Safety inspection unmanned aerial vehicle system for civil engineering site

Abstract

The utility model belongs to the technical field of constructional engineering safety monitoring, and particularly relates to a safety inspection unmanned aerial vehicle system for a civil engineering site, which realizes intelligent safety inspection of the civil engineering site by integrating an unmanned aerial vehicle technology, a multi-sensor detection technology and an artificial intelligence algorithm. The system has the functions of automatic path planning, intelligent hidden danger identification, real-time early warning, data analysis and the like, and effectively solves the problems of low efficiency, incomplete coverage and the like of traditional manual inspection. The method is especially suitable for safety management work of large civil engineering projects such as high-rise buildings, bridges and tunnels.

Description

Technical Field

[0001] This utility model belongs to the field of building engineering safety monitoring technology, specifically relating to a safety inspection drone system for civil engineering sites, which is particularly suitable for safety monitoring of large-scale civil engineering projects such as high-rise buildings, bridges, and tunnels. Background Technology

[0002] In traditional civil engineering construction, safety inspections mainly rely on manual methods, which have the following technical drawbacks:

[0003] Limited coverage: It is difficult to achieve comprehensive and thorough inspection of large construction sites;

[0004] Inefficient: Manual inspections are time-consuming and labor-intensive, especially in dangerous areas such as high altitudes and deep foundation pits.

[0005] Poor real-time performance: It is difficult to provide timely feedback and handle problems after they are discovered;

[0006] Inadequate data management: Paper-based record-keeping is not conducive to the tracking and analysis of security risks.

[0007] While some construction sites have begun using drones for aerial photography, existing technologies generally suffer from the following shortcomings:

[0008] It is only used for simple shooting and lacks intelligent analysis functions;

[0009] The flight path is fixed and cannot be dynamically adjusted according to the situation on site.

[0010] The data acquisition and management systems are disconnected, making closed-loop management impossible. Utility Model Content

[0011] This utility model aims to provide an intelligent and efficient safety inspection system for civil engineering projects. By combining drone technology with intelligent recognition technology, it solves the shortcomings of traditional inspection methods, thereby achieving: all-round and multi-angle automated inspection; intelligent identification and early warning of safety hazards; real-time transmission and analysis of inspection data; and non-contact detection of dangerous areas.

[0012] The above-mentioned objective of this utility model is achieved through the following technical solution:

[0013] A safety inspection drone system for civil engineering sites includes a drone body, a detection module, an intelligent control module, and a ground control terminal. The drone body includes a fuselage and a landing gear. The landing gear is fixed to the bottom of the fuselage using a spring-damped structure. Mounting slots are located at the four corners of the fuselage, and four symmetrically distributed rotor assemblies are hinged to the mounting slots via folding bases. The detection module is suspended in the center of the fuselage via a three-axis gimbal. A camera and an infrared thermal imager are mounted side-by-side on the upper platform of the three-axis gimbal and connected via a quick-release interface. A lidar is fixed to the lower platform of the three-axis gimbal, with its scanning plane perpendicular to the fuselage's central axis. The intelligent control module includes a main control unit, a positioning module, an obstacle avoidance system, an edge computing unit, and a 5G communication module.

[0014] Furthermore, in the intelligent control module, the main control unit is encapsulated in the shockproof cabin in the middle of the fuselage and connected to the lidar and obstacle avoidance system via ribbon cables; the positioning module is embedded in the side of the fuselage, the obstacle avoidance system is set in the front of the fuselage, the edge computing unit is directly connected to the main control unit through the PCIE interface, and the 5G communication module is set in the independent shielded cabin at the tail, with its omnidirectional antenna extending to the outside of the landing gear.

[0015] Furthermore, the detection module also includes a gas detection sensor, which is embedded in a reserved slot in the belly of the fuselage. It is connected to the main control circuit through a waterproof connector and to the main control unit through a ribbon cable.

[0016] Furthermore, the device also includes a buzzer: the buzzer is located in the middle and rear of the cover and uses an embedded speaker to provide an emergency alarm for the detection area.

[0017] Furthermore, the rotor assembly includes a rotor arm, a brushless motor, and a propeller. One end of the rotor arm is rotatably connected to the fuselage via a hinge shaft, and the other end is fixed to the brushless motor via a flange. The propeller is rigidly connected to the output shaft of the brushless motor via a self-locking nut.

[0018] Furthermore, the three-axis gimbal connection structure includes an upper mounting plate, a pitch axis, and a yaw motor. The upper mounting plate is connected to the base plate of the fuselage via a shock-absorbing ball joint. The camera platform is supported at both ends of the pitch axis by precision bearings. The stator of the yaw motor is fixed to the upper mounting plate, and the rotor is directly connected to the horizontal rotating platform.

[0019] Furthermore, it also includes a lidar, which is installed below the horizontal rotating platform via a quick-release clamp, with its scanning axis tilted downwards at the center axis of the machine body.

[0020] Furthermore, the ground control terminal establishes a data link with the main body of the drone through a 5G communication module.

[0021] Furthermore, the landing gear adopts an inverted U-shaped carbon fiber tube, with radio frequency feed lines pre-embedded in the tube wall to connect to the antenna.

[0022] Furthermore, the propeller blade plane is at an elevation angle of 3°-8° to the horizontal plane.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] This utility model discloses a drone system for safety inspection at civil engineering sites. By integrating drone technology, multi-sensor detection technology, and artificial intelligence algorithms, it achieves intelligent safety inspection at civil engineering sites. The system features automatic path planning, intelligent hazard identification, real-time early warning, and data analysis, effectively solving the problems of low efficiency and incomplete coverage in traditional manual inspections. It is particularly suitable for safety management of large-scale civil engineering projects such as high-rise buildings, bridges, and tunnels.

[0025] 1. Structural stability and portability:

[0026] The landing gear adopts a spring shock absorption structure, which effectively reduces the impact force when the drone lands, protecting the fuselage and onboard equipment. At the same time, the inverted U-shaped carbon fiber tube design is both lightweight and strong, improving the overall structural stability.

[0027] The rotor assembly is hinged to the fuselage via a folding base, making it easy to carry and store, thus improving the portability of the drone.

[0028] 2. Multifunctional detection capability:

[0029] The detection module integrates a camera, an infrared thermal imager, a lidar, and a gas detection sensor, enabling comprehensive and multi-angle safety inspections of civil engineering sites. This includes visual inspections, abnormal temperature detection, 3D topographic mapping, and harmful gas detection, greatly improving the comprehensiveness and accuracy of the inspections.

[0030] 3. Intelligent control and efficient communication:

[0031] The intelligent control module includes a main control unit, a positioning module, an obstacle avoidance system, an edge computing unit, and a 5G communication module, enabling the UAV to fly autonomously, locate precisely, avoid obstacles intelligently, and transmit data efficiently. In particular, the application of the 5G communication module ensures real-time data interaction between the UAV and the ground control terminal, improving inspection efficiency.

[0032] 4. Precise positioning and obstacle avoidance:

[0033] The positioning module is embedded in the side of the fuselage, providing accurate positioning information to ensure that the drone can fly along the predetermined route. The obstacle avoidance system is located at the front of the fuselage, which can detect obstacles in front of it in real time, avoid collisions, and improve flight safety.

[0034] 5. Emergency alarm function:

[0035] The machine is equipped with a buzzer and uses an embedded speaker, which can promptly sound an alarm when an abnormality is detected, alerting on-site personnel and enhancing safety during the inspection process.

[0036] 6. Flexible gimbal connection structure:

[0037] The three-axis gimbal connection structure allows the detection module to flexibly adjust its angle to adapt to different inspection needs. In particular, the design of the pitch axis and yaw motors enables the infrared thermal imager and camera to be precisely aligned with the target area, improving the accuracy of the detection.

[0038] 7. Optimized LiDAR installation:

[0039] The lidar is mounted below the horizontal rotating platform via quick-release clamps, and its scanning axis is tilted downwards at the fuselage centerline. This design facilitates installation and maintenance, and ensures that the lidar can cover a wider area during flight, thereby improving the accuracy of terrain mapping.

[0040] 8. High-efficiency propeller design:

[0041] The propeller blades are tilted at an angle of 3°-8° to the horizontal plane. This design helps improve the flight efficiency and stability of the drone, reduce energy consumption, and extend its flight time. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the unmanned aerial vehicle (UAV) system structure.

[0043] Figure 2 This is a schematic diagram of the overall architecture of the unmanned aerial vehicle (UAV) system.

[0044] Figure 3 This is a flowchart of the intelligent inspection process.

[0045] The attached diagram is labeled as follows: 1. Camera, 2. Infrared thermal imager, 3. Folding base, 4. Propeller, 5. Positioning module, 6. 5G communication module, 7. Edge computing unit, 8. LiDAR, 9. Brushless motor, 10. Landing bracket, 11. Buzzer, 12. Upper mounting plate, 14. Pitch axis, 15. Rotor arm, 16. Obstacle avoidance system, 17. Mounting slot, 18. Main control unit. Detailed Implementation

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The main innovative points are as follows:

[0047] 1. Intelligent path planning technology

[0048] The system automatically generates optimal inspection routes by combining BIM models; dynamically adjusts key inspection areas according to construction progress; integrates and analyzes multi-source data; and fuses and processes visible light, infrared, and lidar data to improve the accuracy of hazard identification (up to 98% or more).

[0049] 2. Adaptive Flight Control

[0050] It automatically adjusts its flight attitude in case of emergencies (such as sudden wind or obstacles); it automatically returns to base and starts a backup drone when the battery is low.

[0051] 3. Closed-loop management system

[0052] The entire process of hazard discovery, reporting, rectification, and verification is tracked; daily and weekly safety reports are automatically generated.

[0053] Example 1

[0054] like Figure 1 As shown, the civil engineering safety inspection drone in this embodiment includes a carbon fiber fuselage, a detection module, an intelligent control module, and four symmetrically distributed rotor assemblies. The fuselage has a flat octagonal structure with mounting slots 17 at the four corners; the rotor assemblies are hinged to the mounting slots 17 via folding bases 3, allowing the rotor arms 15 to extend and retract within a range of 0 to 90 degrees; the detection module is suspended in the center of the fuselage underside via a three-axis gimbal.

[0055] (1) The rotor assembly includes:

[0056] Landing support 10: It is an integral structure with rotor arm 15 and serves as the first support point for aircraft takeoff and landing;

[0057] Rotor arm 15: It adopts a hollow titanium alloy tube, one end of which is hinged to the folding base 3 through a pivot.

[0058] Drive assembly: includes brushless motor 9, worm gear and linkage arm; brushless motor 9 is fixed to the bottom of the base and the output shaft is connected to the worm gear; one end of the linkage arm meshes with the worm gear and the other end is connected to the inner groove of rotor arm 15 through ball joint.

[0059] When the stepper motor rotates forward, the linkage arm pushes the rotor arm 15 to unfold to the horizontal position and is fixed by the electromagnetic lock; when it rotates in reverse, it unlocks and retracts the rotor arm 15.

[0060] (2) The three-axis gimbal includes:

[0061] Upper mounting plate 12: connected to the base plate of the machine body via four silicone shock-absorbing balls;

[0062] Pitch axis 14: a platform that supports camera 1 at both ends via angular contact bearings;

[0063] Yaw motor: The stator is fixed to the upper mounting plate 12, and the rotor is directly connected to the horizontal rotating platform;

[0064] The high-definition camera 1 and the infrared thermal imager 2 are fixed side by side on the camera platform. The lidar 8 is installed below the horizontal rotating platform by quick-release clamps, and its scanning axis is tilted downward at a 15-degree angle to the central axis of the camera body.

[0065] (3) The intelligent control module includes:

[0066] Main control unit 18: Located in the shockproof compartment in the middle of the fuselage, it is connected to each sensor via a waterproof cable;

[0067] Precision positioning module 5: The dual-frequency GPS / RTK receiver is embedded under the ceramic cover plate on the top of the device, and four microstrip antennas are distributed in a circular array;

[0068] Obstacle Avoidance System 16: A millimeter-wave radar is mounted on the nose protrusion, and binocular vision cameras are symmetrically distributed on both sides of the radar with their optical axes tilted forward by 30 degrees.

[0069] (4) The gas sensor of the detection module adopts a modular design:

[0070] Mounting slot 17: Located at the rear of the unit, with embedded magnetic contacts;

[0071] Buzzer 11: Located in the middle and rear of the cover, it uses an embedded speaker to provide an emergency alarm for the detection area;

[0072] Sensor body: It has a matching magnetic interface at the bottom and heat dissipation fins on the side wall;

[0073] When the sensor body is embedded in the mounting slot 17, the magnetic interface automatically connects the power supply and data bus.

[0074] (5) The data processing system includes:

[0075] Edge computing unit 7: It is vertically mounted above the main control unit 18 via a PCIe slot, and its heat dissipation copper pipe is attached to the inner wall of the aluminum alloy chassis.

[0076] 5G communication module 6: Located in a separate shielded compartment at the tail, with an omnidirectional antenna extending through the hollow tube of the landing gear to the outside of the fuselage.

[0077] Application Example 1

[0078] Taking a high-rise building construction project as an example:

[0079] Launch drone inspections at set times daily (recommended once in the morning and once in the afternoon); fly at an altitude of 30-50 meters and a speed of 3-5 m / s.

[0080] Key areas of inspection:

[0081] External scaffolding connection points; tower crane anchorage points; construction elevator safety doors; temporary electrical boxes.

[0082] After discovering the potential hazard:

[0083] The drone automatically hovers and takes pictures from multiple angles; the results are pushed to the project manager's mobile app in real time; the system automatically records and tracks the rectification progress.

[0084] The beneficial effects are as follows:

[0085] Improve inspection efficiency: A single flight can complete a comprehensive inspection of a 100,000㎡ construction site, increasing efficiency by more than 5 times;

[0086] Reduce safety risks: Reduce the number of times personnel enter dangerous areas;

[0087] Improved management precision: AI recognition accuracy reaches 98%, far exceeding that of manual inspection;

[0088] Enables data traceability: All inspection data is automatically archived, facilitating accountability and analysis;

[0089] Cost savings: Compared to traditional methods, it can save more than 30% of security management costs.

[0090] The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be included within the protection scope of the present invention.

Claims

1. A safety inspection unmanned aerial vehicle system for a civil engineering site, characterized in that, The system includes a drone body, a detection module, an intelligent control module, and a ground control terminal. The drone body includes a fuselage and a landing gear (10). The landing gear (10) is fixed to the bottom of the fuselage using a spring shock absorption structure. The fuselage has mounting slots (17) at its four corners. Four symmetrically distributed rotor components are hinged to the mounting slots (17) via folding bases (3). The detection module is suspended in the center of the fuselage via a three-axis gimbal. The camera (1) and the infrared thermal imager (2) are arranged side by side on the upper platform of the three-axis gimbal and connected via a quick-release interface. The lidar (8) is fixed to the lower platform of the three-axis gimbal, and its scanning plane is perpendicular to the central axis of the fuselage. The intelligent control module includes a main control unit (18), a positioning module (5), an obstacle avoidance system (16), an edge computing unit (7), and a 5G communication module (6).

2. The safety inspection drone system for civil engineering sites as claimed in claim 1, wherein, In the intelligent control module, the main control unit (18) is encapsulated in the shockproof cabin in the middle of the fuselage and is connected to the lidar (8) and obstacle avoidance system (16) via a ribbon cable; the positioning module (5) is embedded in the side of the fuselage, the obstacle avoidance system (16) is located in front of the fuselage, the edge computing unit (7) is directly connected to the main control unit (18) via the PCIE interface, and the 5G communication module (6) is located in the independent shielded cabin at the tail, with its omnidirectional antenna extending to the outside of the landing gear (10).

3. The safety inspection drone system for use in civil engineering sites according to claim 1, characterized in that, The detection module also includes a gas detection sensor, which is embedded in a reserved slot in the belly of the fuselage. It is connected to the main control circuit through a waterproof connector and to the main control unit (18) through a ribbon cable.

4. The safety inspection drone system for use in civil engineering sites according to claim 1, characterized in that, The machine body also includes a buzzer (11): the buzzer (11) is located in the middle and rear of the cover and uses an embedded speaker to provide an emergency alarm for the detection area.

5. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that the rotor The component includes a rotor arm (15), a brushless motor (9) and a propeller (4). One end of the rotor arm (15) is rotatably connected to the fuselage via a hinge shaft, and the other end is fixed to the brushless motor (9) via a flange. The propeller (4) is rigidly connected to the output shaft of the brushless motor (9) via a self-locking nut.

6. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that, The three-axis gimbal connection structure includes an upper mounting plate (12), a pitch axis (14), and a yaw motor. The upper mounting plate (12) is connected to the base plate of the fuselage through a shock-absorbing ball joint. The two ends of the pitch axis (14) support the platform of the camera (1) through precision bearings. The stator of the yaw motor is fixed to the upper mounting plate (12), and the rotor is directly connected to the horizontal rotating platform.

7. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that, It also includes a lidar (8), which is installed below the horizontal rotating platform by a quick-release clamp, and its scanning axis is tilted downwards with the central axis of the machine body.

8. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that, The ground control terminal establishes a data link with the main body of the UAV through the 5G communication module (6).

9. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that, The landing gear (10) is made of inverted U-shaped carbon fiber tube, and the tube wall is pre-embedded with radio frequency feed lines to connect the antenna.

10. The safety inspection drone system for use in a civil engineering site according to claim 1, characterized in that, The blade plane of the propeller (4) is at an elevation angle of 3°-8° to the horizontal plane.

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