CN216659711U - Ground-air integrated surveying and mapping inspection automobile robot - Google Patents
Ground-air integrated surveying and mapping inspection automobile robot Download PDFInfo
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- CN216659711U CN216659711U CN202123196795.2U CN202123196795U CN216659711U CN 216659711 U CN216659711 U CN 216659711U CN 202123196795 U CN202123196795 U CN 202123196795U CN 216659711 U CN216659711 U CN 216659711U
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Abstract
The utility model discloses a ground-air integrated surveying and mapping inspection automobile robot which comprises an inspection vehicle and an unmanned aerial vehicle, wherein the inspection vehicle is provided with a movable cover door, and the movable cover door is connected with a vehicle body framework of the inspection vehicle; a hidden unmanned cabin for accommodating an unmanned aerial vehicle is formed after the movable cover door is closed, and the unmanned aerial vehicle is positioned in the hidden unmanned aerial vehicle cabin; unmanned aerial vehicle reciprocal flight in await measuring draw the airspace with between the hidden unmanned cabin, the patrol and examine the car walking in waiting to patrol and examine the route, unmanned aerial vehicle with the patrol and examine the car and carry out two-way communication signal transmission. Hidden unmanned cabin has avoided the sensor field of vision interference problem of automobile body top surface, and has guaranteed the appearance molding characteristic of whole inspection vehicle, can fly survey and drawing and automobile robot (inspection vehicle) ground walking survey and drawing, patrol and examine with unmanned aerial vehicle sky and cooperate, highly combine to use.
Description
Technical Field
The utility model relates to the technical field of surveying and mapping, in particular to a ground-air integrated surveying and mapping automobile robot which is widely applied to smart city management, smart traffic management and industrial production management.
Background
Based on the application demand of patrolling special unmanned vehicles, the security protection industry is the entry point of smart city layout. With the gradual deepening of 5G industrialization and the acceleration of technical iteration, the combination of the vigorous development of the security field of the police robot and the application of the police inspection robot is promoted, the digital, networked and intelligent development of the public safety industry is further driven, the perfection and optimization of a national public security three-dimensional prevention and control system are realized, the working strength of public security police officers is reduced, the working risk is reduced, the police strength is relieved, and the purposes of serving the masses are achieved.
Based on the application requirements of the map-gathering special unmanned vehicle, the 'super-fussy' drawing work is carried out, namely, a sensor-equipped vehicle is dispatched to capture the surrounding environment of a city, and then the 3D images are converted into digital landscapes. And manufacturing a high-precision street map. These maps may eventually become the onboard navigational guides for the unmanned vehicle. The domestic high-precision map market has just emerged, and fields such as wisdom city and aviation are constantly increasing to its demand, and autopilot car is the preferred scene of falling to the ground more. With the high-speed growth situation of the industry, the overall application market of geographic big data is expected to be over billion in scale.
The prior inspection robot is mainly applied to SLAM local navigation technology and fusion GPS positioning, a used navigation map is 2D or 3D map data with little data volume, and the technical barriers of the prior inspection robot generally have the defects of small using area and poor positioning accuracy. At present, all vehicle-mounted unmanned aerial vehicles are provided with independent unmanned engine rooms directly on vehicles, and the relevance of the control of the unmanned engine rooms and vehicle ends is not much. The control end of the device has no substantive relation with the vehicle.
Therefore, a high-tech intelligent device with integrated high integration of the unmanned automobile robot and the unmanned aerial vehicle is urgently needed in the market.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a ground-air integrated surveying and mapping inspection automobile robot, which can coordinate unmanned aerial vehicle air flight surveying and mapping and inspection with automobile robot ground walking surveying and mapping and inspection, and is highly combined for application.
In order to solve the technical problems, the utility model adopts the technical scheme that: the ground-air integrated surveying and mapping inspection automobile robot comprises an inspection vehicle and an unmanned aerial vehicle, wherein the inspection vehicle is provided with a movable cover door, and the movable cover door is connected with a vehicle body framework of the inspection vehicle; a hidden unmanned cabin for accommodating an unmanned aerial vehicle is formed after the movable cover door is closed, and the unmanned aerial vehicle is positioned in the hidden unmanned aerial vehicle cabin; unmanned aerial vehicle reciprocal flight in await measuring draw the airspace with between the hidden unmanned cabin, the patrol and examine the car walking in waiting to patrol and examine the route, unmanned aerial vehicle with the patrol and examine the car and carry out two-way communication signal transmission.
In the technical scheme, the closed hidden movable cover door of the unmanned aerial vehicle parking space is formed, when the unmanned aerial vehicle is parked and descended in the cabin, the movable cover door can be controlled to be closed, when the unmanned aerial vehicle is about to ascend, the movable cover door can be controlled to be opened, the hidden unmanned aerial vehicle space avoids the problem of sensor visual field interference on the top surface of the vehicle body, and the appearance and shape characteristics of the whole inspection vehicle are ensured; the ground-air integrated surveying and inspection automobile robot can collect data and shoot data of videos and the like in surveying and inspecting environments, can take corresponding treatment after analysis, fills the defects that the existing security robot can only carry out ground inspection and the problems that the field data and the information resources of emergency situations are insufficient and the like, can coordinate unmanned aerial vehicle air flight surveying and inspecting with ground walking surveying and inspecting of the automobile robot (inspection vehicle), and is highly combined for application.
Preferably, an apron is arranged in the hidden unmanned aerial vehicle cabin, and the apron is fixedly connected with the vehicle body framework through an electric fork arm lifting mechanism; an unmanned aerial vehicle resetting device and a wireless charging device are further installed on the parking apron; unmanned aerial vehicle's foot rest with unmanned aerial vehicle resetting means passes through anchor clamps to be connected fixedly.
The electric fork arm lifting mechanism is used for lifting the parking apron, and the unmanned aerial vehicle rises when the unmanned aerial vehicle is about to rise or when the unmanned aerial vehicle returns to be stopped in the cabin; unmanned aerial vehicle resetting means is used for accurate the parking of unmanned aerial vehicle on the parking apron, and when unmanned aerial vehicle parks on the parking apron, unmanned aerial vehicle resetting means automatic re-setting unmanned aerial vehicle and anchor clamps locking have realized unmanned aerial vehicle's locking, have effectively protected unmanned aerial vehicle's safety, avoid it to receive factors such as jolting and lead to unmanned aerial vehicle's damage to the automatic accurate position that charges of unmanned aerial vehicle has been guaranteed.
Preferably, the electric fork arm lifting mechanism comprises a first fork arm and a second fork arm which are movably connected in an X-shaped manner, one end of the first fork arm is connected with a sliding block to drive the parking apron to lift through reciprocating motion, the other end of the first fork arm is connected with the parking apron, correspondingly, one end of the second fork arm is fixed on the electric fork arm lifting mechanism, and the other end of the second fork arm is connected with the parking apron; the unmanned aerial vehicle resetting device is located on the parking apron.
Preferably, the inspection vehicle is provided with a side door, and the side door is fixed with the vehicle body framework through a bent arm hinge and a lock; one end of the bent arm hinge is fixed on the car body framework in a threaded manner, and the other end of the bent arm hinge is fixed on the side door; the locking structure is fixed on the side door and is matched with and locked with the locking structure of the car body framework.
After the side door is opened, the storage space of the vehicle body is very convenient to take in the emergency to store the inspection emergency articles.
Preferably, the inspection vehicle is also provided with a vehicle-mounted horn mouth, and the vehicle-mounted horn mouth and the side wall of the inspection vehicle are integrated; the inspection vehicle is also provided with an LED display screen, and the front part and the rear part of the inspection vehicle are respectively provided with one LED display screen.
Preferably, the LED display screen is fixed on the vehicle body framework through a mounting bracket.
Preferably, on the inspection vehicle, the 3D laser radar is fixed with the laser radar base in a threaded manner through a mounting plate; the inertial navigation antenna is fixed on the roof of the inspection vehicle through a mounting base in a threaded connection manner; the inspection vehicle is further provided with a whole vehicle all-round looking-around image device, the whole vehicle all-round looking-around image device is composed of a vehicle-mounted high-definition camera which is positioned in the front, the back, the left direction and the right direction of the inspection vehicle, and the vehicle-mounted high-definition camera is fixed to the shell of the inspection vehicle through a camera mounting support in a threaded connection mode.
Preferably, still install whole car ultrasonic wave module on the inspection car, whole car ultrasonic wave module is total 12 ultrasonic radar, four are respectively installed to the locomotive and the rear of a vehicle of inspection car, and both sides are respectively installed two, all with the shell of inspection car is the joint fixed.
Preferably, the inspection vehicle further comprises a modular wire control chassis and a vehicle body storage space, wherein the vehicle body storage space is used for storing inspection emergency supplies; be provided with the high definition digtal camera of taking rotatable mount pad on the unmanned aerial vehicle.
Preferably, unmanned aerial vehicle resetting means is including infrared or image alignment device, hidden unmanned aerial vehicle is provided with in-cabin to aim at and marks, hidden unmanned aerial vehicle is under-cabin to set up rotatable camera.
The ground-air integrated surveying and mapping inspection automobile robot is a device integrating environment perception, dynamic decision, behavior control and alarm, has the capabilities of autonomous perception, autonomous walking, autonomous protection, interactive communication and the like, and can help workers to complete basic, repetitive and dangerous security work and update regional map data. The intelligent equipment is multifunctional, comprehensive and completely new industrial design, promotes the upgrade of security service, reduces the security operation cost and reduces the update cost of a regional map; the vehicle body of the ground-air integrated surveying and mapping inspection vehicle robot adopts a modular design, the upper layer of the vehicle body is an integrated body and comprises a hidden unmanned engine room, and the lowest layer of the vehicle body is a lower vehicle module, so that the modular design can save the design cost and the development period, the development of the multiple schemes of the overall shape of the unmanned ground-air integrated surveying and mapping inspection vehicle robot can be flexibly realized, and the design development and the manufacturing cost can be reduced by the symmetrical modeling design; can change anchor clamps on resetting means's the anchor clamps carrier according to unmanned aerial vehicle's specific shape, greatly increased the suitability and the commonality of air park.
Drawings
FIG. 1 is a general assembly structure diagram of the ground-air integrated surveying and mapping inspection automobile robot;
FIG. 2 is a schematic diagram of a state that an unmanned aerial vehicle is ready to stop and land in the ground-air integrated surveying and inspecting automobile robot in FIG. 1;
FIG. 3 is a schematic diagram of a state that an unmanned aerial vehicle in the ground-air integrated surveying and inspecting automobile robot in FIG. 1 is parked;
fig. 4 is a schematic front view of the drone;
FIG. 5 is a flow chart of the operation of the ground-air integrated survey and inspection automobile robot;
FIG. 6 is a view showing a structure of a lifting state of the electric yoke lifting mechanism;
FIG. 7 is a structural view of the electric yoke lifting mechanism in a stop state;
FIG. 8 is a modular drive-by-wire chassis block diagram;
FIG. 9 is a block diagram of the modular drive-by-wire chassis assembled;
FIG. 10 is a partial structural view of a side door;
FIG. 11 is a view showing a structure of a part of a link of a bent arm hinge and a body frame;
wherein: 1-inspecting the vehicle; 101-movable cover door, 102-vehicle body framework, 103-hidden unmanned cabin, 104-apron, 105-electric fork arm lifting mechanism, 106-unmanned aerial vehicle resetting device, 107-wireless charging device, 108-clamp, 109-side door, 1010-bent arm hinge, 1011-lock, 1012-lock structure, 1013-vehicle horn mouth, 1014-side wall, 1015-LED display screen, 1016-mounting bracket, 1017-3D laser radar, 1018-mounting plate, 1019-laser radar base, 1020-rotatable camera, 1021-inertial navigation antenna, 1022-mounting base, 1023-roof, 1024-whole vehicle panoramic view image device, 1025-vehicle high definition camera, 1026-camera mounting bracket, 1027-shell, 1028-whole vehicle ultrasonic module, 1029-ultrasonic radar, 1030-vehicle head, 1031-vehicle tail, 1032-modular drive-by-wire chassis, 1033-vehicle body storage space, 1034-high-definition camera with rotatable mounting seat, 1035-first fork arm, 1036-second fork arm and 1037-sliding block; 2-unmanned aerial vehicle, 201-foot rest, 202-propeller, 203-motor, 204-aircraft nose indicator light, 205-integral pan-tilt camera; 3-a to-be-detected drawing airspace; 4-a path to be patrolled.
Detailed Description
Further characteristics and advantages of the utility model will become clearer from the detailed description which follows, of an embodiment of the utility model illustrated by way of non-limiting example in the accompanying drawings.
As shown in fig. 1-3, the ground-air integrated surveying and mapping inspection automobile robot of the embodiment includes an inspection vehicle 1 and an unmanned aerial vehicle 2, wherein the inspection vehicle 1 is provided with two movable cover doors 101, and the two movable cover doors 101 are connected with a vehicle body framework 102 of the inspection vehicle 1; a hidden unmanned cabin 103 for accommodating the unmanned aerial vehicle 2 is formed after the two movable cover doors 101 are closed, and the unmanned aerial vehicle 2 is positioned in the hidden unmanned cabin 103; the unmanned aerial vehicle 2 flies between the to-be-detected drawing airspace 3 and the hidden unmanned engine room 103 in a reciprocating manner, the inspection vehicle 1 walks on a to-be-inspected path 4, and the unmanned aerial vehicle 2 and the inspection vehicle 1 perform bidirectional communication signal transmission; correspondingly, unmanned aerial vehicle 2 also can be directly to the platform transmission data and accept the task instruction of platform, and patrol and examine car 1 also can be directly to the platform transmission data and accept the task instruction of platform.
As shown in fig. 2, an apron 104 is provided in the concealed unmanned aircraft cabin 103, and the apron 104 is connected and fixed to the vehicle body frame 102 by an electric yoke lifting mechanism 105; the air park 104 is also provided with an unmanned aerial vehicle resetting device 106 and a wireless charging device 107; the foot stool 201 of the unmanned aerial vehicle 2 is fixedly connected with the unmanned aerial vehicle resetting device 106 through a clamp 108; as shown in fig. 4, the unmanned aerial vehicle 2 further has a propeller 202, the propeller 202 is driven by a motor 203, an aircraft nose indicator 204 is mounted on a support connected with a foot stand 201 (containing an antenna inside), and the front of the unmanned aerial vehicle 2 is further provided with an integral pan-tilt camera 205.
As shown in fig. 6 and 7, the electric fork arm lifting mechanism 105 comprises a first fork arm 1035 and a second fork arm 1036 which are movably connected in an X shape, a sliding block 1037 connected to one end of the first fork arm 1035 drives the apron 104 to perform a lifting action through a back-and-forth reciprocating motion, the other end of the first fork arm 1035 is connected to the apron 104, and correspondingly, the second fork arm 1036 is fixed to the electric fork arm lifting mechanism 105 at one end and connected to the apron 104 at the other end; a drone reset 106 is located on the tarmac 104.
The patrol car is provided with a side door 109, as shown in fig. 1-3 and 10, the side door 109 is fixed with the car body framework 102 through a bent arm hinge 1010 and a lock 1011 (as shown in fig. 11), and the bent arm hinge 1010 on the side door 109 is in threaded connection with the main body framework 102; one end of the bent arm hinge 1010 is fixed on the vehicle body framework 102 in a threaded manner, and the other end of the bent arm hinge 1010 is fixed on the side door 109; the locking 1011 is matched with a locking structure 1012 fixed on the vehicle body framework 102 to lock the side door 109.
The inspection vehicle 1 is also provided with a vehicle-mounted horn mouth 1013, and the vehicle-mounted horn mouth 1013 and a side wall 1014 of the inspection vehicle 1 are integrated; the inspection vehicle 1 is further provided with an LED display screen 1015, the front part and the rear part of the inspection vehicle 1 are respectively provided with one LED display screen, and the LED display screen 1015 is fixed on the vehicle body framework 102 through a mounting bracket 1016.
On the inspection vehicle 1, a 3D laser radar 1017 is fixed with a laser radar base 1019 in a threaded manner through a mounting plate 1018; the inertial navigation antenna 1021 is fixed on the roof 1023 of the inspection vehicle 1 in a threaded manner through a mounting base 1022; patrol car 1 and still be provided with whole car and look around image device 1024, whole car looks around image device 1024 by being located patrol car 1 is preceding, back, on four directions on the left and right respectively a vehicle-mounted high definition digtal camera 1025 constitutes, vehicle-mounted high definition digtal camera 1025 pass through camera installing support 1026 with patrol car 1's shell 1027 spiro union is fixed.
The patrol car 1 is further provided with a whole car ultrasonic module 1028, the whole car ultrasonic module 1028 has 12 ultrasonic radars 1029 in total, the head 1030 and the tail 1031 of the patrol car 1 are respectively provided with four ultrasonic radars, two ultrasonic radars are respectively provided on two sides of the patrol car 1, and the patrol car 1 and the shell 1027 of the patrol car 1 are clamped and fixed.
The inspection vehicle 1 further comprises a modular wire control chassis 1032 and a vehicle body storage space 1033, as shown in fig. 8 and 9, the vehicle body storage space 1033 is used for storing inspection emergency supplies; a high-definition camera 1034 with a rotatable mounting seat is arranged on the unmanned aerial vehicle 2; the unmanned aerial vehicle resetting device 106 comprises an infrared or image alignment device (which belongs to the prior art), an alignment mark (which belongs to the conventional prior art) is arranged in the hidden unmanned aerial vehicle cabin 103, and a rotatable camera 1020 is arranged in the hidden unmanned aerial vehicle cabin 103, as shown in fig. 2 and 3.
As shown in fig. 5, the operation flow chart of the inspection vehicle robot for integrated mapping and surveying of ground and air in the embodiment is shown, the platform planning task → the planning task is simultaneously issued to the inspection vehicle 1 and the unmanned aerial vehicle 2 → the inspection vehicle 1 performs inspection according to the planned route, the inspection vehicle → the ground inspection → the designated coordinate departure point is reached, the inspection vehicle 1 stops → the movable cover door 101 is controlled to be opened → the unmanned aerial vehicle 2 performs air inspection → integrated inspection of ground and air → environmental data acquisition → data transmission to the platform, and the platform performs big data analysis according to the acquired data.
The following operation flows can also be adopted: the platform planning task → the planning task is simultaneously issued to the inspection vehicle 1 and the unmanned aerial vehicle 2 → the inspection vehicle 1 performs the inspection and the drawing → the inspection vehicle 1 performs the ground inspection according to the planned route; when the planning task is simultaneously issued to the inspection vehicle 1 and the unmanned aerial vehicle 2, platform integrated control → control of opening of the movable cover door 101 → unmanned aerial vehicle 2 for air inspection → ground-air integrated inspection → environmental data acquisition, data transmission to the platform, and the platform performs big data analysis according to the acquired data.
While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. An integrated ground-air surveying and mapping inspection automobile robot comprises an inspection vehicle and an unmanned aerial vehicle, and is characterized in that the inspection vehicle is provided with a movable cover door, and the movable cover door is connected with a vehicle body framework of the inspection vehicle; a hidden unmanned cabin for accommodating an unmanned aerial vehicle is formed after the movable cover door is closed, and the unmanned aerial vehicle is positioned in the hidden unmanned aerial vehicle cabin; unmanned aerial vehicle reciprocal flight in await measuring draw the airspace with between the hidden unmanned cabin, the patrol and examine the car walking in waiting to patrol and examine the route, unmanned aerial vehicle with the patrol and examine the car and carry out two-way communication signal transmission.
2. The ground-air integrated surveying and mapping inspection automobile robot according to claim 1, wherein an apron is arranged in the hidden unmanned aerial vehicle cabin, and the apron is fixedly connected with the vehicle body framework through an electric fork arm lifting mechanism; an unmanned aerial vehicle resetting device and a wireless charging device are further installed on the parking apron; unmanned aerial vehicle's foot rest with unmanned aerial vehicle resetting means passes through anchor clamps to be connected fixedly.
3. The ground-air integrated surveying and mapping inspection automobile robot according to claim 2, wherein the electric fork arm lifting mechanism comprises a first fork arm and a second fork arm which are movably connected in an X-shape, a sliding block is connected to one end of the first fork arm, the sliding block drives the parking apron to perform lifting action through reciprocating motion, the other end of the first fork arm is connected with the parking apron, and correspondingly, one end of the second fork arm is fixed on the electric fork arm lifting mechanism, and the other end of the second fork arm is connected with the parking apron; the unmanned aerial vehicle resetting device is located on the parking apron.
4. The ground-air integrated surveying and mapping inspection automobile robot according to claim 1, wherein the inspection vehicle is provided with a side door, and the side door is fixed with the vehicle body framework through a bent arm hinge and a lock; one end of the bent arm hinge is fixed on the car body framework in a threaded manner, and the other end of the bent arm hinge is fixed on the side door; the locking structure is fixed on the side door and is matched with and locked with the locking structure of the car body framework.
5. The ground-air integrated surveying and mapping inspection automobile robot according to claim 1, wherein the inspection vehicle further has a vehicle-mounted bell mouth, and the vehicle-mounted bell mouth is integrated with a side wall of the inspection vehicle; the inspection vehicle is also provided with an LED display screen, and the front part and the rear part of the inspection vehicle are respectively provided with one LED display screen.
6. The ground-air integrated surveying and mapping inspection automobile robot according to claim 5, wherein the LED display screen is fixed on the automobile body framework through a mounting bracket.
7. The inspection vehicle robot for integrated ground-air surveying and mapping according to claim 1, wherein a 3D laser radar is fixed with a laser radar base in a threaded manner through a mounting plate on the inspection vehicle; the inertial navigation antenna is fixed on the roof of the inspection vehicle through a mounting base in a threaded connection manner; the inspection vehicle is further provided with a whole vehicle all-round looking-around image device, the whole vehicle all-round looking-around image device is composed of a vehicle-mounted high-definition camera which is positioned in the front, the back, the left direction and the right direction of the inspection vehicle, and the vehicle-mounted high-definition camera is fixed to the shell of the inspection vehicle through a camera mounting support in a threaded connection mode.
8. The ground-air integrated surveying and mapping inspection automobile robot according to claim 7, wherein a whole automobile ultrasonic module is further mounted on the inspection automobile, the whole automobile ultrasonic module has 12 ultrasonic radars, four automobile heads and four automobile tails of the inspection automobile are respectively mounted, two automobile heads and two automobile tails are respectively mounted on two sides of the inspection automobile, and the automobile heads and the shell of the inspection automobile are clamped and fixed.
9. The inspection vehicle robot for integrated ground-air surveying and mapping according to claim 1, wherein the inspection vehicle further comprises a modular wire control chassis and a vehicle body storage space, and the vehicle body storage space is used for storing inspection emergency supplies; be provided with the high definition digtal camera of taking rotatable mount pad on the unmanned aerial vehicle.
10. The ground-air integrated surveying and mapping inspection automobile robot according to claim 3, wherein the unmanned aerial vehicle resetting device comprises an infrared or image alignment device, an alignment mark is arranged in the hidden unmanned aerial vehicle cabin, and a rotatable camera is arranged in the hidden unmanned aerial vehicle cabin.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122029061 | 2021-08-26 | ||
| CN2021220290619 | 2021-08-26 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216659711U true CN216659711U (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202123196795.2U Active CN216659711U (en) | 2021-08-26 | 2021-12-20 | Ground-air integrated surveying and mapping inspection automobile robot |
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| CN (1) | CN216659711U (en) |
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2021
- 2021-12-20 CN CN202123196795.2U patent/CN216659711U/en active Active
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Denomination of utility model: Ground Air Integrated Surveying and Inspection Vehicle Robot Effective date of registration: 20230515 Granted publication date: 20220603 Pledgee: China Construction Bank Corporation Nanjing Qinhuai sub branch Pledgor: Jiangsu wisdom Automobile Research Institute Co.,Ltd. Registration number: Y2023980040628 |