Image processing: Cracks were identified using image recognition technology.

[0036] Output: Generates a crack detection report, including information such as location and size.

[0037] In one example of the present invention, it should be noted that, due to the diverse types and sizes of vegetation on highway slopes, the gas force emitted by the two sets of exhaust vents 31 has a certain range and cannot fully blow away all vegetation. It only plays a certain auxiliary role in the detection of slopes by the high-definition camera 15 and the laser scanner 16, but its positive effect cannot be denied.

[0038] The working principle of this utility model is as follows: In the idle area of ​​this device, all the aforementioned driving components, which refer to power elements, electrical components, and compatible power supplies, are connected by wires. The electrical components are connected in sequence. The detailed connection methods are known in the field. The following mainly introduces the working principle and process, without describing the electrical control. During operation, the main body 10 of the drone is started and flies along the high-speed slope. Then, the high-definition camera 15 and the laser scanner 16 are started to detect the slope at the same time. When encountering vegetation, the angle adjustment motors 30 on both sides are started to drive the exhaust vent 31 to rotate, and the fan motor 24 is started to discharge the generated gas outward along the exhaust vent 31. Then, the vegetation is blown to the two sides below the high-definition camera 15 and the laser scanner 16 to expose the slope for detection.

[0039] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A multi-rotor highway side slope crack autonomous inspection unmanned aerial vehicle, characterized in that, Including unmanned aerial vehicle body (10), rotor mechanism (11), landing gear (12); The landing gear (12) is installed on both sides of the bottom wall of the unmanned aerial vehicle body (10), and the rotor mechanism (11) is provided with four groups of installation on the top of the unmanned aerial vehicle body (10) four around, the bottom of the unmanned aerial vehicle body (10) is detachably installed with a group of crack inspection equipment box (14), the bottom of the unmanned aerial vehicle body (10) is provided with high-definition camera (15) and laser scanner (16) respectively; Two groups of air cylinders (34) are symmetrically arranged on the bottom of the unmanned aerial vehicle body (10) on both sides of the high-definition camera (15) and the laser scanner (16), the air cylinder (34) is rotatably installed in the bottom wall of the crack inspection equipment box (14), and the bottom wall of the air cylinder (34) is communicated with the exhaust pipe (31) along the axis direction, the exhaust pipe (31) extends to the outside of the bottom of the crack inspection equipment box (14), and the high-definition camera (15) and the laser scanner (16) are jointly communicated with the fan device towards the inside of the crack inspection equipment box (14).

2. The multi-rotor highway slope crack autonomous inspection unmanned aerial vehicle according to claim 1, characterized in that, The top of the crack inspection equipment box (14) is provided with mounting hole blocks (17) at four corners, threaded rods (22) are inserted into the mounting hole blocks (17), and threaded holes (23) are formed in the bottom of the unmanned aerial vehicle body (10) corresponding to the top ends of the threaded rods (22), and the threaded rods (22) pass through the mounting hole blocks (17) and are screw-connected into the threaded holes (23).

3. The multi-rotor highway slope crack autonomous inspection unmanned aerial vehicle according to claim 2, characterized in that, The exhaust pipe (31) is provided with cylinder shafts at both ends, one end of the cylinder shaft is rotatably connected in the bottom wall of the crack inspection equipment box (14), the other end of the cylinder shaft is connected with an angle adjusting motor (30), the angle adjusting motor (30) is arranged as a bidirectional servo motor, two circles of positioning sliding rails (32) are symmetrically formed in the circumferential side wall of the air cylinder (34), positioning blocks (33) are installed in the bottom wall of the crack inspection equipment box (14) corresponding to the positioning sliding rails (32), and the positioning blocks (33) are rotatably arranged in the positioning sliding rails (32).

4. The multi-rotor highway slope crack autonomous inspection unmanned aerial vehicle according to claim 3, characterized in that, One side of the air cylinder (34) towards the inside of the crack inspection equipment box (14) is communicated with an end pipe (29), the end pipe (29) is connected with input hoses (28), and the top ends of the input hoses (28) on both sides are jointly communicated to the fan device.

5. The multi-rotor highway slope crack autonomous inspection unmanned aerial vehicle according to claim 4, characterized in that, The fan device comprises a fan motor (24) mounted on the upper side of the middle part in the crack inspection equipment box (14), a fan blade (27) connected to the bottom of the fan motor (24), an exhaust pipe communicated with the bottom end of the fan blade (27), and an input hose (28) communicated with the bottom end of the exhaust pipe on both sides, one side of the crack inspection equipment box (14) is provided with a battery pack (18), the battery pack (18) is electrically connected with the fan motor (24) and the angle adjusting motor (30), that is, the battery pack (18) supplies power, the top of the fan motor (24) is upwardly communicated with a communication valve (26), the communication valve (26) is provided with an exhaust hole (13) extending to the top outside of the unmanned aerial vehicle body (10) in the top end, and the exhaust hole (13) is in plug-in communication with the laser scanner (16).

6. The multi-rotor highway slope crack autonomous inspection unmanned aerial vehicle according to claim 5, characterized in that, The crack inspection equipment box (14) is internally provided with a control module, which is electrically connected with the angle adjusting motor (30), the battery pack (18) and the fan motor (24).

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