Airport inspection unmanned vehicle

Abstract

The embodiment of the utility model provides an airport inspection unmanned vehicle. The airport inspection unmanned vehicle comprises a movable vehicle body, a lifting platform and a stabilizer. The movable vehicle body is used for forming a main body structure of the airport inspection unmanned vehicle; the lifting platform is arranged on the upper surface of an outer shell of the movable vehicle body, and the lifting platform is connected with the movable vehicle body through a rotary folding structure; the stabilizer is arranged in the movable vehicle body and located below the upper surface of the outer shell. The stabilizer comprises a balance weight body and at least four pushing pieces. The counterweight body is positioned in a stabilizing space surrounded by a stabilizer shell of the stabilizer; one end of each pushing piece of the at least four pushing pieces is connected to the inner side wall of the stabilizer shell in a sliding manner, and the other end of each pushing piece abuts against the balance weight body; when the lifting platform extends, the at least four pushing pieces are matched with one another to push the balance weight body to move in the moving direction opposite to the orthographic projection direction of the extending direction of the lifting platform on the stabilizer shell, and the stable maintaining effect on the movable vehicle body is achieved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned vehicle technology, specifically to the field of vehicle-machine stabilization structure technology, and more specifically to an unmanned vehicle for airport inspection. Background Technology

[0002] The airport perimeter intelligent patrol system can replace or assist in intelligent airport perimeter patrol work. It is suitable for long-term, uninterrupted monitoring, patrolling, early warning, sound and light deterrence, and alarm linkage. Utilizing artificial intelligence technology, it identifies anomalies within and around the airport perimeter, enhancing patrol security, reducing staff workload, lowering costs and increasing efficiency, and ensuring airport safety and accident-free operations. The intelligent patrol system is based on comprehensive scheduling, artificial intelligence technology, and big data processing, combined with high-speed network communication systems and a series of advanced technologies to achieve intelligent patrol, early warning, and response to airport perimeter issues.

[0003] Currently, a combination of intelligent unmanned inspection vehicles (UAVs) and drones is being used to replace manual patrols of airport perimeters. Existing intelligent airport inspection UAVs typically work in conjunction with drones to inspect and address on-site airport conditions. These UAVs can be equipped with lifting platforms and gimbal detection and operation equipment (such as cameras and fluorescent spray guns for marking) to achieve lifting detection and anomaly marking. The lifting detection device of the inspection UAV can employ multi-stage lifting to meet the requirements of adjustable height and wide field of view detection, while also utilizing a folding and rotating structure to allow for free extension and retraction of the lifting platform and 360-degree close-up observation.

[0004] However, current intelligent inspection drones typically integrate numerous detection and operation devices into their lifting platforms at the ends, resulting in large sizes and weights. This causes the vehicle to tilt in the direction of extension when extending for detection or operation, making it prone to instability and rollover accidents. Furthermore, the size limitations and complex internal design of inspection drones prevent low-cost vehicle stabilization designs within the vehicle body. Consequently, existing inspection drones limit the folding angle and extension length of their lifting platforms to avoid rollovers due to tilting, significantly restricting their detection and operation range. Summary of the Invention

[0005] In view of at least one of the problems existing in the above-mentioned airport inspection unmanned vehicles, such as the vehicle body tilting or even overturning due to the folding or extension of the lifting platform, which limits the scope of use of the lifting platform, the embodiments of this utility model aim to provide an airport inspection unmanned vehicle that can maintain vehicle body stability and effectively expand the scope of use of the lifting platform, thereby realizing an inspection unmanned vehicle with a simpler structure and lower cost.

[0006] One aspect of this utility model provides an unmanned aerial vehicle (UAV) for airport inspection, including a movable vehicle body, a lifting platform, and a stabilizer. The movable vehicle body constitutes the main structure of the UAV; the lifting platform is disposed on the upper surface of the outer shell of the movable vehicle body and is connected to the movable vehicle body via a rotating and folding structure; the stabilizer is built into the interior of the movable vehicle body, located below the upper surface of the outer shell; wherein the stabilizer includes a counterweight and at least four pushers. The counterweight is located in a stabilizing space surrounded by the stabilizer housing of the stabilizer; one end of each of the at least four pushers is slidably connected to the inner wall of the stabilizer housing, and the other end abuts against the counterweight; wherein, when the lifting platform extends, the at least four pushers cooperate to push the counterweight in a direction opposite to the orthogonal projection direction of the extension direction of the lifting platform onto the stabilizer housing, thereby achieving a stabilizing effect on the movable vehicle body.

[0007] According to one embodiment of the present invention, the starting position of the counterweight is located at the center of the stabilizer housing.

[0008] According to one embodiment of the present invention, each of the at least four pushing members includes a sliding body, a drive motor, and a telescopic rod. The sliding body is slidably connected to the side wall of the stabilizer housing of the stabilizer; the main body of the drive motor is fixed in the sliding body; one end of the telescopic rod is fixed to the output shaft of the drive motor, and the other end abuts against the counterweight; wherein the drive motor is oriented toward the counterweight so that the telescopic rod protrudes beyond the sliding body.

[0009] According to one embodiment of the present invention, the stabilizer further includes a groove. The groove is recessed on the inner wall of the stabilizer housing and matches the shape of the sliding body to realize the movement of the sliding body relative to the stabilizer housing.

[0010] According to one embodiment of the present invention, the slide groove further includes a plurality of balls and a limiting flange. The plurality of balls are recessed into the inner wall surface of the slide groove, and each of the plurality of balls makes rolling contact with the outer surface of the slide body;

[0011] The limiting flange protrudes along the longitudinal edge of the slide groove, confining the main body of the slide body within the slide groove.

[0012] According to one embodiment of the present invention, the telescopic rod includes multiple telescopic joints. In a plurality of telescopic joints, the outer surface of the first telescopic joint of two adjacent telescopic joints is provided with an external thread, and the inner surface of the second telescopic joint of two adjacent telescopic joints is provided with an internal thread that matches the external thread.

[0013] According to one embodiment of the present invention, the counterweight is a sphere, and the telescopic rod also includes a limiting ball plate.

[0014] The concave surface of the limiting ball plate is attached to the outer spherical surface of the counterweight, and the center of the convex surface is fixed to the end of the telescopic rod used to abut against the counterweight.

[0015] According to one embodiment of the present invention, the edges of two adjacent defined spheres are in contact with each other.

[0016] According to one embodiment of the present invention, the height of the inner wall of the stabilizer housing is the same as the height of the counterweight.

[0017] According to one embodiment of the present invention, the position where the rotating and folding structure of the lifting platform is connected to the movable vehicle body is staggered with the center position of the stabilizer housing.

[0018] The airport inspection unmanned vehicle provided in this embodiment can at least partially solve at least one of the problems existing in the current airport inspection unmanned vehicles, such as the vehicle body tilting or even tipping over due to the folding or extension of the lifting platform, which limits the scope of use of the lifting platform. Therefore, it can achieve at least one of the following technical effects:

[0019] During operations (such as detection or execution) in multiple directions and at different spatial positions on the lifting platform, the stabilizer's counterweight and multi-push component matching design effectively control the movement of the counterweight relative to the lifting platform. This achieves counterweight balance, ensuring vehicle stability during operation and preventing tilting or even rollover, thus maximizing the platform's applicability. Furthermore, the stabilizer's structure is simpler than existing complex counterweight structures, enabling mass production at a lower cost. It also effectively controls the space occupied by the stabilizer within the mobile body of the airport inspection drone, achieving a more efficient counterweight effect with lower cost, simpler structure, and smaller size.

[0020] It should be understood that the above general description and the following specific embodiments are merely exemplary and illustrative, and do not limit the scope of the present invention. Attached Figure Description

[0021] The above-mentioned contents, other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

[0022] Figure 1 This schematically illustrates a three-dimensional structural composition of an airport inspection unmanned vehicle according to an embodiment of the present invention.

[0023] Figure 2 An extended view of the lifting platform 2 of the airport inspection unmanned vehicle according to an embodiment of the present invention is shown schematically;

[0024] Figure 3 This schematic diagram illustrates a three-dimensional structural composition of the stabilizer of an airport inspection unmanned vehicle according to an embodiment of the present invention.

[0025] Figure 4A The schematic diagram shows a top view of the counterweight 301 of the stabilizer 3 of the airport inspection unmanned vehicle according to an embodiment of the present invention at the starting position O.

[0026] Figure 4B This schematically illustrates a top view of the structure of the counterweight 301 of the stabilizer 3 of the airport inspection unmanned vehicle according to an embodiment of the present invention, which moves from the starting position O along the F3 direction of the x-axis to the target position O′.

[0027] Figure 4C This schematically illustrates a top view of the structure of the counterweight 301 of the stabilizer 3 of the airport inspection unmanned vehicle according to an embodiment of the present invention, which moves from the starting position O along the F3 direction (opposite to the F2 direction) to the target position O″.

[0028] Figure 5 This schematic diagram illustrates the structural composition of the telescopic rod 302 of the stabilizer 3 of the airport inspection unmanned vehicle according to an embodiment of the present invention.

[0029] Figure 6 This schematically illustrates the structural composition of the stabilizer 3 of an airport inspection unmanned vehicle according to an embodiment of the present invention, including the sliding body 321 and the chute 304; and

[0030] Figure 7 The diagram schematically illustrates the structural composition of the stabilizer 3 of the airport inspection unmanned vehicle according to an embodiment of the present invention, with respect to the counterweight 301.

[0031] The accompanying drawings mentioned above are part of the specification of the present invention, illustrating exemplary embodiments of the present invention. The drawings, together with the description in the specification, serve to illustrate the principles of the embodiments of the present invention. It should be understood that the above general description with reference to the drawings and the following detailed description are merely exemplary and illustrative, and do not limit the scope of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the spirit of the contents disclosed in this utility model will be clearly explained below with reference to the accompanying drawings and detailed description. After understanding the embodiments of this utility model, any person skilled in the art can make changes and modifications based on the technology taught in this utility model without departing from the spirit and scope of this utility model.

[0033] The illustrative embodiments and descriptions of this utility model are used to explain the utility model, but are not intended to limit the utility model. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0034] The terms "first," "second," etc., used in this utility model do not specifically refer to any order or sequence, nor are they intended to limit this utility model. They are merely used to distinguish elements or operations described with the same technical terms.

[0035] The directional terms used in this invention, such as up, down, left, right, front, or back, are merely for reference to the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the scope of this invention.

[0036] The terms “comprising,” “including,” “having,” “containing,” etc., used in this utility model are all open-ended terms, meaning that they include but are not limited to.

[0037] The term "and / or" as used in this utility model includes any or all combinations of the said things.

[0038] In this utility model, "multiple" includes "two" and "more than two"; in this utility model, "multiple groups" includes "two groups" and "more than two groups".

[0039] The terms "approximately," "about," etc., used in this invention are intended to modify any quantity or error that may vary slightly, but these slight variations or errors do not change the essence of the quantity or error. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in some embodiments, 5% in some embodiments, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0040] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0041] When expressions such as "at least one of A, B, and C" are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). When expressions such as "at least one of A, B, or C" are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Those skilled in the art should also understand that any conjunction and / or phrase that substantially arbitrarily indicates two or more optional items, whether in the specification, claims, or drawings, should be understood to indicate the possibility of including one of these items, either of these items, or both items. For example, the phrase “A or B” should be understood as including the possibility of “A” or “B”, or “A and B”.

[0042] In view of at least one of the problems existing in the above-mentioned airport inspection unmanned vehicles, such as the vehicle body tilting or even overturning due to the folding or extension of the lifting platform, which limits the scope of use of the lifting platform, the embodiments of this utility model aim to provide an airport inspection unmanned vehicle that can maintain vehicle body stability and effectively expand the scope of use of the lifting platform, thereby realizing an inspection unmanned vehicle with a simpler structure and lower cost.

[0043] like Figures 1-7 As shown, one aspect of an embodiment of the present invention provides an unmanned airport inspection vehicle, including a movable vehicle body 1, a lifting platform 2, and a stabilizer 3.

[0044] The movable vehicle body 1 is used to form the main structure of the airport inspection unmanned vehicle;

[0045] The lifting platform 2 is set on the upper surface of the outer shell of the movable vehicle body, and the lifting platform 2 is connected to the movable vehicle body 1 through a rotating and folding structure;

[0046] The stabilizer 3 is built into the interior of the movable vehicle body 1, located below the upper surface of the outer shell; wherein, the stabilizer 3 includes a counterweight 301 and at least four pushers 302.

[0047] The counterweight 301 is located in the stabilization space surrounded by the stabilizer housing 303 of the stabilizer 3;

[0048] At least four pushers 302 have one end slidably connected to the inner wall of the stabilizer housing 303, and the other end abutting against the counterweight 301;

[0049] When the lifting platform 2 extends, at least four pushers 302 cooperate with each other to push the counterweight 301 to move in a direction opposite to the orthogonal projection direction F2 on the stabilizer housing of the extension direction F1 of the lifting platform 2, thereby achieving the effect of stabilizing the movable vehicle body.

[0050] In this embodiment of the invention, the lifting platform 2 can be used as an actuator for the fluorescent spray gun 202 and as a detector for the PTZ video device 203. With the lifting support of the lifting rod 201, the platform performs the corresponding detection actuator. For example, the lifting rod 201 can be extended perpendicular to the movable vehicle body 1, raising the positions of the PTZ video device 203 and the fluorescent spray gun 202. This allows the PTZ video device 203 (e.g., a high-precision camera) to have a higher and wider detection field of view, while also allowing the fluorescent spray gun 202 to have a larger spray range. For example, when the PTZ video device 203 remotely detects abnormal gaps in the airport fence, it can use the fluorescent spray gun 202 to mark them with fluorescent markers, facilitating targeted repairs by professional maintenance personnel.

[0051] The movable vehicle body 1 can be composed of a tracked drive architecture and a main body. The tracked drive architecture can be based on an all-terrain sports chassis 8, ensuring that two moving track structures can be installed on both sides of the main body as support and moving components, thereby achieving the all-terrain movement effect of the movable vehicle body 1.

[0052] The vehicle body can be equipped with obstacle avoidance sensors 4, LiDAR 5, and a front-facing camera 6 on the outer wall of the front, forming a sensor assembly together with the aforementioned gimbal video equipment. This allows the vehicle to perceive its surrounding environment, identify obstacles and terrain changes, and thus perform autonomous navigation and obstacle avoidance. Furthermore, the data collected by the sensors can be used to create a real-time map of the surrounding environment and simultaneously determine its own position through algorithms, ensuring the accuracy and reliability of navigation. It can also identify and track specific targets, such as people and vehicles. In addition, the computer system onboard the airport inspection drone can process the large amounts of data collected by the sensors, making real-time decisions and planning tasks. Therefore, the functions of the aforementioned sensor assembly enable the unmanned patrol vehicle to perform tasks such as patrolling, monitoring, and exploration in various environments.

[0053] Furthermore, a GPS antenna 10 and a combined navigator 9 can be installed on one side of the vehicle body above the track to form a navigation system. This enables the unmanned vehicle to move according to a preset path or a self-planned path, navigating from one location to another. During movement, environmental information acquired by sensor components can be used to identify and avoid obstacles, ensuring safe robot operation. Additionally, based on map information, obstacle distribution, and task requirements, the optimal or feasible movement path can be planned. Moreover, simultaneous localization and mapping (SLAM) technology can be used to create a real-time environmental map and determine the robot's own position, providing basic data for navigation. In some application scenarios, the navigation system needs to keep the robot in a specific location or area, such as when the unmanned vehicle needs to cruise within a specific area. Moreover, the navigation system can dynamically adjust its path and strategy according to environmental changes and task requirements to adapt to complex and ever-changing working environments. These functions together constitute the navigation system of the unmanned vehicle, enabling it to move autonomously, efficiently, and safely in different environments and perform tasks.

[0054] Furthermore, the vehicle body may also include a communication antenna 13, which can be located at the rear end of the vehicle body and extend outside the main body shell. This allows for data transmission with the control center, transmitting various sensor data and unmanned vehicle feedback data to the control center in real time, ensuring that the control center can effectively control the inspection unmanned vehicle in real time.

[0055] Furthermore, the vehicle body can be further equipped with headlights 7, a voice broadcast system 11, and a domain controller 12. Therefore, the unmanned inspection vehicle described in the above embodiments ensures that it can autonomously and efficiently perform airport patrol work in various environments, while providing necessary data and operational support.

[0056] However, in actual airport patrol work, there are various complex environments, including various slopes, potholes and other ground driving or operating environments. Therefore, the patrol unmanned vehicle can adopt a relatively large tracked all-terrain sports chassis to achieve a larger contact area and better grip, and can also meet the requirements of ground environments with greater inclination to a considerable extent.

[0057] like Figure 1 and Figure 2As shown, the lifting platform 2 typically uses a rotating and folding structure to connect with the movable vehicle body 1. Specifically, it can be located on the upper surface of the outer shell of the movable vehicle body. Generally, for ease of detection and execution, the base of the lifting rod 201 of the lifting platform 2 can be positioned near the front of the vehicle using this rotating and folding structure. After the lifting rod 201 retracts, it can be stored on the upper surface of the outer shell of the movable vehicle body 1 via the rotating and folding structure. In the direction of F2, the overall length of the lifting platform 2 does not exceed the length of the upper surface of the outer shell of the movable vehicle body 1. The rotating and folding structure allows the lifting rod 201 to rotate and fold for storage, and also enables 360° rotation of the lifting rod 201 (in another embodiment, this can also be achieved through the 360° rotation of the rotating platform of the pan-tilt video device 203) for 360° detection and execution. The rotating and folding structure can be equipped with multiple degrees of freedom rotation output motors, thereby ensuring the corresponding rotation and folding action output.

[0058] However, as Figure 2 As shown, during the detection and execution process of the lifting platform 2, the lifting platform 2 needs to be extended with the help of the lifting rod 201 to complete detection and execution work in multiple directions over a wider range. However, considering the actual needs of integrated equipment such as the fluorescent spray gun 202 and the pan-tilt video device 203, the lifting rod 201 needs to have a stronger load-bearing capacity. This results in a large overall weight of the lifting platform 2, which consists of the lifting rod 201, the fluorescent spray gun 202, and the pan-tilt video device 203. Moreover, when the lifting platform 2 extends beyond a certain distance in a certain direction, it is very easy for the movable vehicle to tilt in that direction. In severe cases, it may cause the valuable pan-tilt video device 203 to touch the ground and be damaged. Therefore, the overall lifting length design of the lifting rod 201 is limited, making it difficult to expand the detection and execution range of the lifting platform 2. To address the aforementioned issues, existing solutions using fixed counterweights typically employ fixed counterweight blocks within the movable vehicle body 1 to counteract the vehicle body tilting caused by the extension of the lifting rod 201. However, this often results in a significant increase in vehicle weight, affecting the unmanned inspection vehicle's range. Furthermore, tilting still occurs on uneven surfaces (such as slopes), failing to effectively resolve the problem.

[0059] The counterweight 301 of the stabilizer 3 can be a regular solid structure such as a sphere, cube, or cubic shape. Its uniform mass distribution enables smooth and controllable movement within the stable space of the stabilizer 3. Specifically, the counterweight 301 can be made of lead to achieve a better counterweight effect.

[0060] like Figure 3As shown, the stabilizer 3 is built into the interior of the movable vehicle body 1. The stabilizer housing 303 supports the structure of the stabilizer 3 and forms an internal stable space for accommodating the counterweight 301 and the pusher 302. Under the action of the pusher 302, the counterweight 301 can move smoothly in the stable space, thereby counterweighting the vehicle body in different directions of the extension of the lifting platform 2, preventing the movable vehicle body from tilting, and expanding the extension range of the lifting platform 2.

[0061] like Figure 2 As shown, the lifting platform 2 can extend along various directions on the movable vehicle body 1, using the rotating and folding structure at the base of the lifting rod 201 as a fixed point. For example, when extending along the F1 direction, the orthogonal projection direction F2 of the extension direction F1 on the stabilizer housing 303 can be the direction of the extension direction F1 from the top view angle of the movable vehicle body 1. At this time, the counterweight 301 should move along the counterweight direction F3, which is opposite to the orthogonal projection direction F2. Therefore, the counterweight 301 can achieve a reverse counterweight effect relative to the lifting platform 2.

[0062] At least four pushers 302 are evenly distributed around the counterweight 301 along the same plane of movement. Each pusher 302 can apply a thrust to the counterweight 301 in a single direction, and multiple pushers 302 can cooperate to move the counterweight 301 in any direction along the aforementioned plane within the stable space. Where necessary, up to six pushers 302 can be used to move the counterweight 301 in any direction within three-dimensional space.

[0063] Therefore, by means of the inspection unmanned vehicle of the above-described embodiment of the present invention, based on the simplified structural design of the stabilizer 3, the technical problem of instability of the movable vehicle body 1 caused by the extension of the lifting rod 201 during the detection and execution process of the lifting platform 2 can be further solved on the basis of the tracked all-terrain sports chassis 8. This achieves a simpler counterweight effect for the extension of the lifting platform of the inspection unmanned vehicle with a lower cost design, effectively preventing the movable vehicle body 1 from tilting in complex ground environments, ensuring a larger and wider detection and execution range of the lifting platform 2, and ensuring the overall stability of the vehicle body.

[0064] The stabilizer has a simpler structure than existing complex counterweight structures, enabling large-scale manufacturing at a lower cost. It also effectively controls the space it occupies in the mobile body of the airport inspection drone, achieving a high-efficiency counterweight effect with lower cost, simpler structure, and smaller size.

[0065] like Figures 1-7 As shown, according to one embodiment of the present invention, the starting position of the counterweight 301 is located at the center position O of the stabilizer housing 303.

[0066] like Figures 2-4C As shown, the center position O of the stabilization space of the stabilizer housing 303 is perpendicular to the center line O1-O2 of the stabilization space, and the moving plane of the counterweight 301 is perpendicular to the center line O1-O2 of the stabilization space, wherein the center line O1-O2 passes through the center position O.

[0067] When the center of the counterweight 301 overlaps with the center position O, the lifting platform 2, in its initial state without extension, can be perpendicular to the movable vehicle body 1 along the extension line E1-E2 parallel to the aforementioned center line O1-O2. At this time, although the counterweight 301 is in the initial position, as long as the lifting rod 201 is in the initial state without extension, the two can achieve the optimal balance state of the movable vehicle body 1.

[0068] Considering that the initial state of the lifting platform 2 involves raising the lifting rod 201 and ultimately maintaining a perpendicular position to the movable vehicle body 1, stabilizing the initial position of the counterweight 301 at the center position O effectively ensures that the initial state of the lifting platform 2 remains stable even in its initial position. For example, Figure 2 As shown, the lifting platform 2 can be raised and lowered using the lifting rod 201. Based on the height of the movable vehicle body 1, it achieves a detection and execution range from a minimum of 1700mm to a maximum of 3100mm, meaning the lifting rod 201 can extend up to 1400mm. Further design changes to the structural positional relationship between the movable vehicle body 1, the stabilizer 3, and the lifting platform 2 can further increase the extension distance of the lifting rod 201, which can be adjusted according to actual conditions.

[0069] It should be noted that the attitude and position of the lifting platform 2 can be detected by attitude-related sensors such as gyroscopes, thereby determining its extension direction, operating status, positional relationship, etc., which will not be elaborated on in detail.

[0070] like Figures 1-7 As shown, according to one embodiment of the present invention, each of the at least four pushers 302 includes a slide body 321, a drive motor 322, and a telescopic rod 323.

[0071] The slider 321 is slidably connected to the side wall of the stabilizer housing 303 of the stabilizer 3;

[0072] The drive motor 322 is fixed in the slide body 321 and the telescopic rod 323 protrudes out of the slide body 321 towards the counterweight 301;

[0073] One end of the telescopic rod 323 is fixed to the output shaft of the drive motor 322, and the other end abuts against the counterweight 301.

[0074] The sliding contact portion between the slider 321 and the stabilizer housing 303 can be designed with an arc surface, thereby improving the sliding effect between the slider and the inner wall of the stabilizer housing 303 and reducing the sliding friction between them. A sliding connection can be understood as the slider 321 achieving a structural interlocking connection with the stabilizer housing 303, while still allowing the slider 321 to slide relative to the stabilizer housing 303 within this structural connection. This ensures that when the counterweight 301 is pushed by other pushing components 302, the slider 321 can also move, thus guaranteeing the controllability of the counterweight 301's movement direction.

[0075] The drive motor 322 can be an electric motor with a rotary output drive shaft, which can be fixed to the base of the telescopic rod 323 so that when the drive motor 322 is powered on and controlled to operate, it can drive the telescopic rod 323 to rotate and extend or retract.

[0076] The main body of the telescopic rod 323 is located in a stable space and can connect the counterweight 301 and the drive motor 322 fixed on the slide body 321. When the drive motor 322 operates, it can control the telescopic rod 323 to rotate, thereby extending or retracting, which can help drive the counterweight 301 to move in the corresponding direction.

[0077] like Figures 4A-4C As shown, for the pushers located on the same center line, when the telescopic rod 323 of pusher 302c is extended, the telescopic rod 323 of the corresponding pusher 302d is retracted, thereby enabling the counterweight 301 to move unidirectionally from the starting position O to the target position O′. During this movement, the sliding body 321 of the corresponding pushers 302a and 302b can slide relative to the inner wall of the stabilizer housing 303 in the direction F3, realizing the movement and coordination of the counterweight 301 within the movement area A.

[0078] Therefore, by means of the structural design of the aforementioned pusher 302 and the close cooperation between the multiple pushers 302, it is possible to achieve precise movement of the counterweight 301 in a fixed direction, prevent the counterweight 301 from deviating from its movement, and ensure that a smoother and more efficient and stable vehicle posture can be achieved during the movement of the movable vehicle body 1, effectively preventing the vehicle body from tilting up and ensuring that the lifting platform 2 can achieve a longer range of exploration and execution.

[0079] like Figures 1-7 As shown, according to one embodiment of the present invention, the stabilizer 3 further includes a groove 304.

[0080] The groove 304 is recessed on the inner wall of the stabilizer housing 303 and matches the shape of the slide body 321 to realize the movement of the slide body 321 relative to the stabilizer housing 303.

[0081] like Figure 6 As shown, the inner surface of the slide groove 304 can be designed to match the arc-shaped sliding surface of the slide body 321. At the same time, it can ensure that when the slide body 321 slides in the slide groove 304, it occupies as little structural space as possible in the stabilizer 303, ensuring a smaller stabilizer size and reducing the volume occupied by the stabilizer on the movable vehicle body 1.

[0082] like Figures 1-7 As shown, according to one embodiment of the present invention, the groove 304 further includes a plurality of balls 341 and limiting flanges 342a and 342b.

[0083] Multiple balls 341 are recessed into the inner wall of the groove 304, and each ball 341 rolls in contact with the outer surface of the slide body 321.

[0084] Limiting flanges 342a and 342b protrude along the longitudinal edge of the slide groove 304, confining the main body of the slide body 321 within the slide groove 304.

[0085] like Figure 6 As shown, each ball 341 is recessed into the inner wall of the groove 304. During the sliding process of the slide body 321, each ball 341 in contact with the arc-shaped sliding surface of the slide body 321 can rotate and roll relative to the groove 304, thereby further reducing the sliding friction between the ball 341 and the arc-shaped sliding surface of the slide body 321, ensuring that it can effectively cooperate with the movement of the counterweight 301 and achieve a more stable counterweight effect.

[0086] The limiting flanges 342a and 342b can be shell structures extending along the upper and lower edges of the slide groove 304 in the movable direction of the slide body 321, and have corresponding limiting protrusion structures. Figure 6 (Not shown), thereby effectively confining the slide body 321 in the slide groove 304, ensuring that the slide body 321 can only move along the extension direction of the slide groove 304.

[0087] By means of the ball bearing 341 and the limiting flange design of the slide groove 304, it is ensured that during the movement of the counterweight 301, the pusher 302 can only move along the extension direction of the slide groove 304 during the extension or retraction process, thereby effectively preventing the pusher 302 from detaching from the limit of the stabilizer housing and ensuring that the movement of the counterweight 301 can be accurately limited.

[0088] like Figures 1-7 As shown, according to one embodiment of the present invention, the telescopic rod 323 includes a plurality of telescopic joints 323a, 323b, 323c and 323d.

[0089] Among multiple expansion joints 323a, 323b, 323c and 323d, the outer surface of the first expansion joint of two adjacent expansion joints is provided with an external thread, and the inner surface of the second expansion joint of two adjacent expansion joints is provided with an internal thread that matches the external thread.

[0090] By matching the external thread of the first expansion joint and the internal thread of the second expansion joint, the first expansion joint can be fitted into the second expansion joint, meaning the first expansion joint can be screwed out or screwed into the second expansion joint. Here, "adjacent expansion joints" refers to two expansion joints that have a rotational connection.

[0091] like Figure 5 As shown, when the initial state of the first telescopic joint 323b and the second telescopic joint 323a is that the main body of the first telescopic joint 323b is completely fitted into the second telescopic joint 323a, and the external thread of the first telescopic joint 323b matches the internal thread of the second telescopic joint 323a, when the second telescopic joint 323a is driven by the clockwise rotation of the drive motor 322 in the slide body 321, the first telescopic joint 323b can be controlled to rotate out relative to the second telescopic joint 323a; or when the initial state of the first telescopic joint 323b and the second telescopic joint 323a is that the main body of the first telescopic joint 323b is completely exposed outside the second telescopic joint 323a, when the second telescopic joint 323a is driven by the counterclockwise rotation of the drive motor 322 in the slide body 321, the first telescopic joint 323b can be controlled to rotate in relative to the second telescopic joint 323a.

[0092] Similarly, considering the restrictive structural design of the matching threads between adjacent expansion joints (such as the protrusion design at both ends of the convex thread and / or the blocking design at both ends of the matching concave thread, the specifics are not limited), to prevent the two adjacent expansion joints from separating due to rotation, while also enabling the expansion joints away from the drive motor 322 to continue rotating. Therefore, as Figure 5 As shown, the drive motor 322 can drive the telescopic joint 323a to rotate, causing the telescopic joint 323b to rotate in and out relative to the telescopic joint 323a. When the telescopic joint 323b reaches its maximum extension length or minimum retraction length, the driving force of the drive motor 322 is continuously output, causing the telescopic joint 323c, which is adjacent to the telescopic joint 323b and has a matching thread, to continue to extend and retract relative to the telescopic joint 323b. Correspondingly, it can also drive the telescopic joint 323d to achieve relative extension and retraction.

[0093] Therefore, by means of rotational matching between multiple telescopic joints, it is possible to ensure that the telescopic rod 323 can accurately push the counterweight 301 with lower cost and a simpler structure.

[0094] like Figures 1-7As shown, according to one embodiment of the present invention, the counterweight 301 is a sphere, and the pusher 302 further includes a limiting spherical piece 324.

[0095] The concave surface 324a of the limiting ball plate 324 is attached to the outer spherical surface of the counterweight 301, and the center of the convex surface 324b is fixed to the end of the telescopic rod 323 used to abut against the counterweight 301.

[0096] like Figures 4A-5 As shown, the limiting ball plate 324 can be a circular sheet-like structure with a thickness greater than its edge thickness. Its concave surface 324a is an arc-shaped concave surface that can fit against the outer spherical surface of the counterweight 301, ensuring that the counterweight 301 can roll relative to the limiting ball plate 324 when pushed by the pushing member 302. To effectively ensure the relative rolling effect between the concave surface 324a and the counterweight 301, recesses can be evenly distributed on the concave surface 324a, such as... Figure 6 The multiple balls 341 of the groove 304 shown at the same time ensure that the material of the limiting ball plate 324 is a hard material with the same rigidity as the counterweight 301, thereby effectively ensuring that the rolling friction between the counterweight 301 and the limiting ball plate 324 is smaller.

[0097] Therefore, the outer convex surface 324b of the limiting ball plate 324 can be fixedly connected to the top end of the telescopic rod 323, so that the limiting ball plate 324 and the telescopic rod 323 are integrated and will not move back and forth relative to each other. This effectively ensures that when the telescopic rod 323 is driven by the drive motor 322, the limiting ball plate 324 can push the counterweight 301 to move.

[0098] like Figures 4A-4C As shown, when the pusher 302c moves along the x-direction (e.g.) Figure 4B When the telescopic rod 3231 extends in the direction of F3 to push the counterweight 301 to move, the corresponding pusher 302d will retract its own telescopic rod 3232 to match the counterweight 301 moving closer to itself, thereby realizing the mutual cooperation between the pushers. This prevents the counterweight 301 from swinging left and right or moving forward and backward too much due to the fixed control of a single pusher, which would affect the accuracy of the counterweight. At the same time, it can also improve the movement stability of the counterweight 301 and prevent the counterweight 301 from falling out of the limitation of the limiting ball 324.

[0099] like Figures 1-7 As shown, according to one embodiment of the present invention, the edges of two adjacent defining spherical pieces 324 are in contact with each other.

[0100] like Figures 4A-4C and Figure 7As shown, the limiting ball plate 324a can be fixed to the end of the telescopic rod of the pusher 302a to adhere to the outer surface of the counterweight 301. The limiting ball plate 324a, as a sheet-like structure, can also have a large coverage area, ensuring that it can adhere to the outer surface of the counterweight 301 over a larger area as possible, while also limiting the counterweight 301 to prevent it from easily detaching from the limiting ball plate. In other words, the counterweight 301 is only allowed to move in a fixed direction under the constraint of the limiting ball plate 324.

[0101] like Figure 7 As shown, adjacent limiting ball plates 324a and 324d, and another pair of adjacent limiting ball plates 324a and 324c, can maintain edge contact as much as possible. This ensures that at least four limiting ball plates 324 of the four pushers surround the counterweight 301, collectively restricting the rolling of the counterweight 301 and preventing it from easily escaping the pushing range of the pushers. This also ensures that the counterweight 301 can roll relative to all the limiting ball plates 324 simultaneously during movement.

[0102] like Figures 1-7 As shown, according to one embodiment of the present invention, the height of the inner wall of the stabilizer housing 303 is the same as the height of the counterweight 301.

[0103] like Figure 3 As shown, in another embodiment of this utility model, the stabilizer 3 can also be provided with another pair of upper and lower pushers along the O1-O2 center line direction, which can push the counterweight 301 along the z-axis from the upper and lower directions respectively, thereby achieving the directional movement of the counterweight 301 in three-dimensional space.

[0104] As a preferred embodiment of this utility model, considering the weight of the counterweight 301 itself, to ensure that the counterweight 301 does not detach from the limiting ball of the pushing member, the upper and lower inner walls of the stabilizer housing 303 along the z-axis direction can be used to restrict the vertical movement space of the counterweight 301, preventing the counterweight 301 from shifting vertically in the z-axis direction. Specifically, the inner top wall and inner bottom wall of the stabilizer housing 303 can be in contact with the counterweight 301 respectively, thereby preventing the counterweight 301 from shifting vertically in the z-axis direction. Figures 4A-4C Based on the limitation of the four pushers and the limiting ball plate 324, the stabilizer housing 303 itself is used to further limit the counterweight 301, so that the counterweight 301 can only be pushed by the four pushers 302 to produce directional movement.

[0105] Therefore, when the counterweight 301 is a sphere, its diameter can be the same as the distance between the stabilizer housing 303 and the inner top and inner bottom walls, that is, the height of the inner wall of the stabilizer housing 303 is the same as the height of the counterweight 301, thus achieving height limitation.

[0106] like Figures 1-7 As shown, according to one embodiment of the present invention, the position where the rotating and folding structure of the lifting platform 2 is connected to the movable vehicle body 1 is staggered with the center position of the stabilizer housing 303.

[0107] As mentioned above, to ensure the convenience of detection and operation of the lifting platform 2, the base of the lifting platform 2 (the rotating folding structure of this embodiment) is usually located at the front of the movable vehicle body 1, that is, near the front of the vehicle body, specifically as follows: Figure 1 and Figure 2 As shown.

[0108] However, in order to ensure better counterweight performance of stabilizer 3 and prevent the lifting platform 2 from malfunctioning during the initial stage (e.g.) Figure 2 As shown by arrow f, the lifting platform 2 rotates from the folded storage state to a state perpendicular to the upper surface of the movable vehicle body 1, and tilts forward. It is necessary to ensure that the center line O1-O2 of the center position of the stabilizer housing 303 of the stabilizer 3 (corresponding to the starting position of the counterweight 301) and the center line E1-E2 of the rotating folding structure do not overlap, so as to achieve the staggered design of the two, and at the same time, the stabilizer 3 is mainly set in the middle and rear part of the movable vehicle body 1.

[0109] Therefore, the principle of achieving counterweight in the airport inspection unmanned vehicle provided by the above-described embodiments of this utility model is as follows:

[0110] like Figure 4A As shown, the starting position of the counterweight 301 can be located at the center position O of the stabilizer housing 303. At the same time, the four pushers 302a, 302b, 302c and 302d limit the counterweight 301 at the center position O by their respective limiting spherical plates (and with the help of the height limitation of the stabilizer housing 303), so that the counterweight 301 can only achieve directional movement within a fixed area A in the xy plane.

[0111] like Figure 4B As shown, based on the vehicle's attitude detection by various sensor components of the inspection unmanned vehicle, the corresponding movement direction and distance are calculated. When the projection direction F2 corresponding to the extension direction F1 of the lifting platform 2 is known, the direction of movement of the counterweight is determined to be F3 and the corresponding movement distance L1 (i.e., Figure 4BAs shown in OO′), at this time, the respective drive motors of pushers 302a and 302b will not output rotational driving force, and the length of the corresponding telescopic rod will not change. At the same time, the drive motor of pusher 302c outputs a drive, causing the telescopic rod 3231 to extend along the F3 direction. Simultaneously, the drive motor of pusher 302d, which is located on the same straight line, outputs a reverse drive, causing the telescopic rod 3232 to retract and shorten along the F3 direction. During this process, with the help of the pushing action of pusher 302c, and the sliding bodies of pushers 302a and 302b being slidably connected to the sliding grooves on both sides of the inner wall of the stabilizer housing 303, the entire assembly including the counterweight 301 and pushers 302a and 302b is pushed to move a distance L1 along the F3 direction, thereby realizing the sliding extension of the corresponding lifting platform 2.

[0112] like Figure 4C As shown, when it is known that the extension direction F1 of the lifting platform 2 corresponds to the projection direction F2, the moving direction of the counterweight is determined to be F3 and the corresponding moving distance L2 (i.e., as shown in the figure). Figure 4C As shown in OO″), at this time, pushers 302a and 302c simultaneously control the drive motor to output drive, causing their respective telescopic rods to extend along directions F32 and F31 respectively. Simultaneously, pushers 302b and 302d, which are respectively on the same straight line, simultaneously control the drive motor to output drive in the opposite direction, causing their respective telescopic rods to retract and shorten along directions F32 and F31 respectively. Since the sliding body 1 of each pusher 302 is slidably connected to the groove 304 of the stabilizer housing 303, while pusher 302a pushes the counterweight 301, pusher 302c, and pusher 302d to move along direction F32, the counterweight 301, pushers 302a, and pusher 302b are also pushed by pusher 302c to move along direction F31. Finally, the movement of the counterweight 301 is as follows: Figure 4C The distance L2 is shown as the distance moved along the F3 direction.

[0113] In summary, the airport inspection unmanned vehicle provided by this utility model embodiment can at least partially solve at least one of the problems existing in the current airport inspection unmanned vehicles, such as the vehicle body tilting or even tipping over due to the folding or extension of the lifting platform, which limits the scope of use of the lifting platform. Therefore, it can achieve at least one of the following technical effects:

[0114] During operations (such as detection or execution) in multiple directions and at different spatial positions on the lifting platform, the stabilizer's counterweight and multi-push component matching design effectively control the movement of the counterweight relative to the lifting platform. This achieves counterweight balance, ensuring vehicle stability during operation and preventing tilting or even rollover, thus maximizing the platform's applicability. Furthermore, the stabilizer's structure is simpler than existing complex counterweight structures, enabling mass production at a lower cost. It also effectively controls the space occupied by the stabilizer within the mobile body of the airport inspection drone, achieving a more efficient counterweight effect with lower cost, simpler structure, and smaller size.

[0115] Therefore, with the help of the design of the stabilizer 3, the lifting platform 2 of the airport inspection unmanned vehicle in this embodiment of the present invention can achieve better functional integration. Specifically, when the inspection unmanned vehicle is in the transportation state, the lifting platform 2 can always be folded and kept in a flat position on the upper surface of the movable vehicle body 1, with a minimum height of 850mm (excluding the antenna). When the inspection unmanned vehicle is in the detection state (i.e., the aforementioned working start state), the lifting platform rotates and rises from the folded flat position to maintain a vertical position. The distance between the lifting platform 2 and the ground is between 1700mm and 3100mm, specifically as follows... Figure 2 As shown. The lifting platform 2 can control the direction and angle of the camera and sensors. The lifting platform 2 of the inspection drone isolates vibrations generated during the drone's movement or travel, maintaining camera stability and thus obtaining clear video or images, thereby improving stability. Through the lifting platform 2, the horizontal and vertical directions of the camera can also be remotely controlled, enabling precise monitoring of specific targets or areas. The lifting platform 2 allows for horizontal and vertical rotation of the camera, as well as adjustment of the tilt angle, providing a comprehensive viewing angle and increasing the monitoring range. Furthermore, the lifting platform 2 can typically integrate multiple sensors, such as thermal imagers, infrared cameras, and laser rangefinders, enhancing the robot's all-around monitoring capabilities. The design of the lifting platform 2 of the inspection drone needs to consider the working environment, monitoring requirements, and stability requirements, and its performance directly affects the accuracy and efficiency of the data collected by the inspection drone. Therefore, the design and selection of the gimbal must be determined based on the specific application scenario and task requirements.

[0116] The inspection drone also includes a fluorescent spray gun, mounted on an adjustable bracket (such as the lifting platform 2) above the drone body. The drone can determine the shape and size of the target to be sprayed on the airport perimeter based on visual data acquired through a vision system and distance data acquired through a laser rangefinder. The drone's navigation system plans a spraying path based on the target's location, and the drone moves to the spraying position according to this path. The spraying technology of the inspection drone typically refers to its ability to use spray guns or other spraying equipment to coat the surface of target objects (such as damaged airport fencing). The drone can precisely control the position and spraying action of the spray gun to ensure that the paint is evenly and accurately applied to the target surface. The lifting platform 2 enables precise positioning of the fluorescent spraying technology; with the counterweight of the stabilizer 3, the spraying distance can reach over 3 meters. Depending on the needs of the spraying task, you can choose the appropriate type of spray gun and coating, such as air spray gun, airless spray gun, electrostatic spray gun, etc., and paint, coating, glue, etc. The choice of coating also needs to take into account environmental protection and health factors, and you can choose coatings with low volatile organic compounds (VOCs).

[0117] In summary, the inspection unmanned vehicle of this embodiment can achieve operational stability and reliability of the lifting platform 2 under different ground conditions with the help of the stabilizer 3, while ensuring that the movable vehicle body 1 remains stable during movement, maintaining good contact and balance even in rugged or uneven terrain, significantly improving the stability of the inspection unmanned vehicle. Furthermore, it can effectively prevent the unmanned vehicle from tipping over or tilting, greatly improving its passability and driving efficiency, and reducing unnecessary energy consumption. Moreover, the stabilizer 3 itself can also help distribute the weight of the movable vehicle body 1, increasing its load-bearing capacity and enhancing its load capacity, further ensuring the stable and efficient execution of inspection tasks by the inspection unmanned vehicle in various airport operating environments.

[0118] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of the present invention is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of the present invention, and all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. An unmanned vehicle for airport inspection, characterized in that, include: A movable vehicle body is used to form the main structure of the airport inspection unmanned vehicle; A lifting platform is disposed on the upper surface of the outer shell of the movable vehicle body, and the lifting platform is connected to the movable vehicle body through a rotating and folding structure; A stabilizer, built into the interior of the movable vehicle body, located below the upper surface of the outer shell; wherein the stabilizer includes: The counterweight is located in the stabilization space surrounded by the stabilizer housing of the stabilizer; At least four pushers, one end of each of the at least four pushers is slidably connected to the inner wall of the stabilizer housing, and the other end abuts against the counterweight; When the lifting platform extends, the at least four pushers cooperate to push the counterweight to move in a direction opposite to the orthogonal projection direction of the extension direction of the lifting platform onto the stabilizer housing, thereby stabilizing the movable vehicle body.

2. The airport inspection unmanned vehicle according to claim 1, characterized in that, The initial position of the counterweight is located at the center of the stabilizer housing.

3. The airport inspection unmanned vehicle according to claim 1, characterized in that, Each of the at least four actuators includes: A sliding body is slidably connected to the side wall of the stabilizer housing of the stabilizer; The drive motor is fixed in the sliding body. The telescopic rod is fixed at one end to the output shaft of the drive motor, and at the other end abuts against the counterweight. The drive motor is directed toward the counterweight, causing the telescopic rod to protrude beyond the sliding body.

4. The airport inspection unmanned vehicle according to claim 3, characterized in that, The stabilizer also includes: A groove is recessed on the inner wall of the stabilizer housing and matches the shape of the sliding body to enable the sliding body to move relative to the stabilizer housing.

5. The airport inspection unmanned vehicle according to claim 4, characterized in that, The chute further includes: Multiple balls are recessed into the inner wall of the groove, and each ball makes rolling contact with the outer surface of the slide body. A limiting flange protrudes along the longitudinal edge of the slide groove, confining the main body of the slide body within the slide groove.

6. The airport inspection unmanned vehicle according to claim 4, characterized in that, The telescopic rod includes: Multiple expansion joints, wherein the outer surface of the first expansion joint of two adjacent expansion joints is provided with an external thread, and the inner surface of the second expansion joint of two adjacent expansion joints is provided with an internal thread that matches the external thread.

7. The airport inspection unmanned vehicle according to claim 4, characterized in that, The counterweight is a sphere, and the pushing component further includes: A limiting ball plate is provided, the concave surface of which is attached to the outer spherical surface of the counterweight, and the center of the convex surface is fixed to the end of the telescopic rod that abuts against the counterweight.

8. The airport inspection unmanned vehicle according to claim 7, characterized in that, The edges of two adjacent defined spheres are in contact with each other.

9. The airport inspection unmanned vehicle according to claim 1, characterized in that, The height of the inner wall of the stabilizer housing is the same as the height of the counterweight.

10. The airport inspection unmanned vehicle according to claim 1, characterized in that, The position where the rotating and folding structure of the lifting platform connects to the movable vehicle body is staggered with the center position of the stabilizer housing.

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