Unmanned aerial vehicle for urban pipeline cruise

Abstract

The invention relates to the technical field of cruise unmanned aerial vehicles, and discloses an unmanned aerial vehicle for urban pipeline cruise, the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, the periphery of the unmanned aerial vehicle main body is provided with a wing stretching device, and the wing stretching device comprises a wing fixing rod fixedly connected to the side wall of the unmanned aerial vehicle main body; wing telescopic rods are slidably connected into the wing fixing rods, a stretching driving device used for driving the wing stretching device is arranged in the unmanned aerial vehicle body and comprises a stretching toothed plate arranged in the unmanned aerial vehicle body, and the stretching toothed plate is in meshed connection with a stretching toothed shaft; according to the scheme, the unmanned aerial vehicle has the beneficial effect that when the unmanned aerial vehicle passes through a narrow road section, the condition that the unmanned aerial vehicle collides with an obstacle can be avoided by shortening the length of the wings, and the problem that when the unmanned aerial vehicle leaps on the narrow road section, the unmanned aerial vehicle possibly collides with the obstacle in the narrow road due to the uncertainty of the control precision or the narrow road condition is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of cruising drones, in particular to a drone for cruising in urban pipelines. Background Art

[0002] The transmission line drone micro-nest intelligent inspection system integrates automation, artificial intelligence, Internet of Things, digitalization and other technologies. It uses a simple and efficient structure to solve problems such as automatic and precise landing of drones, automatic charging, and intelligent inspection. It is a "three highs" drone nest intelligent inspection system with high cost performance, high reliability and high efficiency. It effectively overcomes industry pain points such as low cost performance, low reliability, low practicality, and troublesome deployment, and is suitable for large-scale full coverage promotion.

[0003] The flight principle of drones is based on the coordination of aerodynamics and electronic control systems. The propellers rotate to generate lift and thrust. Sensors are used to collect flight data and computers process and send commands to control the motor speed to achieve precise flight control. By adjusting the rotation speed, direction and tilt angle of the propellers, drones can complete flight actions such as hovering, climbing, descending and direction control. At the same time, they rely on the battery system to provide energy, the image transmission system to transmit images and flight data, and the gimbal to stabilize the camera screen to ensure the smooth completion of complex flight missions.

[0004] However, when UAVs in the prior art fly over narrow sections of road, due to the lack of control accuracy or uncertainty in the narrow road conditions, the UAVs may collide with obstacles in the narrow road, causing the UAVs to malfunction; therefore, the existing needs are not met. In this regard, we propose a UAV for urban pipeline cruising. Summary of the invention

[0005] The present invention provides a drone for urban pipeline cruising, which has the beneficial effect of avoiding collision with obstacles by shortening the wing length when the drone passes through a narrow section of road, and solves the problem mentioned in the above background technology that when the drone flies over a narrow section of road, the drone may collide with obstacles in a narrow road due to the control accuracy or the uncertainty of the narrow road conditions.

[0006] The present invention provides the following technical solution: a drone for urban pipeline cruising, comprising a drone main body, wherein an extendable wing device is installed around the drone main body, wherein the extendable wing device comprises a wing fixing rod fixedly connected to the side wall of the drone main body, wherein a wing telescopic rod is slidably connected inside the wing fixing rod, wherein a spiral rod is installed at one end of the wing telescopic rod, and a propeller is installed at the top of the spiral rod.

[0007] The drone body is provided with an extension drive device for driving the extension wing device, and the extension drive device includes an extension tooth plate provided in the drone body, the extension tooth plate is meshedly connected with an extension gear shaft, and the extension tooth plates are provided in multiple groups.

[0008] A lifting scanning device is arranged at the bottom of the drone body. The lifting scanning device comprises a scanning camera arranged at the bottom of the drone body. The scanning camera is connected to the drone body through a horizontal device.

[0009] As an optional solution for a drone for urban pipeline cruising described in the present invention, the extension drive device includes a mounting groove opened in the drone body, an extension drive motor is installed in the mounting groove, the output end of the extension drive motor is fixedly connected to the extension gear shaft, and the extension gear plate is installed inside the wing fixing rod.

[0010] As an optional solution for an urban pipeline cruising drone described in the present invention, a stable deceleration device is arranged in the wing fixing rod, and the stable deceleration device includes an inner groove, a lifting slide groove and a translation slide groove opened in the wing fixing rod, a wind resistance plate is installed in the inner groove, a lifting sliding shaft is slidably connected in the lifting slide groove, and a translation sliding shaft is slidably connected in the translation slide groove, the lifting sliding shaft and the translation sliding shaft are fixedly connected to the inner side of the wind resistance plate, and the outer surface of the wind resistance plate is flush with the outer surface of the wing fixing rod.

[0011] As an optional solution for an urban pipeline cruising drone described in the present invention, the sliding of the wind resistance plate is driven by a deceleration drive device, the deceleration drive device includes a driving groove opened in the wing fixing rod, a push plate is slidably connected in the driving groove, one end of the push plate is rotatably connected to the translation sliding shaft, the other end of the push plate is resisted by the driving plate, the driving plate is fixedly connected to one side of the wing telescopic rod, the bottom of the push plate is fixedly connected to a spring plate, the spring plate is installed in the spring groove, and the spring groove is opened in the wing fixing rod.

[0012] As an optional solution for a drone for urban pipeline patrol described in the present invention, the lifting and scanning device includes a movable groove and a lifting groove opened at the bottom of the drone body, a scanning base is installed in the movable groove, a lifting plate is slidably connected in the lifting groove, the lifting plate is fixedly connected to the outer wall of the scanning base, a lifting spring is fixedly connected to the bottom of the lifting plate, and the other end of the lifting spring is fixedly connected in the lifting groove.

[0013] As an optional solution for a drone for urban pipeline cruising described in the present invention, the bottom of one of the extending tooth plates is fixedly connected with a lifting drive tooth block, the lifting drive tooth block is used to resist the lifting fixed tooth block, the lifting fixed tooth block is fixedly connected to the top of the scanning base, and a scanning camera is arranged at the bottom of the scanning base.

[0014] As an optional solution for a drone for urban pipeline cruising described in the present invention, a rotating scanning device is arranged in the scanning base, and the rotating scanning device includes a rotating groove and a ball groove opened in the scanning base, a sphere is installed in the ball groove, one side of the sphere is fixedly connected to an external connecting shaft, the other end of the external connecting shaft is installed with the scanning camera, and the external connecting shaft is located on the outside of the scanning base.

[0015] As an optional solution for a drone for urban pipeline cruising described in the present invention, one side of the sphere is fixedly connected with an internal connecting folding rod, the internal connecting folding rod is located inside the rotating groove, one end of the internal connecting folding rod is fixedly connected with a rotating shaft, the other end of the rotating shaft is fixedly connected with a No. 1 bevel gear, the No. 1 bevel gear is meshingly connected with a No. 2 bevel gear, the upper surface of the No. 2 bevel gear is fixedly connected with a driving shaft, the other end of the driving shaft is fixedly connected to the bottom of the extending gear shaft, the driving shaft is arranged in a connecting groove, and the connecting groove is opened in the scanning base.

[0016] As an optional solution for a drone for urban pipeline patrol described in the present invention, the scanning camera is installed in a horizontal device, and the horizontal device includes a rotating groove opened on one side of the scanning camera, a ball block is rotatably connected in the rotating groove, and the ball block is fixedly connected to one end of the external connecting shaft, and a telescopic rod is fixedly connected to the top of the scanning camera.

[0017] As an optional solution for a drone for urban pipeline cruising described in the present invention, the bottom of the drone body is fixedly connected to a track, a track slider is slidably connected in the track, and the bottom of the track slider is fixedly connected to the telescopic rod.

[0018] The present invention has the following beneficial effects: 1. The urban pipeline patrol drone, through the design of the telescopic wing, can greatly reduce the overall size of the drone in the process of flying over narrow sections, so that the drone can fly over narrow areas more smoothly, avoiding the collision of the drone's wings or propellers with obstacles. Under the drive of the extension drive motor, the extension gear shaft starts to rotate. The drive of the extension drive motor can be controlled by an external radar. When the drone flies to a narrow area, the radar senses the external situation and drives the extension drive motor to move, and adjusts the rotation direction of the extension drive motor according to the actual situation to achieve the contraction and extension of the wing. Since the extension tooth plate connected to the wing telescopic rod is engaged with the extension gear shaft, the extension tooth plate slides in the installation groove during the rotation of the extension gear shaft. Since there are multiple extension tooth plates, in order to prevent the extension tooth plates from colliding with each other, the positional relationship between the extension tooth plates is designed with reference to the figure. Through this design, the wing can be extended and retracted according to the external situation, thereby avoiding the collision of the drone with obstacles.

[0019] 2. The design of the lifting scanning device and the rotating scanning device of the urban pipeline patrol drone can effectively improve the scanning range of the scanning camera, thereby ensuring the supervision of each location in the city. When the wing telescopic rod is retracted, the lifting driving gear block at the bottom of the extension gear plate will resist the lifting fixed gear block at the top of the scanning base. At this time, the scanning base is subjected to the upward force of the lifting spring, and the scanning base is continuously driven by the lifting fixed gear block and the lifting driving gear block, so that the scanning base is continuously displaced in the vertical direction, thereby driving the scanning camera on one side of the scanning base to slide up and down to improve the scanning range of the scanning camera. The second bevel gear at the bottom is driven to rotate by the rotation of the extension gear shaft. Since the second bevel gear is meshed with the first bevel gear, the first bevel gear rotates synchronously, and the internal connecting folding rod is rotated through the transmission of the rotating shaft. The bending design of the internal connecting folding rod makes the sphere rotate with the inclined part of the internal connecting folding rod as the axis during the rotation of the internal connecting folding rod, thereby driving the scanning camera installed to rotate. The scanning monitoring range can be further expanded by the rotation of the scanning camera.

[0020] 3. In order to ensure that the lens of the scanning camera does not rotate during the rotation of the urban pipeline patrol drone, the design of the rotation groove and the ball block allows the scanning camera to rotate with the external connection shaft while the external connection shaft can still be in a rotating state relative to the scanning camera. At this time, the scanning camera is connected through the telescopic rod and the scanning camera is designed to be square, so that the lens of the scanning camera always maintains one direction and does not rotate. However, due to the rotation of the ball groove, the rotation of the scanning camera is a circular motion with the sphere as the center. Therefore, in order to ensure the stability of the scanning camera, the telescopic rod is moved up and down, and the track and track slider are moved horizontally to ensure the stability of the lens during the rotation of the scanning camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the structure of the present invention viewed from above.

[0023] Figure 3 For the present invention Figure 2 Schematic diagram of the cross-section structure of section 1-1.

[0024] Figure 4 For the present invention Figure 3 Enlarged structural diagram at A in the middle.

[0025] Figure 5 It is a schematic diagram of the internal structure of the present invention.

[0026] Figure 6 For the present invention Figure 5 Enlarged structural diagram at B in the middle.

[0027] Figure 7 It is a schematic structural diagram of the wing telescopic rod and the speed reduction drive device of the present invention.

[0028] Figure 8 For the present invention Figure 2 Schematic diagram of the cross-section structure of section 2-2.

[0029] Fig. 9 It is a schematic diagram of the wing fixing rod structure of the present invention.

[0030] Fig.10 For the present invention Figure 2 Schematic diagram of the structure of section 3-3.

[0031] Fig.11 For the present invention Fig.10 Enlarged structural diagram at point C in the middle.

[0032] In the figure: 1. UAV body; 2. Wing extension device; 21. Wing fixing rod; 22. Wing extension rod; 23. Screw rod; 24. Propeller; 3. Extension drive device; 31. Mounting slot; 32. Extension gear plate; 33. Extension gear shaft; 34. Extension drive motor; 4. Stable deceleration device; 41. Inner slot; 42. Lifting slide slot; 43. Translation slide slot; 44. Lifting sliding shaft; 45. Translation sliding shaft; 46. Wind resistance plate; 5. Deceleration drive device; 51. Drive slot; 52. Push plate; 53. Drive plate; 54. Spring slot; 55. Spring plate; 6. Lifting Scanning device; 61. movable slot; 62. scanning base; 63. lifting slot; 64. lifting plate; 65. lifting spring; 66. lifting fixed gear block; 67. lifting drive gear block; 68. scanning camera; 7. rotating scanning device; 71. rotating slot; 72. ball slot; 73. sphere; 74. external connecting shaft; 75. internal connecting folding rod; 76. rotating shaft; 77. No. 1 bevel gear; 78. No. 2 bevel gear; 79. driving shaft; 710. connecting slot; 8. horizontal device; 81. rotating slot; 82. ball block; 83. telescopic rod; 84. track; 85. track slider. DETAILED DESCRIPTION

[0033] 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.

[0034] Example 1: This example is intended to help solve the problem of a drone colliding with obstacles on a narrow road when flying over a narrow road section. Figures 1 to 11 A drone for urban pipeline patrol includes a drone body 1, and a wing extension device 2 is installed around the drone body 1. The wing extension device 2 includes a wing fixing rod 21 fixedly connected to the side wall of the drone body 1, and a wing telescopic rod 22 is slidably connected in the wing fixing rod 21. A spiral rod 23 is installed at one end of the wing telescopic rod 22, and a propeller 24 is installed at the top of the spiral rod 23. The telescopic wing design can greatly reduce the overall size of the drone when the drone is flying over a narrow section, so that the drone can fly over a narrow area more smoothly and avoid the collision of the drone's wings or propeller 24 with obstacles.

[0035] During the inspection process, the control system can remotely download the inspection data from the drone remote controller, and use the intelligent functions of the control system to intelligently manage and analyze the inspection data, greatly improving the efficiency of data processing. Based on the in-depth development and application of drone remote take-off and landing technology, it is the first in the industry to truly realize the innovative leapfrog inspection mode of drones. Through this mode, a drone can take off and land at multiple nests in different locations, achieving a breakthrough improvement in the inspection coverage. Compared with the mainstream multi-rotor drone nests on the market, the operating radius is greatly increased, the practicality is greatly enhanced, and the cost is greatly reduced.

[0036] It supports the drone to land at the nest at point B after taking off from point A. After the drone takes off from point A, and the nest at point A and the nest at point B are communicating in real time, when the drone needs to land at point B, the operator can send a landing command to the nest at point B through a radio frequency signal, and the nest will be ready to respond to the landing of the aircraft, and the following two methods are used to achieve precise landing of the drone.

[0037] Carrier phase differential positioning technology: BDS / GPS dual-mode differential technology is used, that is, the differential method of the carrier phase observations of two measuring stations is processed in real time in combination with the RTK algorithm, and the carrier phase collected by the base station is sent to the user receiver for differential coordinate calculation. Carrier phase differential can achieve positioning accuracy of decimeter / centimeter level.

[0038] Visual recognition precision landing technology: During the automatic landing of the drone, the drone first lands near the target point through RTK positioning, and then turns on the drone's integrated open source visual module camera. When the system obtains the AprilTag mark, the drone enters the self-stabilization mode. The obtained AprilTag mark is analyzed, and the flight control software with built-in visual recognition precision landing algorithm is used to adjust the drone's attitude to complete the landing.

[0039] An extension drive device 3 for driving the extension wing device 2 is arranged in the drone body 1. The extension drive device 3 includes an extension gear plate 32 arranged in the drone body 1. The extension gear plate 32 is meshedly connected with an extension gear shaft 33.

[0040] The extension drive device 3 includes a mounting groove 31 provided in the drone body 1 , in which an extension drive motor 34 is installed. An output end of the extension drive motor 34 is fixedly connected to a extension gear shaft 33 , and a extension gear plate 32 is installed inside the wing fixing rod 21 .

[0041] Under the drive of the extension drive motor 34, the extension gear shaft 33 starts to rotate. The drive of the extension drive motor 34 can be controlled by an external radar. When the drone flies to a narrower area, the radar senses the external situation and drives the extension drive motor 34 to move. The rotation direction of the extension drive motor 34 is adjusted according to the actual situation to achieve the contraction and extension of the wing. Since the extension tooth plate 32 connected to the wing telescopic rod 22 is engaged with the extension gear shaft 33, the extension tooth plate 32 slides in the installation groove 31 during the rotation of the extension gear shaft 33. Since a plurality of extension tooth plates 32 are provided, in order to prevent the extension tooth plates 32 from colliding with each other, the positional relationship between the extension tooth plates 32 is referred to as Figure 6 Design, through this design, the wings can be extended and retracted according to external conditions, thereby avoiding the collision of the drone with obstacles.

[0042] A lifting scanning device 6 is provided at the bottom of the drone body 1. The lifting scanning device 6 includes a scanning camera 68 arranged at the bottom of the drone body 1. The scanning camera 68 is connected to the drone body 1 through a horizontal device 8. The lifting scanning device 6 is designed to increase the scanning range of the scanning camera 68.

[0043] A stabilizing deceleration device 4 is arranged in the wing fixing rod 21, and the stabilizing deceleration device 4 includes an inner groove 41, a lifting slide groove 42 and a translation slide groove 43 which are opened in the wing fixing rod 21, a wind resistance plate 46 is installed in the inner groove 41, a lifting sliding shaft 44 is slidably connected in the lifting slide groove 42, and a translation sliding shaft 45 is slidably connected in the translation slide groove 43, and the lifting sliding shaft 44 and the translation sliding shaft 45 are fixedly connected to the inner side of the wind resistance plate 46.

[0044] The sliding of the wind resistance plate 46 is driven by the reduction drive device 5, which includes a driving groove 51 opened in the wing fixing rod 21, a pushing plate 52 is slidably connected in the driving groove 51, one end of the pushing plate 52 is rotatably connected to the translation sliding shaft 45, and the other end of the pushing plate 52 is resisted by the driving plate 53, the driving plate 53 is fixedly connected to one side of the wing telescopic rod 22, and a spring plate 55 is fixedly connected to the bottom of the pushing plate 52, and the spring plate 55 is installed in the spring groove 54, and the spring groove 54 is opened in the wing fixing rod 21.

[0045] The design of the deceleration drive device 5 enables the wing to increase the contact area between the wing and the air when it is recovered, thereby playing a deceleration role. Through this design, the shaking of the drone during flight caused by the contraction of the wing when the drone is running at high speed can be effectively reduced. When the wing telescopic rod 22 contracts inwardly, the driving plate 53 fixedly connected to the side wall of the wing telescopic rod 22 contacts one side of the push plate 52 and drives the push plate 52 to slide outward. At this time, the translation sliding shaft 45 at the other end of the push plate 52 will slide outward. At the same time, the lifting sliding shaft 44 will slide downward due to the outward sliding of the bottom. Through this design, one end of the wind resistance plate 46 flush with the wing fixing rod 21 is tilted, and the contact area between the wing and the air is increased. Due to the design of the wind resistance plate 46, the air resistance of the drone is increased. Through this design, the flight speed of the drone can be effectively reduced without changing the power of the drone, thereby ensuring the stability of the drone during flight and ensuring that the drone can safely pass through a narrow area.

[0046] Example 2: This example is intended to help solve the problem of limited scanning range of the scanning camera 68 during the flight of the drone. This example is an explanation based on Example 1. For details, please refer to Figures 1 to 11 The lifting scanning device 6 includes a movable groove 61 and a lifting groove 63 opened at the bottom of the drone body 1. A scanning base 62 is installed in the movable groove 61. A lifting plate 64 is slidably connected in the lifting groove 63. The lifting plate 64 is fixedly connected to the outer wall of the scanning base 62. A lifting spring 65 is fixedly connected to the bottom of the lifting plate 64. The other end of the lifting spring 65 is fixedly connected in the lifting groove 63.

[0047] A lifting drive tooth block 67 is fixedly connected to the bottom of one of the extending tooth plates 32 . The lifting drive tooth block 67 is used to resist the lifting fixed tooth block 66 . The lifting fixed tooth block 66 is fixedly connected to the top of the scanning base 62 . A scanning camera 68 is arranged at the bottom of the scanning base 62 .

[0048] The design of the lifting scanning device 6 and the rotating scanning device 7 can effectively improve the scanning range of the scanning camera 68, thereby ensuring the supervision of every location in the city. When the wing telescopic rod 22 is retracted, the lifting driving tooth block 67 located at the bottom of the extending tooth plate 32 will resist the lifting fixed tooth block 66 at the top of the scanning base 62. At this time, since the scanning base 62 is subjected to the upward force of the lifting spring 65, the scanning base 62 is continuously driven by the lifting fixed tooth block 66 and the lifting driving tooth block 67, so that the scanning base 62 is continuously displaced in the vertical direction, thereby driving the scanning camera 68 on one side of the scanning base 62 to slide in the up and down direction, so as to improve the scanning range of the scanning camera 68.

[0049] A rotating scanning device 7 is provided in the scanning base 62, and the rotating scanning device 7 includes a rotating groove 71 and a ball groove 72 opened in the scanning base 62. A sphere 73 is installed in the ball groove 72. An external connecting shaft 74 is fixedly connected to one side of the sphere 73. A scanning camera 68 is installed at the other end of the external connecting shaft 74. The external connecting shaft 74 is located on the outside of the scanning base 62.

[0050] One side of the sphere 73 is fixedly connected with an internal connecting folding rod 75, and the internal connecting folding rod 75 is located inside the rotating groove 71. One end of the internal connecting folding rod 75 is fixedly connected with a rotating shaft 76, and the other end of the rotating shaft 76 is fixedly connected with a No. 1 bevel gear 77, and the No. 1 bevel gear 77 is meshingly connected with a No. 2 bevel gear 78. The upper surface of the No. 2 bevel gear 78 is fixedly connected with a driving shaft 79, and the other end of the driving shaft 79 is fixedly connected to the bottom of the extending gear shaft 33. The driving shaft 79 is arranged in the connecting groove 710, and the connecting groove 710 is opened in the scanning base 62.

[0051] The rotation of the extended gear shaft 33 drives the second bevel gear 78 at the bottom to rotate. Since the second bevel gear 78 is meshed and connected with the first bevel gear 77, the first bevel gear 77 rotates synchronously and is transmitted through the rotating shaft 76 (in order to ensure the stability of the rotation of the first bevel gear 77 and the rotating shaft 76, a support frame can be installed on the outer wall of the rotating shaft 76), so that the internal connecting folding rod 75 rotates. The bending design of the internal connecting folding rod 75 allows the sphere 73 to rotate around the inclined part of the internal connecting folding rod 75 as the axis during the rotation of the internal connecting folding rod 75, thereby driving the scanning camera 68 to rotate. The rotation of the scanning camera 68 can further expand the scanning monitoring range.

[0052] Through the design of the lifting scanning device 6 and the rotating scanning device 7, the scanning range of the scanning camera 68 is expanded, and each position of the narrow road can be effectively scanned, effectively ensuring the coverage area of ​​urban supervision.

[0053] Embodiment 3: This embodiment is intended to help solve the problem that when the scanning camera 68 rotates, the lens may rotate, resulting in unclear scanning images. This embodiment is an explanation based on Embodiment 2. For details, please refer to Figures 1 to 11 The scanning camera 68 is installed in the horizontal device 8, which includes a rotating groove 81 opened on one side of the scanning camera 68, a ball block 82 is rotatably connected in the rotating groove 81, and the ball block 82 is fixedly connected to one end of the external connecting shaft 74. The top of the scanning camera 68 is fixedly connected to a telescopic rod 83.

[0054] A track 84 is fixedly connected to the bottom of the drone body 1 , a track slider 85 is slidably connected inside the track 84 , and a telescopic rod 83 is fixedly connected to the bottom of the track slider 85 .

[0055] In order to ensure that the lens of the scanning camera 68 does not rotate during the rotation, the design of the rotation groove 81 and the ball block 82 allows the scanning camera 68 to rotate with the external connection shaft 74 while the external connection shaft 74 can still be in a rotating state relative to the scanning camera 68. At this time, it is connected through the telescopic rod 83 and the scanning camera 68 is designed to be square, so that the lens of the scanning camera 68 always maintains one direction and does not rotate. However, due to the rotation of the ball groove 72, the rotation of the scanning camera 68 is a circular motion with the sphere 73 as the center. Therefore, in order to ensure the stability of the scanning camera 68, the telescopic rod 83 is moved up and down, and the track 84 and the track slider 85 are moved horizontally to ensure the stability of the lens of the scanning camera 68 during the rotation.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A drone for urban pipeline patrol, comprising a drone body (1), characterized in that: The drone body (1) is provided with an extendable wing device (2) around its periphery, the extendable wing device (2) comprising a wing fixing rod (21) fixedly connected to a side wall of the drone body (1), a wing telescopic rod (22) slidably connected inside the wing fixing rod (21), a spiral rod (23) being provided at one end of the wing telescopic rod (22), and a propeller (24) being provided at the top end of the spiral rod (23); An extension drive device (3) for driving the extension wing device (2) is arranged in the drone body (1), and the extension drive device (3) comprises an extension tooth plate (32) arranged in the drone body (1), and the extension tooth plate (32) is meshingly connected with an extension gear shaft (33); A lifting and scanning device (6) is provided at the bottom of the drone body (1), and the lifting and scanning device (6) comprises a scanning camera (68) provided at the bottom of the drone body (1), and the scanning camera (68) is connected to the drone body (1) via a horizontal device (8).

2. The urban pipeline cruising drone according to claim 1, characterized in that: The extension drive device (3) comprises a mounting groove (31) provided in the drone body (1), an extension drive motor (34) being mounted in the mounting groove (31), an output end of the extension drive motor (34) being fixedly connected to the extension gear shaft (33), and the extension gear plate (32) being mounted inside the wing fixing rod (21).

3. The urban pipeline cruising drone according to claim 2, characterized in that: A stabilizing deceleration device (4) is arranged in the wing fixing rod (21), and the stabilizing deceleration device (4) comprises an inner groove (41), a lifting slide groove (42) and a translation slide groove (43) which are arranged in the wing fixing rod (21); a wind resistance plate (46) is installed in the inner groove (41); a lifting sliding shaft (44) is slidably connected in the lifting slide groove (42); a translation sliding shaft (45) is slidably connected in the translation slide groove (43); and the lifting sliding shaft (44) and the translation sliding shaft (45) are fixedly connected to the inner side of the wind resistance plate (46).

4. The urban pipeline cruising drone according to claim 3, characterized in that: The wind resistance plate (46) is driven to slide by a deceleration drive device (5), the deceleration drive device (5) comprising a drive slot (51) provided in the wing fixing rod (21), a push plate (52) being slidably connected in the drive slot (51), one end of the push plate (52) being rotatably connected to the translation sliding shaft (45), the other end of the push plate (52) being abutted by a drive plate (53), the drive plate (53) being fixedly connected to one side of the wing telescopic rod (22), a spring plate (55) being fixedly connected to the bottom of the push plate (52), the spring plate (55) being installed in a spring slot (54), the spring slot (54) being provided in the wing fixing rod (21).

5. The urban pipeline cruising drone according to claim 1, characterized in that: The lifting scanning device (6) comprises a movable groove (61) and a lifting groove (63) provided at the bottom of the drone body (1); a scanning base (62) is installed in the movable groove (61); a lifting plate (64) is slidably connected in the lifting groove (63); the lifting plate (64) is fixedly connected to the outer wall of the scanning base (62); a lifting spring (65) is fixedly connected to the bottom of the lifting plate (64); the other end of the lifting spring (65) is fixedly connected in the lifting groove (63).

6. The urban pipeline cruising drone according to claim 5, characterized in that: A lifting drive tooth block (67) is fixedly connected to the bottom of one of the extending tooth plates (32), and the lifting drive tooth block (67) is used to abut against a lifting fixed tooth block (66). The lifting fixed tooth block (66) is fixedly connected to the top of the scanning base (62), and a scanning camera (68) is arranged at the bottom of the scanning base (62).

7. The urban pipeline cruising drone according to claim 6, characterized in that: A rotation scanning device (7) is arranged in the scanning base (62), and the rotation scanning device (7) comprises a rotation groove (71) and a ball groove (72) provided in the scanning base (62), a ball (73) is installed in the ball groove (72), one side of the ball (73) is fixedly connected to an external connection shaft (74), the other end of the external connection shaft (74) is installed with the scanning camera (68), and the external connection shaft (74) is located outside the scanning base (62).

8. The urban pipeline cruising drone according to claim 7, characterized in that: One side of the sphere (73) is fixedly connected to an internal connecting folding rod (75), the internal connecting folding rod (75) is located inside the rotating groove (71), one end of the internal connecting folding rod (75) is fixedly connected to a rotating shaft (76), the other end of the rotating shaft (76) is fixedly connected to a first bevel gear (77), the first bevel gear (77) is meshingly connected to a second bevel gear (78), the upper surface of the second bevel gear (78) is fixedly connected to a driving shaft (79), the other end of the driving shaft (79) is fixedly connected to the bottom of the extending gear shaft (33), the driving shaft (79) is arranged in a connecting groove (710), and the connecting groove (710) is opened in the scanning base (62).

9. The urban pipeline cruising drone according to claim 7, characterized in that: The scanning camera (68) is installed in a horizontal device (8), and the horizontal device (8) includes a rotation groove (81) opened on one side of the scanning camera (68), a ball block (82) is rotatably connected in the rotation groove (81), and the ball block (82) is fixedly connected to one end of the external connection shaft (74), and a telescopic rod (83) is fixedly connected to the top of the scanning camera (68).

10. The urban pipeline cruising drone according to claim 9, characterized in that: The bottom of the drone body (1) is fixedly connected to a track (84), a track slider (85) is slidably connected inside the track (84), and the bottom of the track slider (85) is fixedly connected to the telescopic rod (83).

Images