A tunnel inspection device that carries a drone

Abstract

This invention discloses a UAV for tunnel inspection equipment, comprising an instrument, a fuselage, an omnidirectional propeller system, a support system, an instrument mounting system, a positioning and obstacle avoidance system, and a main control power system. The main control power system is located inside the fuselage. The instrument mounting system connects the instrument to the fuselage, allowing adjustment of the instrument's altitude and direction. The positioning and obstacle avoidance system is distributed around the fuselage. The omnidirectional propeller system includes several sets of omnidirectional propeller components, symmetrically distributed around the fuselage via the support system and connected to the fuselage, providing power for the UAV's flight. This solution significantly improves the efficiency of tunnel health inspection by using a UAV to carry tunnel structure inspection equipment.

Description

Technical Field

[0001] This invention relates to the field of construction engineering technology, and specifically to a tunnel inspection equipment carrying a drone. Background Technology

[0002] In recent years, the scale of national infrastructure projects has been continuously expanding, and infrastructure construction is developing towards greater intelligence. After the completion of tunnel construction in highway and railway projects, a large amount of manpower and resources are needed to inspect the tunnel cross-section structure. At the same time, it is necessary to coordinate with vehicles, erect scaffolds, and manually work at heights to place equipment on the tunnel surface for inspection. The inspection efficiency is low, and it poses a great threat to the personal safety of construction workers.

[0003] Therefore, improving the efficiency of tunnel health inspection is a problem that needs to be solved in this field. Summary of the Invention

[0004] In view of the technical problem of low efficiency in existing tunnel health inspection, the purpose of this invention is to provide a tunnel inspection equipment carrying a drone, which can effectively solve the problem of low inspection efficiency and overcome the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a tunnel inspection equipment carrier drone, comprising an instrument, a fuselage, an omnidirectional propeller system, a support system, an instrument mounting system, a positioning and obstacle avoidance system, and a main control power system; the main control power system is located inside the fuselage; the instrument mounting system connects the instrument to the fuselage, and the instrument's altitude and direction can be adjusted through the instrument mounting system; the positioning and obstacle avoidance system is distributed around the fuselage; the omnidirectional propeller system includes several sets of omnidirectional propeller components, which are symmetrically distributed around the fuselage through the support system and connected to the fuselage, providing power for the drone's flight.

[0006] Furthermore, the fuselage has a symmetrical polygonal shape; the interior of the fuselage is a cavity for housing the main control power system.

[0007] Furthermore, the main control power system includes a battery and a control circuit board; the battery is connected in conjunction with the power components inside the drone to provide power to the drone's power components; the control circuit board is connected in conjunction with the control components inside the drone to control the drone to perform corresponding operations.

[0008] Furthermore, the positioning and obstacle avoidance system is located on the outside of the fuselage; the positioning and obstacle avoidance system includes a radar and several sets of binocular lenses; the several sets of binocular lenses are distributed around the fuselage and connected to the control circuit board of the internal main control power system, sending identification information to the control circuit board.

[0009] The radar is located on one side of the fuselage and is connected to the control circuit board of the internal main power system.

[0010] Furthermore, the instrument mounting system includes two sets of instrument mounting components, which are symmetrically arranged on both sides of the instrument. Each set of instrument mounting components includes two adjusting rods, a fastening device, two ear plates, and a pin.

[0011] The two ear plates are symmetrically arranged on different surfaces of the machine body; the two adjusting rods are arranged in a cross shape, with the upper part of the two adjusting rods connected to the instrument by a pin, and the lower part connected by the ear plates. By adjusting the position of the adjusting rods relative to the ear plates, the overall height and direction of the instrument can be adjusted.

[0012] The two adjusting rods are connected at their intersection by a fastening device.

[0013] Furthermore, the instrument has four electric vehicle wheels at its four top ends; the electric vehicle wheels have a rubber outer layer on their surface.

[0014] Furthermore, each omnidirectional propeller assembly includes a protective cover, a propeller, a motor, a first steering motor, a second steering motor, a motor support platform, and a steering structure protective cover.

[0015] The steering structure protective cover has a hollow interior; the first steering motor, the second steering motor, and the motor support platform are disposed inside the steering structure protective cover; the first steering motor is disposed on the motor support platform, and the second steering motor is located below the motor support platform and disposed at the bottom of the steering structure protective cover;

[0016] The motor is mounted on the middle frame of the steering structure protective cover and passes through the steering structure protective cover to drive the propeller, thereby providing a power source for the UAV by driving the propeller through the motor.

[0017] The motor is fixed by an outer protective shell, on which several brackets for connecting to the protective cover are symmetrically arranged; the protective cover is arranged around the propeller.

[0018] Furthermore, the tunnel inspection equipment carrying the UAV also includes a shock absorption protection system; the shock absorption protection system includes a foot support frame, a plurality of first shock absorption springs and second shock absorption springs;

[0019] The first shock-absorbing springs are respectively disposed on both sides of the two symmetrical planes of the instrument; the second shock-absorbing springs are connected to the foot support frame to form an integral structure, and are correspondingly disposed below each omnidirectional propeller assembly. One end of the integral structure is connected to the support system, and the other end is connected to the bottom of the omnidirectional propeller assembly.

[0020] The tunnel inspection equipment provided in this solution carries drones, which carry tunnel structure inspection equipment to conduct tunnel structure health inspections, greatly improving the efficiency of tunnel health inspections. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a schematic diagram of the overall structure of the carrier drone;

[0023] Figure 2 This is a schematic diagram of the main control power system structure in this carrier UAV;

[0024] Figure 3 This is a schematic diagram of the positioning and obstacle avoidance system and the instrument-carrying system in this carrier UAV;

[0025] Figure 4 This is a schematic diagram illustrating the working status of the instrument-carrying system in this carrier UAV;

[0026] Figure 5 This is a schematic diagram of the installation structure of the electric wheel in this carrier drone;

[0027] Figure 6 This is a schematic diagram of the omnidirectional propeller system in this carrier UAV;

[0028] Figure 7 This is a structural diagram of the omnidirectional propeller system and the shock absorption protection system in this carrier UAV.

[0029] The following are the component labels in the attached diagram:

[0030] 100. Instruments 200. Airframe 300. Main Control Power System 400. Positioning and Obstacle Avoidance System 500. Instrument Mounting System 600. Electric Wheels 700. Omnidirectional Propeller System 800. Support System 900. Shock Absorption and Protection System

[0031] 310. Battery 320. Control circuit board 410. Binocular lens 420. Radar 510. Adjusting rod 520. Ear plate 530. Fastening device 710. Protective cover 720. Propeller 730. Motor 740. Steering structure protective cover 750. Bracket 760. First steering motor 770. Motor support platform 780. Second steering motor 910. First shock absorber spring 920. Second shock absorber 930. Foot support 940. Connecting shaft. Detailed Implementation

[0032] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0033] To address the low efficiency of existing tunnel health inspection methods, this invention provides a tunnel inspection equipment-carrying drone. The drone carries tunnel structure inspection equipment to perform tunnel structure health inspections, significantly improving the efficiency of tunnel health inspections.

[0034] This solution provides a drone-borne transport system for tunnel inspection equipment; see [link / reference]. Figure 1 It includes an instrument 100, a fuselage 200, a main control power system 300, a positioning and obstacle avoidance system 400, an instrument mounting system 500, an omnidirectional propeller system 700, and a support system 800.

[0035] The fuselage 200 has a symmetrical polygonal structure; the interior of the fuselage 200 is a cavity used to house the main control power system 300.

[0036] The main control power system 300 is used to control the overall UAV structure and provide power to the UAV structure; it is located inside the fuselage 200, see [link to documentation]. Figure 2 It includes a battery 310 and a control circuit board 320.

[0037] The battery 310 is placed inside the fuselage 200 and connects with the power components inside the drone to provide power for the operation of the drone.

[0038] The control circuit board 320 is connected to the internal control components of the UAV to control the UAV to perform corresponding operations. The control circuit board 320 is equipped with key modules for UAV flight, such as ESC, radio, signal amplifier, circuit lines, flight control, image transmission, and data transmission.

[0039] Here, the module composition scheme on the control circuit board 320 is not limited, and can be determined according to actual needs. As an example, the module composition scheme on the control circuit board 320, such as the composition of the corresponding component modules, the connection relationship between the modules and the working principle, can adopt existing stable and reliable technical solutions, which will not be elaborated here.

[0040] See Figure 3 The positioning and obstacle avoidance system 400 is located on the outside of the fuselage 200 and is used to provide early warning and positioning protection for the UAV. The positioning and obstacle avoidance system 400 includes a radar 420 and several sets of binocular lenses 410.

[0041] Several sets of binocular lenses 410 are distributed around the fuselage 200 and connected to the control circuit board 320 of the internal main control power system. They send the identification information to the control circuit board, enabling the UAV to perceive, identify and process optical images in all directions in the tunnel, and providing early warning information for the UAV.

[0042] The radar 420 is located on one side of the fuselage 200 and is connected to the control circuit board 320 of the internal main control power system. The radar 420 can quickly and accurately scan the scene around the UAV and complete the positioning information of obstacles and structures around the fuselage through laser ranging, providing effective positioning guarantee for the safe flight of the UAV.

[0043] The instrument mounting system 500 is used for height adjustment and fixation of the instrument 200; see [link / reference] Figure 3 It includes two sets of instrument mounting components, which are symmetrically arranged on both sides of the instrument 200. Each set of instrument mounting components has the same components, including two adjusting rods 510, fastening device 530, two ear plates 520 and pin shaft.

[0044] Two ear plates 520 are symmetrically arranged on different surfaces of the fuselage 200; two adjusting rods 510 are arranged crosswise, with the upper part of the two adjusting rods 510 connected to the outer shell of the instrument 100 by a pin, and the lower part connected by a fixing device of the ear plates 520. By adjusting the position of the adjusting rods 510 relative to the ear plates, the overall height of the instrument 100 can be adjusted to balance the weight of the UAV fuselage.

[0045] The two adjusting rods 510 are connected by a fastening device 530, which ensures the stability of the structure at different angles.

[0046] When measuring the tunnel vault, i.e., the 12 o'clock position inside the tunnel, refer to... Figure 1 The instrument is placed horizontally with two adjusting rods supporting it. When measuring the position of the tunnel arch, i.e., at the 2 o'clock and 10 o'clock positions inside the tunnel, refer to... Figure 4 Two adjusting rods are placed opposite each other, and the instrument is adjusted upwards to an angle of about 45 degrees by adjusting the rods.

[0047] By adjusting the length, angle, number, and direction of the propellers of the adjusting rod 510, the instrument 100 can be used at multiple angles for different purposes to complete the internal inspection of the tunnel.

[0048] Also see Figure 5 Electric vehicle wheels 600 are provided at the four top points of the instrument 100. By setting electric vehicle wheels 600, the UAV can be provided with structural limiting support to prevent the instrument 100 from hitting the tunnel arch. On the other hand, the UAV can be guided when flying longitudinally in the tunnel.

[0049] Preferably, the electric wheel 600 uses an electrically driven Mecanum wheel, which can achieve forward, backward, left and right linear and diagonal movement, as well as rotation.

[0050] Secondly, the surface material of the 600 electric vehicle wheels is made of rubber, which can effectively buffer the impact of rising too fast; at the same time, when the drone flies longitudinally in the tunnel, it can also provide rolling friction, so that the drone moves longitudinally in the tunnel as a whole.

[0051] The omnidirectional propeller system 700 is used for the flight and steering of the UAV. (See attached image) Figures 6-7 It includes several sets of omnidirectional propeller assemblies, which are symmetrically distributed around the fuselage 200 and connected to the fuselage 200 through the support system 800, providing power for the flight of the UAV.

[0052] Each omnidirectional propeller assembly has the same structural composition, including a protective cover 710, a propeller 720, a motor 730, a first steering motor 760, a second steering motor 780, a motor support platform 770, and a steering structure protective cover 740.

[0053] The steering structure protective cover 740 has a storage cavity inside, which is used to house the first steering motor 760, the second steering motor 780, and the motor support platform 770.

[0054] The first steering motor 760 is mounted on the motor support platform 770, and the second steering motor 780 is located below the motor support platform 770 and at the bottom of the steering structure protective cover 740.

[0055] The first steering motor 760 and the second steering motor 780, through gear transmission, can provide a certain range of steering for the propeller 720. When the drone is operating, the steering is adjusted to achieve overall lift balance of the drone fuselage.

[0056] The motor 730 is mounted on the intermediate frame of the steering structure protective cover 740 and passes through the steering structure protective cover 740 to drive the propeller 720, thus providing a power source for the UAV by driving the propeller 720 through the motor.

[0057] The motor 730 is fixed by setting an outer protective shell. At the same time, several brackets 750 connecting the protective cover 710 are symmetrically arranged on the outer protective shell.

[0058] The protective cover 710 is set around the propeller 720. By setting the protective cover 710, the propeller blades can be protected from colliding with tunnel walls, obstacles or construction personnel when the drone is working.

[0059] The support system 800 includes a fuselage support and a carbon fiber rod; the fuselage support is an auxiliary connection component for the UAV; the carbon fiber rod is the connector between the fuselage and the omnidirectional propeller system 700.

[0060] The number of carbon fiber rods is not limited and is the same as that of the omnidirectional propeller system 700. The specific number depends on the number of omnidirectional propeller systems.

[0061] Furthermore, the tunnel inspection equipment also includes a vibration damping protection system 900 for transporting the UAV. The vibration damping protection system 900 is used to dampen and protect the UAV during flight. See [link to relevant documentation]. Figure 5 and Figure 7 It includes a foot support 930, several first damping springs 910 and second damping springs 920.

[0062] Among them, see Figure 5 Several first shock-absorbing springs 910 are respectively set on both sides of the two symmetrical planes of the instrument 100, which can effectively buffer the impact force brought by the drone rising too fast, so as to prevent the drone from crashing into the tunnel.

[0063] Furthermore, the support frame 930 is composed of two arc-shaped connecting frames; the two connecting frames are connected by a connecting shaft 940.

[0064] The second shock-absorbing spring 920 and the foot support 930 are connected as one unit via a connecting shaft 940 and are respectively set below each omnidirectional propeller assembly. One end of the spring is connected to the support system 800 via the connecting shaft 940, and the other end is connected to the bottom of the steering structure protective cover 740. This design can effectively alleviate the impact force caused by excessive landing speed during drone landing, while improving contact support during landing.

[0065] The tunnel inspection equipment constructed using the above scheme can carry drones and be used in tunnel construction projects such as highways, railways, and subways. By using drones to carry tunnel structure inspection equipment to conduct tunnel structure health inspections, the problem of low inspection efficiency can be effectively solved, and the personal safety of inspection personnel can be guaranteed.

[0066] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel inspection device that carries an unmanned aerial vehicle, characterized in that, The system includes instruments, a fuselage, an omnidirectional propeller system, a support system, an instrument mounting system, a positioning and obstacle avoidance system, a main control power system, and a shock absorption and protection system. The main control power system is located inside the fuselage. The instrument mounting system connects the instruments to the fuselage and allows for adjustments to the instruments' altitude and direction. The positioning and obstacle avoidance system is distributed around the fuselage. The omnidirectional propeller system comprises several sets of omnidirectional propeller components, symmetrically distributed around the fuselage via the support system and connected to the fuselage, providing power for the UAV's flight. The instrument mounting system includes two sets of instrument mounting components, symmetrically arranged on both sides of the instrument. Each set of instrument mounting components has the same components, including two adjusting rods, a fastening device, two ear plates, and a pin. The two ear plates are symmetrically arranged on different surfaces of the fuselage. The two adjusting rods are arranged crosswise, with the upper part of the two adjusting rods connected to the outer shell of the instrument via the pin, and the lower part connected via the ear plate fastening device. The overall height and direction of the instrument are adjusted by adjusting the position of the adjusting rods relative to the ear plates to balance the weight of the UAV. The crosswise position of the two adjusting rods is connected by the fastening device. When measuring the tunnel arch, the two adjusting rods are placed opposite each other to place the instrument horizontally. When measuring the tunnel waist, the two adjusting rods are placed opposite each other to adjust the instrument upward to an angle of approximately 45 degrees. The shock absorption protection system includes a foot support frame, several first shock-absorbing springs and second shock-absorbing springs. The first shock-absorbing springs are respectively arranged on both sides of the two symmetrical planes of the instrument to buffer the impact force caused by the drone's rapid ascent, so as to prevent the drone from crashing into the tunnel. The foot support frame is composed of two arc-shaped connecting frames, which are connected by a connecting shaft. The second shock-absorbing springs are connected to the foot support frame by the connecting shaft to form an integral structure, which is correspondingly arranged below each omnidirectional propeller assembly. One end of the integral structure is connected to the support system by the connecting shaft, and the other end is connected to the bottom of the omnidirectional propeller assembly.

2. The tunnel inspection equipment carrying an unmanned aerial vehicle according to claim 1, characterized in that, The fuselage has a symmetrical polygonal structure; the interior of the fuselage is a cavity for housing the main control power system.

3. The tunnel inspection equipment carrying a drone according to claim 1, characterized in that, The main control power system includes a battery and a control circuit board; the battery is connected in conjunction with the power components inside the drone to provide power to the drone's power components; the control circuit board is connected in conjunction with the control components inside the drone to control the drone to perform corresponding operations.

4. A tunnel inspection equipment carrying an unmanned aerial vehicle according to claim 1 or 3, characterized in that, The positioning and obstacle avoidance system is located on the outside of the fuselage; the positioning and obstacle avoidance system includes a radar and several sets of binocular lenses; the several sets of binocular lenses are distributed around the fuselage and connected to the control circuit board of the internal main power system, and send the identification information to the control circuit board. The radar is located on one side of the fuselage and is connected to the control circuit board of the internal main power system.

5. A tunnel inspection equipment carrying an unmanned aerial vehicle according to claim 1, characterized in that, The instrument has four electric vehicle wheels at its top edges; the electric vehicle wheels have a rubber outer layer on their surface.

6. A tunnel inspection equipment carrying an unmanned aerial vehicle according to claim 1, characterized in that, Each omnidirectional propeller assembly includes a protective cover, a propeller, a motor, a first steering motor, a second steering motor, a motor support platform, and a steering structure protective cover. The interior of the steering structure protective cover is a cavity; The first steering motor, the second steering motor, and the motor support platform are housed inside the steering structure protective cover; The first steering motor is mounted on the motor support platform, and the second steering motor is located below the motor support platform and at the bottom of the steering structure protective cover; The motor is mounted on the middle frame of the steering structure protective cover and passes through the steering structure protective cover to drive the propeller, thereby providing a power source for the UAV by driving the propeller through the motor. The motor is fixed by setting an outer protective shell, on which several brackets for connecting the protective cover are symmetrically arranged; the protective cover is set around the propeller.

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