A drone for underground cruising

Abstract

The present invention discloses an underground cruising drone, comprising a main body, a plurality of arms fixedly arranged on the main body, and a power mechanism fixedly arranged at the ends of the arms, a driving motor is installed on the top of the main body, a first screw is rotatably arranged on the driving motor, a first slider is threadedly arranged on the first screw, a plurality of top rods are hingedly arranged on the first slider, a second screw is fixedly arranged on the end of the first screw, and a second slider is threadedly arranged on the second screw. The device prevents the rubble falling in the mine from hitting the drone through the protection of the first safety net and the second safety net, thereby avoiding damage to the drone, and at the same time, the antenna is unfolded following the track frame, thereby increasing the signal transmission capacity, thereby ensuring the stability of signal transmission, and the first safety net and the second safety net are stored through the folding of the ribs and the top rod, which is convenient for the storage of the drone and saves storage space.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an unmanned aerial vehicle for underground cruising. Background Art

[0002] The mine environment is a typical underground environment with no GPS signal coverage, single color, few feature points, and a relatively complex environment. In order to ensure the production safety of the mine, workers inevitably have to go to the dangerous areas of the underground working surface every day to perform inspection tasks and promptly discover potential accidents and dangerous situations. The work process is relatively repetitive and dangerous, so drones are chosen to replace workers to conduct underground inspections.

[0003] When a drone is flying in a mine for inspection, debris will inevitably fall into the mine, posing a certain degree of threat to the drone's inspection work. Therefore, it is necessary to install protective devices on the drone to adapt to the environment in the mine to prevent the drone from being hit by falling objects and being damaged. The existing drone protection devices are not perfect and are not easy to store. At the same time, when the drone enters deeper into the mine, the signal transmission is poor, which affects the drone's inspection and even makes it unable to work normally, which is not conducive to the inspection work. Summary of the invention

[0004] The purpose of the present invention is to provide a UAV for underground cruising and put it into use to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an underground cruising drone, comprising a main body, a plurality of arms fixedly arranged on the main body, and a power mechanism fixedly arranged at the ends of the arms, wherein a driving motor is installed on the top of the main body, a first screw rod is rotatably arranged on the driving motor, a first slider is threadedly arranged on the first screw rod, a plurality of top rods are hingedly arranged on the first slider, a second screw rod is fixedly arranged on the end of the first screw rod, a second slider is threadedly arranged on the second screw rod, a plurality of ribs are hingedly arranged on the second slider, a sliding rod is fixedly arranged on the ribs, a sliding sleeve hingedly arranged with the top rod is slidably arranged on the sliding rod, a track frame is hingedly arranged at the end of the ribs, a support rod hingedly arranged with the track frame is hingedly arranged on the arm, a first safety net is installed between the ribs and between the track frames, and a second safety net is installed on the track frame;

[0006] An antenna for transmitting signals is installed on the track frame.

[0007] Preferably, an extension bracket is fixedly provided at the bottom of the main body, an onboard computer is fixedly provided on the extension bracket, a depth camera is fixedly provided on the main body, the depth camera is electrically connected to the onboard computer, infrared sensors are fixedly provided on the top of the main body and the bottom of the onboard computer, a plurality of lighting lamps are fixedly provided on the top of the main body, a WIFI module is fixedly provided inside the onboard computer, and the WIFI module is electrically connected to the antenna.

[0008] Preferably, the structural ropes of the first safety net and the second safety net are wrapped with a plurality of reflective strips, and a light strip is installed on the first safety net, and the light strip is electrically connected to the onboard computer.

[0009] Preferably, the power mechanism includes an electric telescopic rod fixedly arranged at the end of the arm, a brushless motor fixedly arranged at the end of the electric telescopic rod, a reducer arranged on the brushless motor, a propeller fixedly arranged at the output end of the reducer, and an electric adjustment module fixedly arranged on the onboard computer, the electric adjustment module is electrically connected to the brushless motor, and the plurality of electric telescopic rods are electrically connected to the onboard computer.

[0010] Preferably, a plurality of micro motors are fixedly mounted on the extension bracket, and the plurality of micro motors are evenly arranged 360 degrees below the side of the main body, the micro motors are electrically connected to the electric adjustment module, and blades are rotatably mounted on the micro motors.

[0011] Preferably, a gas sensor and a dust sensor are fixedly mounted on the main body, and both the gas sensor and the dust sensor are electrically connected to the onboard computer.

[0012] Technical effects and advantages of the present invention:

[0013] 1. By unfolding the top rod and the ribs, the first safety net and the second safety net enter a protective state, preventing objects such as gravel falling in the mine from hitting the drone, effectively avoiding damage to the drone. At the same time, in the protective state, the antenna is unfolded following the track frame, increasing the transmission signal of the WIFI module, thereby ensuring that the signal transmission of the drone is more stable during the inspection process, and in the protective state, the reflective strip is also unfolded, making the drone more conspicuous, preventing moving workers from colliding with the drone, thereby making the drone inspection work smoother and more stable, and resetting the ribs and the top rod to fold the first safety net and the second safety net, so that the first safety net and the second safety net can be stored, which is convenient for the storage of the drone and saves storage space.

[0014] 2. The infrared sensor makes up for the situation in which the depth camera is disturbed and cannot accurately obtain information when encountering a lot of dust in the mine. During the flight inspection, the onboard computer obtains the surface and texture information of the object through the depth camera and infrared sensor to guide the navigation and obstacle avoidance of the drone, thereby realizing the automatic obstacle avoidance function of the drone. The infrared sensor and the depth camera work together to make the obstacle avoidance function of the drone real-time and efficient, and the drone can also avoid obstacles in all directions. The safety performance has also been greatly improved, reducing the impact of dust in the mine on the obstacle avoidance function of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the drone of the present invention when it is protected;

[0016] Figure 2 This is a schematic diagram of the structure of the drone of the present invention when it is stored;

[0017] Figure 3 It is a top view of the present invention.

[0018] In the figure:

[0019] 1. Main body; 2. Arm;

[0020] 3. Power mechanism; 31. Electric telescopic rod; 32. Brushless motor; 33. Speed ​​reducer; 34. Propeller;

[0021] 4. Extension bracket; 5. Onboard computer; 6. Depth camera; 7. Infrared sensor;

[0022] 81. first screw rod; 82. first slider; 83. top rod; 84. second screw rod; 85. second slider; 86. ribs; 87. track frame; 88. first safety net; 89. second safety net;

[0023] 9. Reflective strip; 10. Light belt; 11. Micro motor; 12. Paddle blades. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The present invention provides Figure 1-3The shown drone for underground cruising comprises a main body 1, a plurality of arms 2 fixedly arranged on the main body 1, and a power mechanism 3 fixedly arranged at the end of the arms 2. A driving motor is installed on the top of the main body 1, and a first screw rod 81 is rotatably arranged on the driving motor. A first slider 82 is threadedly arranged on the first screw rod 81, and a plurality of top rods 83 are hingedly arranged on the first slider 82. A second screw rod 84 is fixedly arranged at the end of the first screw rod 81, and a second slider 85 is threadedly arranged on the second screw rod 84. A plurality of ribs 86 are hingedly arranged on the second slider 85, and a sliding rod is fixedly arranged on the ribs 86. A sliding sleeve hingedly arranged with the top rod 83 is slidably arranged on the sliding rod. A track frame 87 is hingedly arranged at the end of the ribs 86, and a support rod hingedly arranged with the track frame 87 is hingedly arranged on the arm 2. A first safety net 88 is installed between the ribs 86 and between the track frames 87, and a second safety net 89 is installed on the track frame 87.

[0026] An antenna for transmitting signals is installed on the track frame 87 .

[0027] When working, the driving motor drives the first screw rod 81 to rotate, and the first screw rod 81 drives the first slider 82 to move vertically through the threaded transmission, and the first slider 82 drives the top rod 83 to unfold. At the same time, the driving motor drives the second screw rod 84 to rotate, and the second screw rod 84 drives the second slider 85 to move vertically through the threaded transmission, and the second slider 85 drives the ribs 86 to unfold. When the ribs 86 and the top rod 83 are opened, the supporting rods are driven to open, so that the first safety net 88 and the second safety net 89 are unfolded. When the UAV works in the mine, it prevents objects such as gravel falling in the mine from hitting the main body 1 and affecting the flight of the UAV, and effectively protects the UAV. When gravel above the UAV falls, the first safety net 88 The falling gravel is blocked and falls to the ground along the track rod, which reduces the damage of the flying drone caused by falling gravel and other objects and prolongs the service life of the drone. When the track frame 87 is unfolded, the antenna is also unfolded, thereby increasing the transmission signal of the WIFI module, thereby ensuring that the signal transmission of the drone is more stable during the inspection process and ensuring the smooth progress of the work. At the same time, after the inspection is completed, the drive motor is adjusted again, and the drive motor drives the first screw rod 81 and the second screw rod 84 to rotate, so that the umbrella rib 86 and the top rod 83 are reset, and the first safety net 88 and the second safety net 89 are folded, so that the first safety net 88 and the second safety net 89 are stored, which is convenient for the storage of the drone and saves storage space.

[0028] An extension bracket 4 is fixedly provided at the bottom of the main body 1, an onboard computer 5 is fixedly provided on the extension bracket 4, a depth camera 6 is fixedly provided on the main body 1, and the depth camera 6 is electrically connected to the onboard computer 5. Infrared sensors 7 are fixedly provided at the top of the main body 1 and the bottom of the onboard computer 5, a plurality of lighting lamps are fixedly provided on the top of the main body 1, a WIFI module is fixedly provided inside the onboard computer 5, and the WIFI module is electrically connected to the antenna. When working, the user controls the drone to enter the mine through a remote controller, and then the drone inspects the mine. The depth camera 6 used by the drone is an RGB-D camera, which acquires depth and RGB data. After measuring the depth, the RGB-D camera automatically completes the pairing between the depth and the color image pixels, outputs the color image and the depth image with corresponding meanings, reads the depth information and the color information, calculates the 3D camera coordinates of the pixels, and generates a point cloud, which can be faced at the image level or the point cloud level. The RGB-D data is processed, the infrared sensor 7 on the top of the main body 1 is used for limiting height, preventing collisions and monitoring surrounding objects, and the infrared sensor 7 at the bottom of the onboard computer 5 is used for measuring height, assisting landing and monitoring surrounding objects. The infrared sensor 7 makes up for the situation in the mine where there is a lot of dust and the depth camera 6 is disturbed and cannot accurately obtain information. The depth camera 6 cooperates with the infrared sensor 7 to obtain information in the mine, and detects deformation, water seepage and leakage in the mine tunnel. At the same time, during the flight inspection, the onboard computer 5 obtains the surface and texture information of the object through the depth camera 6 and the infrared sensor 7 to guide the navigation and obstacle avoidance of the drone, thereby realizing the automatic obstacle avoidance function of the drone. The infrared sensor 7 works together with the depth camera 6 to make the obstacle avoidance function of the drone real-time and efficient, and the drone can also perform multi-directional obstacle avoidance, and the safety performance has also been greatly improved, reducing the impact of dust in the mine on the obstacle avoidance function of the drone.

[0029] The structural ropes of the first safety net 88 and the second safety net 89 are wrapped with a plurality of reflective strips 9. A light strip 10 is installed on the first safety net 88. The light strip 10 is electrically connected to the onboard computer 5. Since the workers work in the mine and their movements are irregular, the drone cannot determine the workers' movement trajectory, and the mine space is relatively small. Therefore, when encountering workers, the workers are required to pause or actively avoid to cooperate with the drone's inspection work. When the infrared sensor 7 senses that there are workers near the drone, it transmits a signal to the onboard computer 5. The onboard computer 5 starts the light strip 10 based on the signal, and the reflective strip 9 reflects light, making the drone more conspicuous and preventing the moving workers from colliding with the drone.

[0030] The power mechanism 3 includes an electric telescopic rod 31 fixedly arranged at the end of the arm 2, a brushless motor 32 fixedly arranged at the end of the electric telescopic rod 31, a reducer 33 transmitted on the brushless motor 32, a propeller 34 fixedly arranged at the output end of the reducer 33, and an electric adjustment module fixedly arranged on the onboard computer 5. The electric adjustment module is electrically connected to the brushless motor 32, and the plurality of electric telescopic rods 31 are electrically connected to the onboard computer 5. When the drone encounters a fallen object during inspection, the depth camera 6 transmits a signal to the onboard computer 5, and the onboard computer 5 issues an avoidance command to adjust the electric adjustment module and the electric telescopic rod 31, so that the drone can quickly avoid obstacles to adapt to the complex environment in the mine.

[0031] A plurality of micro motors 11 are fixedly mounted on the extension bracket 4, and the plurality of micro motors 11 are evenly arranged 360 degrees at the lower side of the main body 1. The micro motors 11 are electrically connected to the electric adjustment module, and the micro motors 11 are rotatably mounted with propeller blades 12. When the UAV is conducting an inspection, the electric adjustment module adjusts the micro motors 11 to rotate the propeller blades 12, thereby assisting the UAV to quickly avoid an obstacle.

[0032] A gas sensor and a dust sensor are fixedly installed on the main body 1. The gas sensor and the dust sensor are electrically connected to the onboard computer 5 to detect the gas concentration and dust concentration in the entire space of the mine. The real-time information of the mine space can be grasped in real time, and an early warning will be issued when the measured data exceeds the standard.

Claims

1. An underground cruising drone, comprising a main body (1), a plurality of arms (2) fixedly arranged on the main body (1), and a power mechanism (3) fixedly arranged at the ends of the arms (2), characterized in that: A driving motor is installed on the top of the main body (1), a first screw rod (81) is rotatably provided on the driving motor, a first slider (82) is threadedly provided on the first screw rod (81), a plurality of top rods (83) are hingedly provided on the first slider (82), a second screw rod (84) is fixedly provided at the end of the first screw rod (81), a second slider (85) is threadedly provided on the second screw rod (84), a plurality of ribs (86) are hingedly provided on the second slider (85), a sliding rod is fixedly provided on the ribs (86), a sliding sleeve hingedly provided with the top rod (83) is slidably provided on the sliding rod, a track frame (87) is hingedly provided at the end of the ribs (86), a support rod hingedly provided with the track frame (87) is hingedly provided on the frame arm (2), a first safety net (88) is installed between the ribs (86) and between the track frames (87), and a second safety net (89) is installed on the track frame (87); An antenna for transmitting signals is installed on the track frame (87); The power mechanism (3) comprises an electric telescopic rod (31) fixedly arranged at the end of the arm (2), a brushless motor (32) fixedly arranged at the end of the electric telescopic rod (31), a reducer (33) arranged on the brushless motor (32), a propeller (34) fixedly arranged at the output end of the reducer (33), and an electric adjustment module fixedly arranged on the onboard computer (5), wherein the electric adjustment module is electrically connected to the brushless motor (32), and the plurality of electric telescopic rods (31) are electrically connected to the onboard computer (5); A gas sensor and a dust sensor are fixedly arranged on the main body (1), and both the gas sensor and the dust sensor are electrically connected to the onboard computer (5).

2. The underground cruising drone according to claim 1, characterized in that: An extension bracket (4) is fixedly arranged at the bottom of the main body (1), an onboard computer (5) is fixedly arranged on the extension bracket (4), a depth camera (6) is fixedly arranged on the main body (1), the depth camera (6) is electrically connected to the onboard computer (5), an infrared sensor (7) is fixedly arranged at the top of the main body (1) and the bottom of the onboard computer (5), a plurality of lighting lamps are fixedly arranged at the top of the main body (1), a WIFI module is fixedly arranged inside the onboard computer (5), and the WIFI module is electrically connected to an antenna.

3. An underground cruising drone according to claim 1 or 2, characterized in that: The structural ropes of the first safety net (88) and the second safety net (89) are wrapped with a plurality of reflective strips (9), and a light strip (10) is installed on the first safety net (88), and the light strip (10) is electrically connected to the onboard computer (5).

4. The underground cruising drone according to claim 2, characterized in that: A plurality of micro motors (11) are fixedly arranged on the extension bracket (4), and the plurality of micro motors (11) are evenly arranged at 360 degrees below the side of the main body (1). The micro motors (11) are electrically connected to the electric adjustment module, and blades (12) are rotatably arranged on the micro motors (11).

Images