A virtual maintenance gantry crane based on unmanned aerial vehicles (UAVs)

Abstract

This utility model discloses a virtual inspection gantry crane based on unmanned aerial vehicles (UAVs), relating to the field of bridge defect detection equipment. It includes a UAV body, on the top of which is mounted a scanning camera array, a light source module, and a laser ranging module. Inside the UAV body are an inertial measurement unit (IMU) and an embedded industrial control computer, which are electrically connected to the scanning camera array, the light source module, the laser ranging module, and the IMU. This utility model, through multiple cameras and a coordinated light source, achieves efficient and high-precision image acquisition of bridge surface defects, and is particularly suitable for inspection tasks in environments without GPS under bridges.

Description

Technical Field

[0001] This utility model relates to the field of bridge defect detection equipment, and in particular to a virtual inspection gantry crane based on unmanned aerial vehicles. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are currently used to detect surface defects in bridges. These small UAVs, equipped with a single high-definition camera, capture high-definition images or videos of the bridge. During scanning, the UAV moves along a pre-set trajectory, identifying defects based on the surface features of the bridge as seen in the photos or videos. Currently, large bridges typically have four lanes in both directions with hard shoulders on both sides, reaching a width of up to 20 meters. Actual operations require a scanning accuracy of 0.05 mm. Under this accuracy requirement, the scanning width of a small UAV equipped with a single high-definition camera is less than 0.2 meters, necessitating multiple scans to complete the detection of surface defects, resulting in low efficiency. Furthermore, bridge surface defect detection often involves inspection under the bridge. Current UAV image acquisition lacks dedicated light source assistance and is susceptible to environmental interference, leading to low image quality and affecting subsequent automated identification of bridge defects. Additionally, existing UAVs lack multi-camera synchronous control mechanisms, making image stitching difficult; and they also face positioning difficulties in environments without GPS signals under the bridge. Existing technologies such as CN120084391A and CN119845965A have not resolved these issues.

[0003] Therefore, how to provide a UAV bridge inspection device with a reasonable structure that can simultaneously control multiple cameras to acquire images, so as to improve inspection efficiency and image quality, has become a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a virtual inspection gantry crane based on unmanned aerial vehicles (UAVs) to solve the problems of low efficiency and poor image quality in the detection of surface defects on bridges using existing UAVs.

[0005] A virtual maintenance gantry crane based on unmanned aerial vehicles (UAVs) includes a UAV body. A scanning camera array, a light source module, and a laser ranging module are mounted on the top of the UAV body. An inertial measurement unit (IMU) and an embedded industrial control computer are installed inside the UAV body. The embedded industrial control computer is electrically connected to the scanning camera array, the light source module, the laser ranging module, and the IMU.

[0006] Furthermore, the UAV body includes a gantry frame, rotors, and batteries. The gantry frame is rectangular. Multiple rotors are symmetrically installed at the four corners of the top of the gantry frame. The batteries are installed inside the gantry frame and supply power to the rotors, the scanning camera array, the light source module, the laser ranging module, the IMU inertial measurement unit, and the embedded industrial control computer.

[0007] Furthermore, the scanning camera array includes a guide rail and cameras. The guide rail is installed on the top of the gantry crane frame, and multiple cameras are installed on the guide rail at equal intervals, with the fields of view of each two adjacent cameras overlapping.

[0008] The camera is electrically connected to the embedded industrial control computer, and the battery powers the camera.

[0009] Furthermore, the light source module uses a high-intensity LED light source.

[0010] Compared with the prior art, the beneficial technical effects of this utility model are as follows:

[0011] Simultaneous scanning by multiple cameras significantly increases the width of images captured by the drone in a single scan.

[0012] The lighting module settings improve image quality and reduce ambient light interference;

[0013] The IMU (Inertial Measurement Unit) provides precise positioning for drones under bridges in GPS-free environments, while also supporting image stitching.

[0014] This utility model has a compact overall structure and is suitable for various bridge inspection scenarios. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of a virtual maintenance gantry crane structure based on unmanned aerial vehicles (UAVs).

[0017] Figure 2 A front view of a drone-based virtual maintenance gantry crane;

[0018] Figure 3 This is a schematic diagram of the scanning process of a virtual inspection crane based on drones.

[0019] Explanation of reference numerals in the attached diagram: 1. UAV body; 2. Scanning camera array; 3. Light source module; 4. Laser ranging module; 5. IMU inertial measurement unit; 6. Embedded industrial computer; 11. Gantry crane frame; 12. Rotor; 13. Battery; 21. Guide rail; 22. Camera. Detailed Implementation

[0020] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0021] like Figure 1-3 As shown, a virtual maintenance gantry crane based on a drone includes a drone body 1. A scanning camera array 2, a light source module 3, and a laser ranging module 4 are installed on the top of the drone body 1. An IMU inertial measurement unit 5 and an embedded industrial control computer 6 are installed inside the drone body 1. The embedded industrial control computer 6 is electrically connected to the scanning camera array 2, the light source module 3, the laser ranging module 4, and the IMU inertial measurement unit 5, respectively.

[0022] The system comprises a drone (1) responsible for transport, a scanning camera array (2) supporting the scanning of the surface area directly beneath the bridge, a laser ranging module (4) measuring the distance between the drone (1) and the bridge surface during scanning and feeding this distance information back to the embedded industrial computer (6), and an IMU (Inertial Measurement Unit) (5) calculating the displacement of the drone (1) during scanning in the absence of GPS to determine its relative position. The embedded industrial computer (6) controls the attitude of the drone (1) and simultaneously controls the scanning camera array (2) during the scanning process.

[0023] Specifically, the UAV body 1 includes a gantry frame 11, rotors 12, and a battery 13. The gantry frame 11 is rectangular. Multiple rotors 12 are symmetrically installed at the four corners of the top of the gantry frame 11. The battery 13 is installed inside the gantry frame 11 and provides power to the rotors 12, the scanning camera array 2, the light source module 3, the laser ranging module 4, the IMU inertial measurement unit 5, and the embedded industrial control computer 6.

[0024] Specifically, the scanning camera array 2 includes a guide rail 21 and cameras 22. The guide rail 21 is installed on the top of the gantry crane frame 11. Multiple cameras 22 are installed on the guide rail 21 at equal intervals, and the fields of view of each two adjacent cameras 22 overlap.

[0025] The camera 22 is electrically connected to the embedded industrial computer 6, and the battery 13 supplies power to the camera 22.

[0026] The overlapping fields of view of each pair of adjacent cameras 22 facilitate subsequent image stitching.

[0027] Specifically, the light source module 3 uses a high-intensity LED light source.

[0028] The working process of this utility model is as follows:

[0029] The first step is for the operator to control the drone body 1 to fly directly under the bridge. At this time, the laser ranging module 4 measures the distance between the drone and the surface of the bridge to be inspected. The embedded industrial control computer 6 controls the position of the drone body 1 in the height direction based on the information fed back by the laser ranging module 4.

[0030] The second step is that the embedded industrial control computer 6 sends a synchronization signal to trigger all cameras 22 to shoot simultaneously, and the light source module 3 provides synchronous supplementary light.

[0031] Third, the image data collected by camera 22 is stored in embedded industrial computer 6, and IMU inertial measurement unit 5 provides displacement data of UAV body 1.

[0032] Fourth step: The drone body 1 flies along the preset trajectory and repeats the above process until the scan is completed.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A virtual maintenance gantry crane based on unmanned aerial vehicles (UAVs), characterized in that: The device includes a drone body (1), on the top of which is mounted a scanning camera array (2), a light source module (3) and a laser ranging module (4). Inside the drone body (1) are installed an IMU inertial measurement unit (5) and an embedded industrial control computer (6). The embedded industrial control computer (6) is electrically connected to the scanning camera array (2), the light source module (3), the laser ranging module (4) and the IMU inertial measurement unit (5).

2. The virtual maintenance gantry crane based on unmanned aerial vehicles according to claim 1, characterized in that: The UAV body (1) includes a gantry frame (11), rotors (12) and a battery (13). The gantry frame (11) is rectangular. Multiple rotors (12) are symmetrically installed at the four corners of the top of the gantry frame (11). The battery (13) is installed inside the gantry frame (11). The battery (13) supplies power to the rotors (12), the scanning camera array (2), the light source module (3), the laser ranging module (4), the IMU inertial measurement unit (5), and the embedded industrial control computer (6).

3. The virtual maintenance gantry crane based on unmanned aerial vehicles according to claim 2, characterized in that: The scanning camera array (2) includes a guide rail (21) and cameras (22). The guide rail (21) is installed on the top of the gantry crane frame (11). Multiple cameras (22) are installed on the guide rail (21) at equal intervals, and the fields of view of each two adjacent cameras (22) overlap. The camera (22) is electrically connected to the embedded industrial computer (6), and the battery (13) supplies power to the camera (22).

4. The virtual maintenance gantry crane based on unmanned aerial vehicles according to claim 2, characterized in that: The light source module (3) adopts a high-intensity LED light source.

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