Intelligent unmanned aerial vehicle coordinate positioning device for wall contour detection

Abstract

The utility model discloses an intelligent unmanned plane coordinate positioning equipment for wall profile detection, including nested casing, workstation, adjustable high support leg, foma wheel, linear guide, the workstation lower extreme be equipped with 4 adjustable high support leg, adjustable high support leg lower extreme install foma wheel, the workstation top along X be equipped with 2 linear guide of opposite setting, the nested casing bottom end with linear guide sliding connection, the nested casing bottom with the workstation top each other parallel. The new type can effectively improve the efficiency of the irregular profile measurement of the wall of unmanned plane, and the convenience of use is improved.

Description

Technical Field

[0001] This invention relates to the field of irregular contour detection technology for fair-faced concrete building structures, specifically to an intelligent unmanned aerial vehicle (UAV) coordinate positioning device for wall contour detection. Background Technology

[0002] Fair-faced concrete, a type of unadorned concrete, possesses a natural and rustic appearance and excellent physical properties, making it widely used in airport construction. For example, the Terminal 3 building at Beijing Capital International Airport extensively utilizes fair-faced concrete. Viewed from the air, Terminal 3 resembles a giant dragon, with a building area of ​​986,000 square meters, making it one of the world's largest single-building terminals. During the design phase, architects meticulously controlled the structural appearance, simultaneously meeting the requirements of structural safety and architectural aesthetics. Fair-faced concrete not only showcases the natural texture and characteristics of the material but also endows the building with a unique personality, understated yet sophisticated. The advantages of fair-faced concrete in airport construction are mainly reflected in… In order to ensure the quality of airport fair-faced concrete buildings, which possess natural aesthetics, structural safety, and low maintenance costs, it is necessary to measure the irregular contours of the building structure wall surface. Patent application number CN202411499601.1 discloses a device and method for measuring the flatness and irregular contours of building walls. The device includes a ground control station, a drone body, and a drone coordinate locator. The drone body is equipped with a coordinate indicating mechanism, a measuring mechanism, and a two-way vibration damping mechanism. The coordinate indicating mechanism works in conjunction with the drone coordinate locator. The two-way vibration damping mechanism includes a first damping mechanism for regulating the horizontal vibration of the drone and a second damping mechanism for regulating the tilt of the drone. The method includes steps of establishing a database, drone positioning, and measurement. Through the coordinated operation of the drone coordinate locator and the coordinate indicating mechanism, the starting point of the measuring light from each third laser rangefinder sensor can be accurately located, thereby ensuring the reliability of the measurement results and overcoming the influence of airflow factors and the mechanical vibration factors of the drone body on the measurement of wall flatness and irregular contours.

[0003] Paragraph 0008 of the aforementioned patent document describes that "the UAV coordinate locator includes a cubic shell with an open top, adjustable support feet at the four corners of the bottom of the shell, an inclination detector at the center of the bottom of the shell, the tops of the four side walls of the shell being coplanar, the four inner walls of the inner surface of the shell forming a working range that cooperates with the coordinate indicating mechanism, and the bottom surface of the shell and the top surface of the side walls of the shell forming an indicating structure for the coordinate indicating mechanism when it exceeds the working range"; meanwhile, paragraph 0014 describes that "the ground control station controls the UAV to fly to the top of the shell, aligning it with the preset array range at the center of the positioning point array, and then ascends in stages along the Z-axis. During this process, the controller, based on the database and preset program, projects the measuring rays of the two first laser rangefinders connected to the horizontal axis onto the two inner walls of the shell parallel to the X-axis, and projects the measuring rays of the two first laser rangefinders connected to the vertical axis onto the two inner walls of the shell parallel to the Y-axis, and ensures that the measuring rays of the second laser rangefinder are always projected onto the inner walls of the shell." At the bottom of the housing, the controller calculates the vertical distance from the projection point on the side wall to the measured ray of the second laser rangefinder based on the angle B, the data from the first laser rangefinder, and the distance from the starting point of the measured ray of the first laser rangefinder to the vertex A. It then sums the vertical distances L and N calculated from both sides of the measured ray of the second laser rangefinder to obtain distance O. This distance O is compared with the width of the housing cavity along the X or Y direction. If they are equal and the drone is in a horizontal position, the detection data is considered valid. Based on this, the coordinate position of the measured ray of the second laser rangefinder at the bottom of the housing is determined according to the dimensions of the housing cavity cross-section and the vertical distances L and N calculated along the X and Y directions, respectively. Thus, the drone coordinate locator determines whether the drone is horizontal and, based on this, its coordinate position. The drone's coordinate position is determined by the coordinates of the measured ray of the second laser rangefinder projected onto the bottom of the housing.

[0004] However, in actual measurements of irregular contours of building walls, the first laser rangefinder has too many invalid projection points. That is, the measurement light from the first laser rangefinder is often not projected onto the inner wall of the housing, but onto the bottom or top of the side wall. This causes the drone to be unable to determine its own coordinate position, requiring repeated adjustments to the emission angle of the first laser rangefinder, resulting in reduced measurement efficiency. In addition, although the drone coordinate locator can adjust its own levelness, it is difficult to ensure that the bottom height of the housing is consistent in different locations as the placement location changes. Therefore, it is necessary to re-enter the calculation parameters of the drone body to avoid measurement position errors. Based on the above reasons, it is necessary to improve the existing drone coordinate locator. Utility Model Content

[0005] This invention provides an intelligent UAV coordinate positioning device for wall contour detection, aiming to address the shortcomings of existing UAV coordinate positioning devices. It should be noted that the UAV coordinate positioning device provided by this invention is used to replace the UAV coordinate positioning device in the patent application number CN202411499601.1. All content related to that patent document mentioned in this invention shall be based on the content recorded in that document, and any content not mentioned can be referred to that patent document for details.

[0006] To achieve the above objectives, the technical solution of this invention is as follows:

[0007] An intelligent UAV coordinate positioning device for wall contour detection includes a nested housing, a worktable, adjustable support legs, casters, and linear guide rails. The worktable has four adjustable support legs at its lower end, and casters are installed at the lower end of each adjustable support leg. The top of the worktable has two opposing linear guide rails along the X-direction. The bottom of the nested housing is slidably connected to the linear guide rails, and the bottom of the nested housing is parallel to the top of the worktable.

[0008] Preferably, the workbench is a rectangular plate structure, with its front and rear ends parallel to the linear guide rails, and an inclination detector fixedly connected to one end of the workbench.

[0009] Preferably, laser rangefinders are symmetrically arranged on both sides of the front end of the worktable, and the starting points of the measuring rays of the two laser rangefinders have the same coordinate on the Y-axis. The left and right ends of the worktable are parallel to the Y-axis.

[0010] Preferably, the nested housing includes a first housing located on the outermost side and open at the top. The front and rear ends of the first housing are parallel to the X-axis, and the left and right ends are parallel to the Y-axis. Several second housings are coaxially nested inside the first housing, and the several second housings share the same bottom with the first housing.

[0011] Preferably, the front and rear ends of the second housing are parallel to the X-axis and the left and right ends are parallel to the Y-axis. From the inside to the outside, the height of the sidewalls of the second housing increases sequentially, and the sidewalls of the first housing are higher than the adjacent sidewalls of the second housing.

[0012] Preferably, the upper surface of the worktable is provided with scale lines along the X-axis to mark the position of the nested housing.

[0013] Preferably, the four corners of the top of the first housing are respectively provided with colored light emitters that emit colored light beams vertically upward.

[0014] Preferably, the adjustable support leg is made of an electric cylinder, with the top of the cylinder barrel fixedly connected to the bottom of the workbench, and the telescopic end of the electric cylinder connected to a ferrule.

[0015] Preferably, the workbench is equipped with a controller, and the electric cylinder, laser rangefinder, and tilt meter are electrically connected to the controller via wires. The bottom of the workbench is also fixed with a battery for powering the controller, electric cylinder, laser rangefinder, and tilt meter.

[0016] This novel intelligent drone coordinate positioning device for wall contour detection has the following beneficial effects: It can effectively improve the efficiency of drone measurement of irregular wall contours, significantly reduce invalid projection points, eliminate the need to repeatedly adjust the height and sag of the shell when the shell position changes, and eliminate the need to repeatedly adjust the distance between the shell and the wall, thus improving ease of use. The colored light emitter can also provide a reference for the aerial position of the drone body, preventing the drone from deviating too much. Attached Figure Description

[0017] Figure 1 This is a side view schematic diagram of the structure of this novel invention.

[0018] Figure 2 This is a cross-sectional view of the novel nested housing.

[0019] Figure 3 This is a top view schematic diagram of the structure of this novel invention.

[0020] Figure 4 This is a schematic diagram illustrating the measurement principle when the measurement beam of the second laser rangefinder sensor on the UAV body is coaxial with the nested housing.

[0021] Figure 5 This is a schematic diagram illustrating the measurement principle when the measurement beam of the second laser rangefinder sensor on the UAV body deviates from the axis of the nested housing.

[0022] The markings in the diagram are: 1. Workbench; 2. Linear guide rail; 3. Inclinometer; 4. Adjustable height support leg; 5. Caster wheel; 6. Nested housing; 7. Slider; 8. Laser rangefinder; 9. Scale line; 10. The measuring light beam of the second laser rangefinder coincides with the axis of the nested housing; 11. The measuring light beam of the first laser rangefinder; 12. The measuring light beam of the second laser rangefinder deviates from the axis of the nested housing; 13. Invalid projection point; 61. Second housing D; 62. Second housing C; 63. First housing; 64. Colored light emitter.

[0023] It should be noted that the above figures are all schematic diagrams and the size ratios between the various structures of this invention should not be understood based on the scale relationships shown in the figures. The actual size ratios should be set as needed. Detailed Implementation

[0024] The following is a detailed description of the embodiments of the present invention in a step-by-step manner. This description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0025] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on this invention.

[0026] To achieve the above objectives, the technical solution of this invention is as follows:

[0027] In the initial embodiment, the present invention provides an intelligent UAV coordinate positioning device for wall contour detection, such as... Figures 1-5 As shown, the device includes a nested housing 6, a worktable 1, adjustable support legs 4, casters 5, and linear guide rails 2. The worktable has four adjustable support legs 4 at its lower end for leveling. Casters 5 are installed at the lower end of the adjustable support legs 4 to facilitate worktable movement. During measurement, the casters can be converted to a support state, which is beneficial to the stability of the worktable. The top of the worktable 1 has two opposing linear guide rails 2 along the X direction. The bottom of the nested housing 6 is slidably connected to the linear guide rails 2 via a slider 7. The bottom of the nested housing 6 is parallel to the top of the worktable 1, meaning that leveling the worktable 1 is equivalent to leveling the bottom of the nested housing 6.

[0028] In this embodiment, as Figure 1 , Figure 3 As shown, the workbench 1 is a rectangular plate structure. The front and rear ends of the workbench 1 are parallel to the linear guide rail 2. One end of the workbench 1 is fixedly connected to an inclination detector 3 to monitor whether the workbench is level. It should be noted that the workbench can be assembled from multiple segments, thus making it suitable for measuring irregular contours of walls of different lengths. The adjustable support legs are detachably and fixedly connected to the workbench.

[0029] In this embodiment, as Figure 1 , Figure 3As shown, laser rangefinders 8 are symmetrically arranged on both sides of the front end of the workbench 1. The starting points of the measuring rays of the two laser rangefinders 8 are at the same coordinate on the Y-axis. The left and right ends of the workbench 1 are parallel to the Y-axis. In actual use, after leveling the workbench, the distance from the front end of the workbench to the wall is measured by the laser rangefinders 8 and the position of the workbench is adjusted. When the measurement data of the two laser rangefinders are the same, it means that the nested shell is located in the position facing the wall, and the inner and outer wall surfaces of the nested shell are vertical and the bottom is horizontal.

[0030] In this embodiment, as Figure 1 , Figure 2 , Figure 3 As shown, the nested housing 6 includes a first housing 63 located on the outermost side and open at the top. The front and rear ends of the first housing 63 are parallel to the X-axis, and the left and right ends are parallel to the Y-axis. Several second housings are coaxially nested inside the first housing 63, and the several second housings share the same bottom with the first housing 63.

[0031] In this embodiment, as Figure 1 , Figure 2 , Figure 3 As shown, the front and rear ends of the second housing are parallel to the X-axis and the left and right ends are parallel to the Y-axis. From the inside to the outside, the height of the sidewalls of the second housing increases sequentially, and the sidewall of the first housing 63 is higher than the sidewall of the adjacent second housing.

[0032] In this embodiment, as Figure 3 As shown, the upper surface of the workbench 1 is provided with scale lines 9 along the X-axis to mark the position of the nested housing 6. When the measurement of one station is completed, the nested housing can be moved to a new position for measurement, avoiding the need to readjust the height and sag of the housing, and also avoiding the need to re-enter the parameters of the UAV (that is, when the bottom height of the existing housing is different, it is necessary to input the bottom height data into the calculation program of the UAV to make the reference height of each measurement position uniform; while the nested housing of this new type is located on the workbench, and its levelness, sag and height do not change no matter how it is moved).

[0033] In this embodiment, as Figure 3 As shown, colored light emitters 64 that emit colored light beams vertically upward are respectively provided at the four corners of the top of the first housing 63. When the four colored light emitters emit colored light beams simultaneously, the operator of the ground workstation can control the drone to always stay within the constraint range of the vertical upward projection of the upper port of the first housing, that is, within the constraint range of the four colored light beams, based on the visual information of the colored light beams, so as to avoid the drone deviating too far and causing difficulty in resetting (of course, the improvement of the drone is to add a camera to capture the colored light beam signal).

[0034] In this embodiment, as Figure 1As shown, the adjustable support leg 4 is made of an electric cylinder. The top of the cylinder barrel is fixedly connected to the bottom of the workbench 1, and the telescopic end of the electric cylinder is connected to the ferrule 5.

[0035] In this embodiment, as Figure 1 As shown, the workbench 1 is equipped with a controller (not shown in the figure). The electric cylinder, laser rangefinder, and tilt meter are electrically connected to the controller via wires. A battery for powering the controller, electric cylinder, laser rangefinder, and tilt meter is also fixed at the bottom of the workbench 1. The purpose of this embodiment is to achieve automatic leveling of the workbench. The controller can also be electrically connected to an alarm. When the measurements of the two laser rangefinders are consistent, an alarm can be triggered to stop the movement of the workbench.

[0036] The working principle of this new type:

[0037] 1. For example Figure 4 As shown, when the measuring light of the second laser rangefinder on the UAV body (see patent application number CN202411499601.1) overlaps with the axis of the nested housing 6, the vertical distances A and B between the measuring light of the first laser rangefinder on the left and right sides or the front and back sides and the projection point of the first housing inner wall or the second housing inner wall to the measuring light of the second laser rangefinder can be calculated based on the measuring light angle and measuring length data of the first laser rangefinder. When the sum of the distances A and B is equal to the width in the left and right direction or the length in the front and back direction of the corresponding first housing or second housing, it means that the UAV is in a horizontal attitude and its coordinate position is located at the central axis of the nested housing (for details of the principle, see patent application number CN202411499601.1).

[0038] 2. For example Figure 5 As shown, when the measuring light of the second laser rangefinder on the UAV body deviates from the axis of the nested shell, the values ​​of A and B are calculated using the same principle, and the actual coordinate position of the UAV is calculated based on the AB value along the X-axis and the AB value along the Y-axis.

[0039] 3. During the measurement of irregular contours of the wall by the UAV, by setting up a nested housing, the invalid projection points 13 of the measurement light of the first laser rangefinder can be significantly reduced, and the measurement light of the first laser rangefinder can be more easily projected onto the inner wall of the first housing or the second housing, thereby effectively improving the working efficiency of the UAV.

[0040] 4. It should be noted that the internal dimensions of the second housing D61 should meet the following requirements: when the UAV is hovering in the air under normal weather conditions, the upward projection range of the internal cavity of the second housing D61 should be large enough to prevent the UAV from deviating from this range due to wind factors; this will result in higher utilization efficiency. In addition, when the measurement light of the UAV's second laser rangefinder is projected onto the top of the side wall of the first or second housing, it means that there is an error in the altitude measurement. When taking measurements, the UAV should first move left and right to select the coordinate range of the maximum altitude data (the measurement light is then projected onto the bottom shared by the nested housings) and hover. Then, while hovering, the UAV should swing left and right to make the measurement light of the first laser rangefinder intersect with the inner wall of the first or second housing, and select the qualified coordinate data (i.e., the sum of the distances between A and B is equal to the width in the left and right direction or the length in the front and back direction of the corresponding first or second housing) corresponding to the irregular contour data of the wall (for details of the principle, please refer to the patent application number CN202411499601.1).

Claims

1. An intelligent UAV coordinate positioning device for wall contour detection, characterized in that: The device includes a nested housing, a worktable, adjustable height support legs, casters, and linear guides. The worktable has four adjustable height support legs at its lower end, and casters are installed at the lower end of each adjustable height support leg. The top of the worktable has two opposing linear guides along the X-direction. The bottom of the nested housing is slidably connected to the linear guides, and the bottom of the nested housing is parallel to the top of the worktable.

2. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 1, characterized in that: The workbench is a rectangular plate structure, with its front and rear ends parallel to the linear guide rails, and an inclination detector fixedly connected to one end of the workbench.

3. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 2, characterized in that: The worktable is symmetrically equipped with laser rangefinders on both sides of its front end. The starting points of the measuring rays of the two laser rangefinders are at the same coordinate on the Y-axis. The left and right ends of the worktable are parallel to the Y-axis.

4. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 3, characterized in that: The nested housing includes a first housing located on the outermost side and open at the top. The front and rear ends of the first housing are parallel to the X-axis, and the left and right ends are parallel to the Y-axis. Several second housings are coaxially nested inside the first housing, and the several second housings share the same bottom with the first housing.

5. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 4, characterized in that: The front and rear ends of the second housing are parallel to the X-axis and the left and right ends are parallel to the Y-axis. From the inside to the outside, the height of the side walls of the second housing increases sequentially, and the side walls of the first housing are higher than the adjacent side walls of the second housing.

6. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 5, characterized in that: The upper surface of the worktable is provided with scale lines along the X-axis to mark the position of the nested housing.

7. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 6, characterized in that: At the four corners of the top of the first housing, there are colored light emitters that emit colored light beams vertically upwards.

8. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 7, characterized in that: The adjustable height support leg is made of an electric cylinder. The top of the cylinder barrel is fixedly connected to the bottom of the workbench, and the telescopic end of the electric cylinder is connected to a ferrule.

9. The intelligent UAV coordinate positioning device for wall contour detection as described in claim 8, characterized in that: The workbench is equipped with a controller, and the electric cylinder, laser rangefinder, and tilt meter are electrically connected to the controller via wires. The bottom of the workbench is also fixed with a battery for powering the controller, electric cylinder, laser rangefinder, and tilt meter.

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