Roller type indoor inspection trolley based on multiple unmanned aerial vehicles

Abstract

The utility model provides a roller type indoor inspection trolley based on multiple unmanned aerial vehicles, which comprises an inspection trolley base, rollers are arranged under the inspection trolley base, and a laser radar, a mooring type unmanned aerial vehicle hangar and an unmanned aerial vehicle hangar are arranged on the inspection trolley base. The laser radar is connected with the inspection vehicle trolley base through a lifting assembly, and the horizontal plane where the laser radar is located is higher than the horizontal plane where the mooring type unmanned aerial vehicle hangar and the horizontal plane where the unmanned aerial vehicle hangar are located through the lifting assembly.

Description

Technical Field

[0001] This utility model relates to the field of indoor inspection technology, specifically to an indoor inspection vehicle based on a multi-drone roller type. Background Technology

[0002] In road inspection scenarios, LiDAR mounted on inspection vehicles is commonly used to detect defects. However, these vehicles cannot perform close-range contact measurements on defects at higher locations, leading to the omission of some obstructed or small defects. To address this issue, a drone hangar is being considered for mounting on inspection vehicles to enable close-range inspections via drones. However, drone hangars are generally quite large, making it easy for the LiDAR to be obstructed, resulting in significant gaps in the collected point cloud data. Utility Model Content

[0003] The purpose of this invention is to provide a multi-drone roller-type indoor inspection vehicle. The inspection vehicle is equipped with a tethered drone hangar and a drone hangar to perform close-range contact measurements of defects at higher positions, ensuring effective detection of certain obstructed or small defects. Furthermore, by adjusting the horizontal plane of the lidar mounted on the inspection vehicle through a lifting component, it is possible to effectively prevent the tethered drone hangar and drone hangar from obstructing the lidar's scanning on the horizontal plane.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0005] A multi-UAV roller-type indoor inspection vehicle includes an inspection vehicle base, with rollers installed on the bottom of the inspection vehicle base. A lidar, a tethered UAV hangar, and a UAV hangar are installed on the top of the inspection vehicle base. The lidar is connected to the inspection vehicle base via a lifting assembly, which ensures that the horizontal plane of the lidar is higher than the horizontal plane of the tethered UAV hangar and the UAV hangar.

[0006] Furthermore, the lifting assembly includes an electric telescopic rod, the upper end of which is connected to a support platform, and a lidar is fixedly installed on the support platform.

[0007] Furthermore, the inspection trolley base is provided with an upward-opening outer shell, the electric telescopic rod is located inside the outer shell, and the support platform is tightly attached to the inside of the outer shell around its perimeter.

[0008] Furthermore, the outer casing has vertically extending slots on both sides, and the support platform has contact blocks on both sides that engage with the slots. These blocks move up and down within the slots via an electric telescopic rod. A contact switch is located at the top of the slot, and the contact blocks are used to touch the contact switch.

[0009] Furthermore, the horizontal plane where the contact switch is located is higher than the horizontal plane where the tethered drone hangar and the drone hangar are located.

[0010] Furthermore, lighting lights are provided on both sides of the upper part of the vehicle body.

[0011] Furthermore, the drone hangar includes drones, which are equipped with 3D LiDAR, binocular depth cameras, airborne ultrasonic radar, navigation and perception systems, data transmission modules, and data processing modules.

[0012] Furthermore, the tethered drone hangar is connected to the tethered drone via a power cable.

[0013] Furthermore, the tethered drone is equipped with an ultrasonic radar.

[0014] The beneficial effects of this utility model are:

[0015] This utility model provides a multi-drone roller-type indoor inspection vehicle. The inspection vehicle is equipped with a lidar system, as well as a tethered drone hangar and a drone hangar, which are fixedly mounted on the vehicle's base. Multiple drones perform close-range contact measurements of defects at higher locations. The lidar system is mounted on the vehicle's base via a lifting assembly, allowing for adjustment of its horizontal plane. Furthermore, contact blocks and switches can send alerts to the current inspection vehicle, ensuring that the lidar is not obstructed by the tethered drone hangar and drone hangar when scanning on the horizontal plane. Attached Figure Description

[0016] Figure 1 This is a top-view structural diagram of the inspection trolley in Embodiment 1 of this utility model;

[0017] Figure 2 This is a cross-sectional view of the housing of the lidar in Embodiment 1 of this utility model when it is not in operation;

[0018] Figure 3 This is a cross-sectional structural diagram of the outer shell of the lidar in Embodiment 1 of this utility model when it is working;

[0019] Explanation of reference numerals in the attached diagram: 1-Inspection trolley base, 2-Roller, 3-Drone hangar, 4-Tethered drone hangar, 5-Tethered drone, 6-Lighting light, 7-Shell, 8-LiDAR, 9-Support platform, 10-Electric telescopic rod, 11-Slot, 12-Contact block, 13-Contact switch. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the embodiments of this utility model are not limited thereto.

[0021] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inner", "outer", "front", "rear", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They 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. Therefore, they should not be construed as limitations on this utility model.

[0022] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "have," "install," "connect," and "connect" 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.

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0024] Example 1

[0025] In this embodiment, a multi-drone roller-type indoor inspection vehicle is provided, such as... Figure 1 As shown, the system includes a patrol vehicle base 1, with casters 2 mounted on its underside. A lidar radar 8, a tethered drone hangar 4, and a drone hangar 3 are mounted on top of the base 1. The lidar radar 8 is connected to the patrol vehicle base via a lifting assembly, which ensures that the lidar radar 8 is positioned higher than the tethered drone hangar 4 and drone hangar 3 on the horizontal plane. This is to ensure that the lidar radar 8 is positioned higher than the tethered drone hangar 4 and drone hangar 3, guaranteeing that the lidar radar 8 is not obstructed by the tethered drone hangar 4 and drone hangar 3 when scanning on the horizontal plane.

[0026] The tethered drone hangar 4 is connected to the tethered drone 5 via a power cable. The external power cable ensures the continuous operation of the tethered drone 5. Furthermore, the tethered drone 5 is equipped with ultrasonic radar. When the tethered drone 5 comes into close contact with a higher position in the indoor space, it can use its onboard ultrasonic radar to perform contact measurements on that higher position, accurately detecting defects and avoiding obstruction of certain or minor defects. These defects include cracks, peeling, water leakage, internal cavities, etc. The indoor space includes subway stations, factories, warehouses, etc. The drone can perform close-range contact measurements of defects at higher positions in the indoor space.

[0027] The drone hangar includes drones equipped with a 3D LiDAR 8, a binocular depth camera, an airborne ultrasonic radar, a navigation and sensing system, a data transmission module, and a data processing module. When the tethered drone 5 cannot reach the location to be inspected, the drone can automatically fly out and perform contact measurements at a higher position in the indoor space, which can effectively improve the inspection efficiency.

[0028] Lighting lamps 6 are installed on both sides of the upper part of the vehicle body. The lighting lamps 6 can illuminate the interior space and serve as an auxiliary device for the inspection vehicle to assist in the detection of defects.

[0029] In one embodiment, an upward-opening outer shell 7 is fixedly installed on the base 1 of the inspection trolley. The lidar 8 is fixed and raised / lowered through the outer shell 7. The raising / lowering assembly includes an electric telescopic rod 10 located inside the outer shell 7. The upper end of the electric telescopic rod 10 is connected to a support platform 9. The lidar 8 is fixedly installed on the support platform 9. The support platform 9 is in close contact with the inside of the outer shell 7. The electric telescopic rod 10 drives the support platform 9 to rise and fall, so that the lidar 8 can be located inside or outside the outer shell 7. When the lidar 8 is inside the outer shell 7, the lidar 8 is blocked by the outer shell 7, indicating that the lidar 8 is currently in a non-working state. When the lidar 8 is outside the outer shell 7, the lidar 8 is not blocked by the outer shell 7, indicating that the lidar 8 is currently in a working state.

[0030] To ensure that the LiDAR 8 is not obstructed by the tethered drone hangar 4 and the drone hangar when scanning on a horizontal plane, in one embodiment, the outer shell 7 is provided with vertically extending slots 11 on both sides, and the support platform 9 is provided with contact blocks 12 on both sides that engage with the slots 11. These contact blocks 12 move up and down within the slots 11 via an electric telescopic rod 10. A contact switch 13 is located at the top of each slot 11. The horizontal plane of the contact switches 13 is higher than the horizontal plane of the tethered drone hangar 4 and the drone hangar 3. When a contact block 12 touches a contact switch 13, the contact switch 13 connects to a start module located in the inspection vehicle base 1. The start module is electrically connected to the LiDAR 8 and is used to start the LiDAR 8. Essentially, when the contact block 12 touches the contact switch 13, the contact switch 13 sends a prompt message to the current inspection vehicle. After receiving the prompt message, the inspection vehicle starts the LiDAR 8, thus ensuring that the LiDAR 8 is not obstructed by the tethered drone hangar 4 and the drone hangar when scanning on a horizontal plane.

[0031] Specifically, the horizontal plane where the contact switch 13 is located is higher than the horizontal plane where the tethered UAV hangar 4 and UAV hangar 3 are located. The cross-sectional area of ​​the contact block 12 is larger than the cross-sectional area of ​​the slot 11, so that the contact block 12 is engaged in the slot 11 and moves up and down along the extension direction of the slot 11 under the driving action of the electric telescopic rod 10. Figure 2 As shown, at this time, contact block 12 is not in contact with contact switch 13, and lidar 8 is not located outside housing 7. There are obstructions on the inspection vehicle surrounding lidar 8, so lidar 8 is not working. When lidar 8 needs to be activated, the inspection vehicle controls the electric telescopic rod 10 to rise, causing the electric telescopic rod 10 to drive the support platform 9 and contact block 12 upwards. When contact block 12 contacts contact switch 13, since the horizontal plane where contact switch 13 is located is higher than the horizontal planes where tethered UAV hangar 4 and UAV hangar 3 are located, ensuring that there are no obstructions on the inspection vehicle surrounding lidar 8, contact switch 13 activates lidar 8 through the activation module.

[0032] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of this utility model, and the utility model is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and essence of this utility model, and these modifications and improvements are also considered to be within the protection scope of this utility model.

Claims

1. A multi-UAV based roller indoor inspection trolley, characterized in that, The utility model provides a kind of unmanned aerial vehicle inspection vehicle, including inspection trolley base (1), the lower surface of the inspection trolley base (1) is provided with rolling wheel (2), the upper surface of the inspection trolley base (1) is provided with laser radar (8), tethered unmanned aerial vehicle hangar (4) and unmanned aerial vehicle hangar (3), and the laser radar (8) is connected with inspection trolley base by lifting assembly, and the horizontal plane where laser radar (8) is located is higher than the horizontal plane where tethered unmanned aerial vehicle hangar (4) and unmanned aerial vehicle hangar (3) are located by lifting assembly.

2. The multi-UAV based roller indoor inspection trolley according to claim 1, wherein, The lifting assembly includes electric telescopic rod (10), the upper end of the electric telescopic rod (10) is connected with support platform (9), and the laser radar (8) is fixedly arranged on the support platform (9).

3. The multi-UAV based roller indoor inspection trolley according to claim 2, wherein, The upper surface of the inspection trolley base (1) is provided with an upwardly open shell (7), the electric telescopic rod (10) is located in the shell (7), and the periphery of the support platform (9) is tightly attached to the inside of the shell (7).

4. The multi-UAV based roller indoor inspection trolley according to claim 3, characterized in that, The two sides of the shell (7) are provided with upper and lower extending clamping grooves (11), the two sides of the support platform (9) are provided with contact blocks (12) clamped in the clamping grooves (11), the electric telescopic rod (10) moves up and down in the clamping grooves (11), and the clamping grooves (11) are provided with contact switches (13) at the top, and the contact blocks (12) are used to touch the contact switches (13).

5. The multi-UAV based roller indoor inspection trolley according to claim 4, wherein, The horizontal plane where the contact switches (13) are located is higher than the horizontal plane where tethered unmanned aerial vehicle hangar (4) and unmanned aerial vehicle hangar (3) are located.

6. The multi-UAV based roller indoor inspection trolley according to claim 1, wherein, The two sides of the upper layer of the vehicle body are provided with illuminating lamps (6).

7. The multi-UAV based roller indoor inspection trolley according to claim 1, wherein, The unmanned aerial vehicle hangar includes an unmanned aerial vehicle, and the unmanned aerial vehicle is loaded with a 3D laser radar (8), a binocular depth camera, an airborne ultrasonic radar, a navigation sensing system, a data transmission module and a data processing module.

8. The multi-UAV based roller indoor inspection trolley according to claim 1, wherein, The tethered unmanned aerial vehicle hangar (4) is connected with a tethered unmanned aerial vehicle (5) through a power supply cable.

9. The multi-UAV based roller indoor inspection trolley according to claim 1, wherein, The tethered unmanned aerial vehicle (5) is loaded with an ultrasonic radar.

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