Rail type indoor inspection trolley based on multiple unmanned aerial vehicles

Abstract

The utility model provides a track type indoor inspection trolley based on multiple unmanned aerial vehicles, which comprises a trolley body, the trolley body is sequentially composed of a trolley body upper layer and a trolley body lower layer from top to bottom, a laser radar is fixedly arranged on the trolley body upper layer, track wheels are arranged below the trolley body lower layer, and the track wheels are movably arranged on tracks. A storage groove is formed in the upper layer of the vehicle body, the storage groove downwards penetrates into the lower layer of the vehicle body, and a mooring type unmanned aerial vehicle hangar and an unmanned aerial vehicle hangar are fixedly arranged in the storage groove.

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-UAV track. Background Technology

[0002] Inspection trolleys are commonly used to inspect the interior of subway tunnels. These trolleys move along tracks within the tunnel while a fixed lidar sensor on board inspects the tunnel's interior. However, because the trolleys move along tracks, they cannot perform close-up, contact measurements of the tunnel walls, making it difficult to effectively detect defects and causing some obstructions or minor flaws to be missed.

[0003] To address this issue, the current consideration is to equip the inspection vehicle with a drone hangar to enable close-range inspections via drones. However, the large size of the drone hangar makes the lidar susceptible to obstruction, resulting in significant gaps in the collected point cloud data. Utility Model Content

[0004] The purpose of this utility model is to provide a multi-drone track-based indoor inspection vehicle. The inspection vehicle is equipped with a tethered drone hangar and a drone hangar to conduct close-range inspections of the tunnel interior walls, ensuring the effective detection of certain obstructions or minor defects. Furthermore, by placing the tethered drone hangar and the drone hangar in the storage compartment of the vehicle body, it is possible to effectively avoid the tethered drone hangar and the drone hangar being obstructed when scanning the LiDAR on the horizontal plane.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following solution:

[0006] A multi-UAV track-based indoor inspection vehicle includes a vehicle body, which is composed of an upper vehicle body and a lower vehicle body from top to bottom. A lidar is fixedly installed on the upper vehicle body, and track wheels are installed on the lower vehicle body. The track wheels are movably mounted on a track. A storage slot is opened in the upper vehicle body and extends downward into the lower vehicle body. A tethered UAV hangar and a UAV hangar are fixedly installed in the storage slot.

[0007] Furthermore, two mounting brackets are respectively provided at the front and rear ends of the lower layer of the vehicle body. The two mounting brackets are symmetrically arranged, and a rolling shaft is rotatably connected to the mounting bracket through a bearing. The two ends of the rolling shaft are respectively connected to a track wheel, so that the track wheel is located on the outside of the lower layer of the vehicle body.

[0008] Furthermore, the height of the lower layer of the vehicle body in the vertical plane is less than or equal to the height of the mounting bracket in the vertical plane.

[0009] Furthermore, the top of the tethered drone hangar and the top of the drone hangar are on the same horizontal plane as the top of the vehicle body.

[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 invention provides a multi-UAV track-based indoor inspection vehicle. The vehicle is equipped with a lidar system, a tethered UAV hangar, and a dedicated UAV hangar. The tethered UAV hangar is connected to a tethered UAV via a power cable, allowing for close-range inspection of the tunnel walls and effectively detecting obstructions or minor defects. The UAV hangar houses freely moving UAVs, enabling them to explore areas inaccessible to the tethered UAVs, thus improving inspection efficiency. Furthermore, the inspection vehicle features a double-layered structure. The lidar system is located on the upper layer, while the tethered UAV hangar and dedicated UAV hangar are housed within a storage compartment extending from the upper to the lower layer, preventing obstruction of the lidar system by the tethered UAV hangar and dedicated UAV hangar. 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 schematic diagram of the front cross-sectional structure of the inspection trolley in Embodiment 1 of this utility model;

[0018] Figure 3 This is a top view cross-sectional structural diagram of the inspection trolley in Embodiment 1 of this utility model;

[0019] Explanation of reference numerals in the attached diagram: 1-track, 2-upper level of vehicle body, 3-lower level of vehicle body, 4-lighting light, 5-LiDAR, 6-tethered UAV hangar, 7-UAV hangar, 8-tethered UAV, 9-mounting frame, 10-rolling shaft, 11-track wheel. 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-UAV track-based indoor inspection vehicle is provided, such as... Figure 1 , Figure 2 , Figure 3 As shown, the vehicle includes a vehicle body, which is composed of an upper vehicle body 2 and a lower vehicle body 3 from top to bottom. A lidar 5 is fixedly installed on the upper vehicle body 2, and a track wheel 11 is installed on the lower vehicle body 3. The track wheel 11 is movably installed on the track 1. The upper vehicle body 2 has a storage slot that extends downward into the lower vehicle body 3. A tethered drone hangar 6 and a drone hangar 7 are fixedly installed in the storage slot.

[0026] The tethered drone hangar 6 is connected to the tethered drone 8 via a power cable. The external power cable ensures the continuous operation of the tethered drone 8. Furthermore, the tethered drone 8 is equipped with an ultrasonic radar. When the tethered drone 8 comes into close contact with the inner wall of the tunnel, it can perform contact measurements on the inner wall of the tunnel through its own ultrasonic radar, which can accurately detect defects and avoid obscuring certain or minor defects. These defects include cracks, spalling, water leakage, internal cavities, etc.

[0027] The drone hangar 7 contains drones equipped with a 3D LiDAR 5, 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 8 cannot reach the location to be inspected, the drone can automatically fly out and perform contact measurements on the tunnel wall, which can effectively improve the inspection efficiency.

[0028] Lighting lamps 4 are installed on both sides of the upper layer 2 of the vehicle body. The lighting lamps 4 can illuminate the inside of the tunnel and serve as an auxiliary device for the inspection vehicle to assist in the detection of defects.

[0029] Specifically, the inspection vehicle mainly adopts a double-layer structure design, with the lidar 5 located on the upper layer 2 of the vehicle body, and the tethered drone hangar 6 and drone hangar 7 located in the storage compartment. Since the storage compartment extends from the upper layer 2 down to the lower layer 3 of the vehicle body, when the tethered drone hangar 6 and drone hangar 7 are located in the storage compartment, it is equivalent to placing the tethered drone hangar 6 and drone hangar 7 in a recessed area of ​​the vehicle body, while the lidar 5 is located on the top layer of the vehicle body. Furthermore, the top of the tethered drone hangar 6 and drone hangar 7 is on the same horizontal plane as the top of the upper layer 2 of the vehicle body, which can effectively prevent the tethered drone hangar 6 and drone hangar 7 from obstructing the lidar 5.

[0030] In one embodiment, since the inspection trolley moves along the track 1 inside the tunnel, track wheels 11 are provided under the inspection trolley. Specifically, two mounting brackets 9 are respectively provided at the front and rear ends of the lower layer 3 of the vehicle body. The two mounting brackets 9 are symmetrically arranged, and a rolling shaft 10 is rotatably connected to the mounting bracket 9 through a bearing. The two ends of the rolling shaft 10 are respectively connected to the track wheels 11, so that the track wheels 11 are symmetrically arranged on the outside of the lower layer 3 of the vehicle body. The track wheels 11 can move on the track 1. When the track wheels 11 move on the track 1, the track wheels 11 symmetrically arranged on both sides can support the vehicle body on the track 1, so that the vehicle body itself has a certain height distance from the ground of the track 1, avoiding contact between the lower layer 3 of the vehicle body and the ground of the track 1, and ensuring the safe operation of the inspection trolley.

[0031] Furthermore, because the track wheel 11 can support the vehicle body on the track 1, creating a certain height distance between the vehicle body and the ground of the track 1, the inspection vehicle described in this embodiment is designed to be a double-layer structure instead of the existing one. In addition, the existing inspection vehicle is recessed downwards, utilizing the height distance between the vehicle body and the ground of the track 1 in the original space. An additional layer is added below the inspection vehicle equipped with the lidar 5, and the upper and lower layers are connected to create a storage slot. The tethered drone hangar 6 and drone hangar 7 are placed in the storage slot, thus achieving effective utilization of space.

[0032] Preferably, the height of the lower layer 3 of the vehicle body in the vertical plane is less than or equal to the height of the mounting bracket 9 in the vertical plane. The purpose is to ensure that after adding a layer of structure under the inspection vehicle equipped with the lidar 5, the lower layer 3 of the vehicle body does not come into contact with the ground of the track 1, thus ensuring the safe operation of the inspection vehicle.

[0033] 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 track type indoor inspection trolley, characterized in that, The utility model relates to a vehicle body, the vehicle body is from top to bottom by vehicle body upper layer (2) and vehicle body lower layer (3) in turn, the upper surface of vehicle body upper layer (2) is fixedly provided with laser radar (5), the lower surface of vehicle body lower layer (3) is provided with track wheel (11), track wheel (11) is movably arranged on track (1), vehicle body upper layer (2) is set with the thing groove, and the thing groove is downwardly penetrated to the inside of vehicle body lower layer (3), and is fixedly provided with tethered unmanned aerial vehicle hangar (6) and unmanned aerial vehicle hangar (7) in the thing groove.

2. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The front and rear ends of the vehicle body lower layer (3) are respectively provided with two mounting frames (9), the two mounting frames (9) are symmetrically arranged, and a rolling shaft (10) is rotatably connected in the mounting frame (9) through a bearing, the two ends of the rolling shaft (10) are respectively connected with the track wheels (11), so that the track wheels (11) are located outside the vehicle body lower layer (3).

3. The multi-UAV based track indoor inspection trolley according to claim 2, wherein, The height of the vehicle body lower layer (3) in the vertical plane is less than or equal to the height of the mounting frame (9) in the vertical plane.

4. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The upper surface of the tethered unmanned aerial vehicle hangar (6) and the unmanned aerial vehicle hangar (7) is located on the same horizontal plane as the upper surface of the vehicle body upper layer (2).

5. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The vehicle body upper layer (2) is provided with illuminating lamps (4) on both sides.

6. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The unmanned aerial vehicle hangar (7) includes an unmanned aerial vehicle, and the unmanned aerial vehicle is loaded with a 3D laser radar (5), a binocular depth camera, an airborne ultrasonic radar, a navigation sensing system, a data transmission module and a data processing module.

7. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The tethered unmanned aerial vehicle hangar (6) is connected with a tethered unmanned aerial vehicle (8) through a power supply cable.

8. The multi-UAV based track-type indoor inspection trolley according to claim 1, wherein, The tethered unmanned aerial vehicle (8) is loaded with an ultrasonic radar.

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