CN215186955U - Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot - Google Patents
Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot Download PDFInfo
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- CN215186955U CN215186955U CN202120664190.2U CN202120664190U CN215186955U CN 215186955 U CN215186955 U CN 215186955U CN 202120664190 U CN202120664190 U CN 202120664190U CN 215186955 U CN215186955 U CN 215186955U
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Abstract
The utility model relates to an unmanned aerial vehicle and ground robot integrated ground-air integrative monitoring system, include: the system comprises a ground robot, an unmanned aerial vehicle, a cloud server and a computer; the ground robot is responsible for gathering the construction data of earth's surface, and unmanned aerial vehicle is responsible for gathering high altitude construction operation's data, and ground robot and unmanned aerial vehicle pass through wireless communication's mode with data transmission for cloud ware, and the rethread computer is interactive with cloud ware, supervises workman's construction operation condition at computer terminal. Meanwhile, the computer system carries a safety helmet wearing monitoring algorithm, a human body falling monitoring algorithm and the like, and can monitor and early warn behaviors of workers who do not wear safety helmets, fall of the workers and the like. The utility model provides a technical scheme's beneficial effect is: the ground-air integrated dead-angle-free monitoring can be carried out on unsafe behaviors and potential safety hazards during operation of workers in a construction site through the ground robot and the unmanned aerial vehicle, workers are reminded, and the safety of construction in the construction site can be guaranteed.
Description
Technical Field
The utility model relates to a building site monitoring early warning technical field especially relates to an unmanned aerial vehicle and ground robot integrated ground-air integrative monitoring system.
Background
With the continuous development of urban construction, buildings have become one of the indispensable industries for promoting urban construction. In order to guarantee the safety of the construction site, the safety monitoring is needed to be carried out on the construction site, the labor intensity of the traditional manual monitoring is high, the monitoring visual field range of the existing fixed camera is limited, and the economic cost is high. Therefore, a low-cost and high-performance site monitoring technology is urgently needed for building site safety monitoring.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a main aim at, it is big to solve traditional artifical monitoring intensity of labour, and current fixed camera monitoring field of vision scope is limited, technical problem that economic cost is high. The utility model provides an unmanned aerial vehicle and ground robot integrated ground-air integrative monitoring system can monitor unsafe behavior and potential safety hazard when the workman's operation to remind the workman, can ensure the security of high altitude construction.
In order to achieve the above object, the utility model provides an integrative monitoring system in ground and air of unmanned aerial vehicle and ground robot integration, include: the system comprises a ground robot, an unmanned aerial vehicle, a cloud server and a computer;
the ground robot includes: the device comprises a base, a travelling mechanism, a video holder, a first camera, a control mainboard and a first buzzer;
the base is fixed on the walking mechanism in a suspension mode, the walking mechanism is provided with a movable stroke in the horizontal direction, the video holder is fixed on the base, the first camera is movably mounted on the video holder, the video holder is used for controlling the movement of the first camera, the control main board is fixed on the base and is electrically connected with the first camera, the control main board is used for processing an image acquired by the first camera and transmitting the image to the cloud server, and the first buzzer is arranged on the base;
the unmanned aerial vehicle includes: the device comprises a machine body, at least one pair of machine arms, a plurality of flight structures, a second camera, an image transmission module and a second buzzer;
one end of each horn is fixedly connected with the machine body, the paired horns are bilaterally symmetrical about the machine body, one end, far away from the machine body, of each horn extends forwards and backwards to form an extension part, the extension parts correspond to the flight structures one to one, the second camera is fixed on the machine body, the image transmission module is fixed on the machine body and is electrically connected with the second camera, the image transmission module is used for transmitting the image acquired by the second camera to the cloud server, and the second buzzer is arranged on the machine body;
the cloud server transmits the images acquired by the ground robot and the unmanned aerial vehicle to a computer;
and the computer detects and identifies the image transmitted by the cloud server so as to realize the ground-air integrated dead-angle-free real-time monitoring of the construction site.
Preferably, the flight structure includes brushless motor and rotor, brushless motor is fixed in on the extension, brushless motor's output is up, the rotor is fixed in brushless motor's output, brushless motor drive the rotor is rotatory.
Preferably, the traveling mechanism includes: the driving mechanism, the two driving wheels and the two driven wheels;
the base is a hollow structure, the driving mechanism is fixed in the base, through holes are respectively formed in the left side and the right side of the base, the driving mechanism is provided with two output shafts, the two output shafts respectively penetrate through the through holes and are located outside the base, the two driving wheels are respectively installed on the output shafts, the two driven wheels are respectively installed on the left side and the right side of the base in an axial rotating mode, and the driving mechanism drives the two driving wheels to axially rotate, so that the driven wheels are driven to rotate.
Preferably, the ground robot further comprises two multi-degree-of-freedom mechanical arms, the multi-degree-of-freedom mechanical arms are movably mounted at the front end of the base and used for grabbing objects, the multi-degree-of-freedom mechanical arms are electrically connected with the control main board, and the control main board is used for controlling the multi-degree-of-freedom mechanical arms to work.
Preferably, the ground robot still includes laser radar, laser radar movable mounting in on the video cloud platform, laser radar with first camera orientation is same direction, laser radar with the control mainboard electricity is connected, laser radar is used for acquireing and the place ahead barrier between the distance data, the control mainboard is used for handling the distance data.
Preferably, the ground-air integrated monitoring system further comprises a warning lamp, and the warning lamp is a three-color LED lamp.
Preferably, the outer surface of the fuselage is a smooth streamline curved surface.
Preferably, the base is provided with a multifunctional interface and a plurality of circuit mounting holes.
The utility model provides a beneficial effect that technical scheme brought is: unsafe behavior and potential safety hazard carry out the monitoring of ground-air integrative no dead angle when can be to workman's building site operation through ground robot and unmanned aerial vehicle, ground robot and unmanned aerial vehicle utilize the raspberry of self to send the image that the camera acquireed to handle, and transmit the real-time image data that the camera acquireed to the cloud ware through wireless transmission module, and then reach computer terminal, in order to ensure that relevant departments can in time discover the problem, when there is the potential safety hazard in the unsafe behavior, bee calling organ reports to the police, in order to remind the workman, thereby security when improving workman's building site operation.
Drawings
Fig. 1 is a structural block diagram of a ground-air integrated monitoring system integrated by an unmanned aerial vehicle and a ground robot;
fig. 2 is a schematic structural diagram of the unmanned aerial vehicle of the present invention;
fig. 3 is a front view of the utility model unmanned aerial vehicle;
fig. 4 is a left body diagram of the unmanned aerial vehicle of the present invention;
fig. 5 is a side view of the utility model unmanned aerial vehicle;
in the figure: 1-fuselage, 2-horn, 3-image transmission module, 4-rotor, 5-brushless motor, 6-crossbar, 7-second camera, 8-connecting piece, 9-extension part and through hole 91;
FIG. 6 is a schematic structural view of the ground robot of the present invention;
fig. 7 is a rear view of the ground robot of the present invention;
fig. 8 is a top view of the ground robot of the present invention;
fig. 9 is a right side view of the ground robot of the present invention;
in the figure: 10-a first camera, 11-a video holder, 12-a control main board, 13-a multi-degree-of-freedom mechanical arm, 14-a driven wheel, 15-a driving wheel, 16-a fixed wheel, 17-a base, 18-a laser radar, 19-an annular track, 20-a tension wheel and 21-a driving motor.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a structural block diagram of a ground-air integrated monitoring system integrated by an unmanned aerial vehicle and a ground robot;
the integrated ground-air integration monitoring system of unmanned aerial vehicle and ground robot that this embodiment provided includes: the system comprises a ground robot, an unmanned aerial vehicle, a cloud server and a computer;
the unmanned aerial vehicle includes: the device comprises a machine body, at least one pair of machine arms, a plurality of flight structures, a second camera, an image transmission module and a second buzzer;
the ground robot includes: the device comprises a base, a travelling mechanism, a video holder, a first camera, a control mainboard and a first buzzer;
the unmanned aerial vehicle with the ground robot gathers the image of job site respectively to will through wireless transmission module the image transmission extremely the cloud ware, and then convey the computer, the computer is right the image of cloud ware transmission detects and discerns to realize the integrative no dead angle real-time supervision in ground space at the site of building site.
Referring to fig. 2 to 5, in this embodiment, the unmanned aerial vehicle is responsible for collecting data of high-altitude construction work, and the outer surface of the fuselage 1 is a smooth streamline curved surface, so that resistance to flying in the air can be reduced. 2 one end of horn with 1 fixed connection of fuselage, in pairs the horn 2 about 1 bilateral symmetry of fuselage, horn 2 can be a pair of, also can be equipped with many pairs, in this embodiment, 1 left and right sides of fuselage is equipped with a plurality ofly respectively horn 2, specifically, 1 left and right sides of fuselage is equipped with two respectively horn 2. In order to enhance the stability of the monitoring device, the horn 2 positioned on the same side of the machine body 1 is connected through a cross rod 6, and the middle part of the cross rod 6 is connected with the machine body 1 through a connecting piece 8.
Each horn 2 is kept away from the one end of fuselage 1 extends formation extension 9 around respectively, and in this embodiment, the extension 9 that each horn 2 extends forward and backward is integrated into one piece and sets up, run through on the extension 9 and be equipped with a plurality of through-holes 91 to rise and descend the in-process and reduce the windage, be convenient for simultaneously the later stage increase equipment such as new sensor. The extension parts 9 correspond to the flight structures one to one, in this embodiment, eight flight structures are provided, each flight structure includes a brushless motor 5 and a rotor 4, the brushless motor 5 is fixed on the extension parts 9, the output end of the brushless motor 5 faces upward, the rotor 4 is fixed on the output end of the brushless motor 5, the brushless motor 5 drives the rotor 4 to rotate, and the rotation ranges of the plurality of rotors 4 in the transverse direction are staggered. In this embodiment, horn 2 is the horizontal setting, and horn 2 also can be the slope setting, but need guarantee that rotor 4 is the horizontal setting for produce ascending lift, horn 2's material is the carbon fiber.
The second camera 7 is fixed in on the fuselage 1, image transmission module 3 is fixed in on the fuselage 1 and with the second camera 7 electricity is connected, be used for with the image transmission that second camera 7 acquireed is to the user, the second bee calling organ is located on the fuselage 1. Monitoring devices still includes the warning light, and the mounted position of warning light does not specifically prescribe a limit to, and in this embodiment, brushless motor 17 bottom is located to the warning light, three-colour LED lamp is chooseed for use to the warning light, and the scintillation color and the frequency of warning light can change according to workman's working condition, for example, when discovering that the workman is carrying out unsafe operation and when having the potential safety hazard, unmanned aerial vehicle can be close to the workman, reports to the police at bee calling organ after, the warning light presents red and scintillation frequency and accelerates to play the warning effect.
Referring to fig. 6 to 9, in this embodiment, the ground robot includes a base 17, a traveling mechanism, a video pan/tilt 11, a first camera 10, a control main board 12, and a first buzzer, where the base 17 is fixed to the traveling mechanism and is suspended in the air, in this embodiment, the base 17 is made of stainless steel, the traveling mechanism has a moving stroke in a horizontal direction, the video pan/tilt 11 is fixed to the base 17, the first camera 10 is movably installed on the video pan/tilt 11, and the video pan/tilt 11 is used to control the movement of the first camera 10, in this embodiment, the video pan/tilt 11 is a two-degree-of-freedom video pan/tilt, and the video pan/tilt 11 can flexibly control the first camera 10 to rotate up, down, left, and right. The control main board 12 is fixed in the base 17 and electrically connected with the first camera 10, and is used for processing the image acquired by the first camera 10, and the first buzzer is arranged on the base 17. And a multifunctional interface and various circuit mounting holes are formed in the base 17, so that new functions can be added conveniently in the later period.
The ground robot running mechanism can be arranged in various ways, and in this embodiment, the running mechanism comprises a driving mechanism, two driving wheels 15 and two driven wheels 14. The base 17 is a hollow structure, the driving mechanism is fixed in the base 17, through holes are respectively arranged on the left side and the right side of the base 17, the driving mechanism is provided with two output shafts, the two output shafts respectively penetrate through the holes and are positioned outside the base 17, the two driving wheels 15 are respectively arranged on the output shafts, the two driven wheels 14 are respectively arranged on the left side and the right side of the base 17 in an axial rotating manner, the driving mechanism drives the two driving wheels 15 to axially rotate, and therefore the driven wheels 14 are driven to rotate. The driving wheel 15 and the driven wheel 14 can adopt an energy-absorbing and shock-absorbing design, so that the anti-collision capacity of the device can be improved.
The traveling mechanism further comprises two annular crawler belts 19, the two annular crawler belts 19 are respectively located on the left side and the right side of the base 17 and are sleeved on the peripheries of the driving wheel 15 and the driven wheel 14 which are located on the same side, so that the driving mechanism drives the two driving wheels 15 to axially rotate, the annular crawler belts 19 and the driven wheel 14 are driven to rotate, and the adhesive force between the annular crawler belts 19 and the ground can be increased.
The driving mechanism comprises two driving motors 21, the two driving motors 21 are respectively provided with the output shafts, the two driving motors 21 correspond to the two driving wheels 15 one by one, and the driving motors 21 drive the driving wheels 15 to rotate axially.
Ground robot still includes laser radar 18, 18 movable mounting of laser radar in on the video cloud platform 11, laser radar 18 with first camera 10 is towards same direction, laser radar 18 with control mainboard 12 electricity is connected, laser radar 18 is used for acquireing with the place ahead barrier between the distance data, control mainboard 12 is used for handling distance data, control mainboard 12 and two driving motor 21 electricity is connected, is used for controlling two driving motor 21's rotational speed and direction of rotation. When an obstacle appears in the front, the main board 12 is controlled to control the rotating speed of the two driving motors 21 according to the distance between the laser radar 18 and the obstacle, so that the walking mechanism turns to realize the obstacle avoidance function.
As an optional implementation manner, the cloud server is an elastic and scalable cloud computing service, and operation and maintenance efficiency can be improved.
As an optional implementation manner, the computer carries a helmet wearing monitoring algorithm, a human body falling monitoring algorithm and the like, so that unsafe behaviors such as a worker not wearing a helmet and falling can be monitored and early warned, and if the system monitors the unsafe behaviors, the ground robot and the buzzer of the unmanned aerial vehicle can give an alarm to remind the worker.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third and the like do not denote any order, but rather the words first, second and the like may be interpreted as indicating any order.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (8)
1. An integrated ground-air monitoring system of unmanned aerial vehicle and ground robot, its characterized in that, the integrated ground-air monitoring system includes: the system comprises a ground robot, an unmanned aerial vehicle, a cloud server and a computer;
the ground robot includes: the device comprises a base, a travelling mechanism, a video holder, a first camera, a control mainboard and a first buzzer;
the base is fixed on the walking mechanism in a suspension mode, the walking mechanism is provided with a movable stroke in the horizontal direction, the video holder is fixed on the base, the first camera is movably mounted on the video holder, the video holder is used for controlling the movement of the first camera, the control main board is fixed on the base and is electrically connected with the first camera, the control main board is used for processing an image acquired by the first camera and transmitting the image to the cloud server, and the first buzzer is arranged on the base;
the unmanned aerial vehicle includes: the device comprises a machine body, at least one pair of machine arms, a plurality of flight structures, a second camera, an image transmission module and a second buzzer;
one end of each horn is fixedly connected with the machine body, the paired horns are bilaterally symmetrical about the machine body, one end, far away from the machine body, of each horn extends forwards and backwards to form an extension part, the extension parts correspond to the flight structures one to one, the second camera is fixed on the machine body, the image transmission module is fixed on the machine body and is electrically connected with the second camera, the image transmission module is used for transmitting the image acquired by the second camera to the cloud server, and the second buzzer is arranged on the machine body;
the cloud server transmits the images acquired by the ground robot and the unmanned aerial vehicle to a computer;
and the computer detects and identifies the image transmitted by the cloud server so as to realize the ground-air integrated dead-angle-free real-time monitoring of the construction site.
2. The ground-air integration monitoring system according to claim 1, wherein the flying structure comprises a brushless motor and a rotor, the brushless motor is fixed on the extension portion, an output end of the brushless motor faces upwards, the rotor is fixed on an output end of the brushless motor, and the brushless motor drives the rotor to rotate.
3. The ground-air integrated monitoring system according to claim 1, characterized in that the walking mechanism comprises: the driving mechanism, the two driving wheels and the two driven wheels;
the base is a hollow structure, the driving mechanism is fixed in the base, through holes are respectively formed in the left side and the right side of the base, the driving mechanism is provided with two output shafts, the two output shafts respectively penetrate through the through holes and are located outside the base, the two driving wheels are respectively installed on the output shafts, the two driven wheels are respectively installed on the left side and the right side of the base in an axial rotating mode, and the driving mechanism drives the two driving wheels to axially rotate, so that the driven wheels are driven to rotate.
4. The ground-air integrated monitoring system according to claim 1, wherein the ground robot further comprises two multi-degree-of-freedom mechanical arms, the multi-degree-of-freedom mechanical arms are movably mounted at the front end of the base and used for grabbing an object, the multi-degree-of-freedom mechanical arms are electrically connected with the control main board, and the control main board is used for controlling the multi-degree-of-freedom mechanical arms to work.
5. The ground-air integrated monitoring system according to claim 1, wherein the ground robot further comprises a laser radar, the laser radar is movably mounted on the video holder, the laser radar and the first camera face the same direction, the laser radar is electrically connected with the control main board, the laser radar is used for acquiring distance data between the laser radar and a front obstacle, and the control main board is used for processing the distance data.
6. The ground-air integrated monitoring system according to claim 1, further comprising a warning light, wherein the warning light is a three-color LED light.
7. The ground and air integrated monitoring system according to claim 1, wherein the outer surface of the body is a smooth streamline curved surface.
8. The ground-air integrated monitoring system according to claim 1, characterized in that the base is provided with a multifunctional interface and a plurality of circuit mounting holes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120664190.2U CN215186955U (en) | 2021-03-31 | 2021-03-31 | Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot |
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| CN202120664190.2U CN215186955U (en) | 2021-03-31 | 2021-03-31 | Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot |
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| CN202120664190.2U Expired - Fee Related CN215186955U (en) | 2021-03-31 | 2021-03-31 | Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113163084A (en) * | 2021-03-31 | 2021-07-23 | 中国地质大学（武汉） | Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot |
| CN114332632A (en) * | 2022-02-10 | 2022-04-12 | 山东中科先进技术研究院有限公司 | Safety helmet identification device and method |
-
2021
- 2021-03-31 CN CN202120664190.2U patent/CN215186955U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113163084A (en) * | 2021-03-31 | 2021-07-23 | 中国地质大学（武汉） | Integrated ground-air integrated monitoring system of unmanned aerial vehicle and ground robot |
| CN113163084B (en) * | 2021-03-31 | 2024-04-19 | 中国地质大学（武汉） | Ground-air integrated monitoring system integrating unmanned aerial vehicle and ground robot |
| CN114332632A (en) * | 2022-02-10 | 2022-04-12 | 山东中科先进技术研究院有限公司 | Safety helmet identification device and method |
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Granted publication date: 20211214 |