Unmanned aerial vehicle for tunnel deicing and deicing method thereof

Abstract

The invention relates to an unmanned aerial vehicle for tunnel deicing and a deicing method thereof, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, the unmanned aerial vehicle body comprises a fuselage frame, at least one lift rotor and at least one thrust duct, the lift rotor and the thrust duct are both installed on the fuselage frame, the lift rotor is used for providing lifting acting force for the unmanned aerial vehicle body, and the thrust duct is used for providing thrust opposite to the flight direction for the unmanned aerial vehicle body; and the deicing assembly comprises an ice collision knife and a protection frame, the ice collision knife is arranged at the head of the unmanned aerial vehicle body and installed on the protection frame, the protection frame is connected with the fuselage frame and provided with a protection face, and the protection face and the plane where the unmanned aerial vehicle body frame is located incline by a first preset angle. According to the unmanned aerial vehicle provided by the embodiment of the invention, deicing operation in the tunnel can be completed, personnel are prevented from entering the tunnel, the safety risk is reduced, and the tunnel deicing operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle for deicing a tunnel and a deicing method thereof. Background Art

[0002] With the development of economy and the progress of society, unmanned operation system has become inevitable and social consensus. Various unmanned intelligent equipment are moving towards people's production and life. Its strong environmental adaptability and manpower-saving characteristics have promoted its development in the direction of replacing manual high-risk operations and long-term operations. At present, drones have become a widely used new obstacle removal method. Most drone obstacle removal is mainly used outdoors, such as cable foreign body removal. However, there is still a blank in the application of railway tunnel deicing.

[0003] At present, the traditional method of tunnel deicing is manual deicing. Manual deicing operations in tunnels are greatly affected by the skylight period. At the same time, personnel safety is easily affected during the manual deicing process, and manual operation efficiency is low. Summary of the invention

[0004] The present application provides a UAV for tunnel deicing and a deicing method thereof, which can complete deicing operations in tunnels and improve the efficiency of tunnel deicing operations.

[0005] In a first aspect, an embodiment of the present application provides a UAV for de-icing in tunnels, comprising: a UAV body, comprising a fuselage frame, at least one lift rotor and at least one thrust duct, the lift rotor and the thrust duct are both mounted on the fuselage frame, the lift rotor is used to provide a lifting force for the UAV body, and the thrust duct is used to provide a thrust opposite to the flight direction for the UAV body; and a de-icing assembly, comprising an ice-beating blade and a protective frame, the ice-beating blade is disposed at the head of the UAV body and mounted on the protective frame, the protective frame is connected to the fuselage frame, the protective frame has a protective surface, and the protective surface is inclined at a first preset angle to the plane where the UAV fuselage frame is located.

[0006] According to the aforementioned implementation mode of the first aspect of the present application, the protective frame is a hollow frame structure, and the protective frame includes: a first side beam, which is used to be connected to the fuselage frame, and the ice-breaking blade is installed on the side of the first side beam away from the fuselage frame; a second side beam, which is spaced apart from and opposite to the first side beam; and a connecting beam, wherein a plurality of connecting beams are spaced apart and distributed along the extension direction of the first side beam, and each connecting beam is supported between the first side beam and the second side beam.

[0007] According to any of the aforementioned embodiments of the first aspect of the present application, the first side beam includes: a main body, an ice-collision blade is arranged on a side of the main body facing away from the fuselage frame; and a connecting part, the main body is respectively provided with connecting parts at both ends along its own length direction, the connecting part is used to connect with the fuselage frame, and an extension direction of the main body intersects with an extension direction of the connecting part; and a light source installed on the connecting part.

[0008] According to any of the aforementioned implementations of the first aspect of the present application, the value range of the first preset angle is 30° to 60°.

[0009] According to any of the aforementioned embodiments of the first aspect of the present application, the first side beam is provided with a plurality of first through holes at intervals along its length direction, and / or the second side beam is provided with a plurality of second through holes at intervals along its length direction.

[0010] According to any of the aforementioned embodiments of the first aspect of the present application, it also includes a gimbal camera assembly, which includes: a mounting plate connected to the fuselage frame; an adapter plate, stacked and opposite to the mounting plate, and the adapter plate is arranged on the side of the mounting plate facing the fuselage frame; a shock absorbing assembly, arranged between the mounting plate and the adapter plate, and respectively connected to the mounting plate and the adapter plate; and a camera, installed on the side of the mounting plate away from the adapter plate.

[0011] According to any of the aforementioned embodiments of the first aspect of the present application, the adapter plate is provided with a first mounting hole and a second mounting hole extending along its thickness direction at intervals; the gimbal camera assembly also includes a limit member, which is in a "J" shape along its extension direction, with one end of the limit member along the length direction passing through the first mounting hole to be connected to the mounting plate, and the other end passing through the second mounting hole to be connected to the mounting plate, and both ends of the limit member along the length direction are respectively abutted against one side of the adapter plate facing the mounting plate.

[0012] According to any of the aforementioned embodiments of the first aspect of the present application, it also includes a laser radar component, which is installed on the fuselage frame.

[0013] According to any of the aforementioned embodiments of the first aspect of the present application, the laser radar assembly includes a mounting base and a laser radar, the mounting base includes a first connecting plate and a second connecting plate having a second preset angle, the first connecting plate is used to connect to the fuselage frame, and the second connecting plate is used to connect to the laser radar.

[0014] In a second aspect, an embodiment of the present application further provides a de-icing method for a drone according to any of the aforementioned implementations of the first aspect of the present application, comprising: obtaining specification parameters of an ice cone to be impacted; obtaining working parameters of the drone based on the specification parameters; and impacting the ice cone to be impacted based on the working parameters.

[0015] According to the aforementioned implementation of the second aspect of the present application, the specification parameters of the ice cone to be impacted specifically include the size and cone angle; the working parameters of the drone specifically include the impact speed and impact position of the drone.

[0016] According to the drone and de-icing method of the drone according to the embodiment of the present application, when the drone is in use, the lift rotor generates an upward lift by rotating, so that the drone can take off and land vertically and hover in the air. The thrust duct provides forward thrust to the drone by ejecting airflow backward, so that the ice-breaking blade set on the head of the drone has sufficient impact force when hitting the ice cone. The ice-breaking blade impacts the ice cone in the tunnel by physical impact to remove ice. Since the ice-breaking blade is connected to the fuselage frame through a protective frame, the broken ice cone will not fall on the drone body, avoiding damage to the drone by impact. At the same time, the protective surface of the protective frame is inclined at a first preset angle to the plane where the fuselage frame is located, which can effectively prevent the ice cone from falling into the rotor area behind the drone, ensuring the reliability of the protection of the drone by the protective frame. Since the ice-collision blades are directly installed on the protective frame instead of directly installed on the fuselage frame of the UAV, a reasonable force transmission path is formed to ensure that the impact reaction force can be directly transmitted to the center of gravity of the UAV, thereby reducing the interference of ice collision on the UAV's posture. Compared with traditional manual de-icing methods, the de-icing time is greatly shortened, and people can be prevented from entering the tunnel, thereby greatly reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Hereinafter, the present invention will be described in more detail based on embodiments and with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the structure of a drone in one embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of the structure of a protection frame in one embodiment of the present application;

[0020] Figure 3 is a schematic diagram of the structure of a pan / tilt camera assembly in one embodiment of the present application;

[0021] Figure 4 is a schematic diagram of the structure of a laser radar assembly in one embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the steps of a de-icing method for a drone in one embodiment of the present application.

[0023] Reference numerals:

[0024] 1000-UAV;

[0025] 100-UAV body; 110-fuselage frame; 120-lift rotor; 130-thrust duct;

[0026] 200-deicing assembly; 210-protection frame; 211-first side beam; 211a-main body; 211b-connecting part; 211c-light source; 212-second side beam; 213-connecting beam; 220-ice-breaking blade;

[0027] 300-pan-tilt camera assembly; 310-mounting plate; 320-adapter plate; 321-first mounting hole; 322-second mounting hole; 330-shock-absorbing assembly; 340-camera; 350-limiting member;

[0028] 400 - laser radar assembly; 410 - mounting base; 411 - first connecting plate; 412 - second connecting plate; 420 - laser radar. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] The present application provides a UAV for tunnel deicing and a deicing method thereof, which can complete deicing operations in tunnels and improve the efficiency of tunnel deicing operations.

[0031] Figure 1 This is a schematic diagram of the structure of a drone in one embodiment of the present application; Figure 2 is a schematic diagram of the structure of a protection frame in an embodiment of the present application; Figure 1-2 As shown, the embodiment of the present application provides a UAV 1000 for tunnel deicing. The UAV 1000 includes a UAV body 100 and a deicing assembly 200. The UAV body 100 includes a fuselage frame 110, at least one lift rotor 120 and at least one thrust duct 130. The lift rotor 120 and the thrust duct 130 are both mounted on the fuselage frame 110, the lift rotor 120 is used to provide a lifting force for the UAV body 100, and the thrust duct 130 is used to provide a thrust opposite to the flight direction for the UAV body 100. The deicing assembly 200 includes an ice-beating blade 220 and a protective frame 210. The ice-beating blade 220 is disposed at the head of the UAV body 100 and is mounted on the protective frame 210. The protective frame 210 is connected to the fuselage frame 110, and the protective frame 210 has a protective surface, which is inclined at a first preset angle α to the plane where the UAV body frame 100 is located.

[0032] According to the drone 1000 of the embodiment of the present application, when in use, the lift rotor 120 generates an upward lift by rotating, so that the drone 1000 can take off and land vertically and hover in the air. The thrust duct 130 provides a forward thrust to the drone 1000 by ejecting airflow backward, so that the ice-breaking blade 220 set at the head of the drone 1000 has sufficient impact force when hitting the ice cone. The ice-breaking blade 220 hits the ice cone in the tunnel by physical impact to remove ice. Since the ice-breaking blade 220 is connected to the fuselage frame 110 through the protective frame 210, the broken ice cone will not fall on the drone body 100, avoiding the drone 1000 from being damaged by the impact. At the same time, the protective surface of the protective frame 210 is inclined at a first preset angle α to the plane where the fuselage frame 110 is located, which can effectively prevent the ice cone from falling into the rotor area behind the drone 1000, ensuring the reliability of the protection of the drone 1000 by the protective frame 210. Since the ice-breaking blade 220 is directly mounted on the protective frame 210, rather than directly mounted on the fuselage frame 110 of the drone body 100, a reasonable force transmission path is formed to ensure that the impact reaction force can be directly transmitted to the center of gravity of the drone 1000, thereby reducing the interference of ice collision on the posture of the drone 1000. By using the drone 1000 to perform tunnel deicing operations, the deicing efficiency can be greatly improved. The drone 1000 can quickly fly to various locations in the tunnel and use the ice-breaking blade 220 to quickly break the ice layer. Compared with the traditional manual deicing method, the deicing time is greatly shortened, and people can be prevented from entering the tunnel, thereby greatly reducing safety risks.

[0033] like Figure 1-2 As shown, according to the aforementioned embodiment of the first aspect of the present application, the protection frame 210 is a hollow frame structure. The protection frame 210 includes a first side beam 211, a second side beam 212 and a connecting beam 213. The first side beam 211 is used to connect with the fuselage frame 110, and the icebreaker 220 is installed on the side of the first side beam 211 away from the fuselage frame 110. The second side beam 212 is spaced apart from and opposite to the first side beam 211. A plurality of connecting beams 213 are spaced apart along the extension direction of the first side beam 211, and each connecting beam 213 is supported between the first side beam 211 and the second side beam 212.

[0034] A plurality of connecting beams 213 are spaced apart along the extension direction of the first side beam 211, and each connecting beam 213 is supported between the first side beam 211 and the second side beam 212. The plurality of connecting beams 213 may be parallel to each other and perpendicular to the first side beam 211, or may be parallel to each other but not perpendicular to the first side beam 211. Of course, the connecting beams 213 may also be cross-arranged between the first side beam 211 and the second side beam 212. The plurality of connecting beams 213 may be parallel to each other and perpendicular to the first side beam 211 to facilitate the processing and manufacturing of the protection frame 210.

[0035] In this embodiment, the protection frame 210 is designed as a hollow frame structure, which greatly reduces the weight of the protection frame 210, thereby reducing the overall weight of the drone 1000, which helps the drone 1000 to be more flexible and energy-efficient during flight, and at the same time protects the drone body 100 from impact damage during deicing while ensuring sufficient strength and rigidity. The first side beam 211 is connected to the fuselage frame 110, providing stable support for the entire deicing assembly 200. The ice-collision blade 220 is installed on the side of the first side beam 211 away from the fuselage frame 110, ensuring that the ice-collision blade 220 can directly contact and collide with the ice cone in the tunnel during the flight of the drone 1000. The second side beam 212 is spaced apart from and arranged opposite to the first side beam 211, and a plurality of connecting beams 213 are spaced apart along the extension direction of the first side beam 211 and supported between the first side beam 211 and the second side beam 212, thereby forming a stable frame structure. This not only enhances the overall structural strength of the protection frame 210, but also ensures that the protection frame 210 can disperse force when impacted, thereby reducing the impact on the drone body 100.

[0036] In some optional embodiments, the protection frame 210 further includes a reinforcing beam, which is connected to each of the connecting beams 213 along its own extension direction to play a role in firmly connecting each of the connecting beams 213, further enhancing the overall rigidity and stability of the protection frame 210, ensuring that the protection frame 210 can remain intact even in the face of a large impact force during the deicing process, and effectively protecting the drone body 100 from damage. The reinforcing beam can be designed to be linear or curved, depending on the overall shape of the protection frame 210 and the required support effect. The reinforcing beam can extend along the length direction of the first side beam 211, can intersect with the first side beam 211, and can be optionally extended along the length direction of the first side beam 211 to provide oblique support force, enhance the structural strength of the protection frame 210, improve its anti-collision ability, help reduce the turbulence of the drone 1000 during flight, and make the deicing operation more stable.

[0037] like Figure 2 As shown, in some embodiments, the first side beam 211 includes a main body 211a, a connecting portion 211b and a light source 211c. The ice-breaking blade 220 is arranged on the side of the main body 211a away from the fuselage frame 110. The main body 211a is provided with connecting portions 211b at both ends along its length direction, and the connecting portions 211b are used to connect with the fuselage frame 110. The extension direction of the main body 211a intersects with the extension direction of the connecting portion 211b; the light source 211c is installed on the connecting portion 211b.

[0038] In this embodiment, the main body 211a is the installation position of the ice-collision blade 220, which is located at the front end of the drone body 100, ensuring that the ice-collision blade 220 can effectively contact and collide with the ice cone in the tunnel. The intersection design of the connecting portion 211b and the main body 211a enables the main body 211a to be better installed on the fuselage frame 110, while helping to disperse the impact force, improving the overall stability of the protection frame 210, ensuring that the drone 1000 maintains a stable flight posture during the deicing process, and reducing the risk of damage caused by impact. The light source 211c is installed on the connecting portion 211b to provide lighting for the flight of the drone 1000 in the tunnel. This helps the drone 1000 to accurately identify the position and length of the ice cone in a dim tunnel environment, thereby improving the accuracy and efficiency of the deicing operation. At the same time, the light source 211c can also serve as a warning to remind other personnel or vehicles in the tunnel to pay attention to the presence of the drone 1000.

[0039] like Figure 1-2 As shown, in some embodiments, the first preset angle α ranges from 30° to 60°.

[0040] In this embodiment, the value range of the first preset angle α is any angle value between 30° and 60°, including 30° and 60°, and can be 45°. Within this angle range, the protective surface of the protective frame 210 is neither too steep nor too flat, and the protective surface can block the ice cone at a suitable angle. After the ice cone collides, it can quickly and smoothly slide down the slope at a lower speed, and will neither stay on the drone 1000 nor form a large torque on the drone 1000. The inclined protective surface can also disperse the force during the collision, reducing the damage to the drone body 100.

[0041] like Figure 1-2 As shown, in some embodiments, the first side beam 211 is provided with a plurality of first through holes at intervals along its length direction, and / or the second side beam 212 is provided with a plurality of second through holes at intervals along its length direction.

[0042] The specific number, position and size of the first through holes and the second through holes may vary according to the strength and stiffness design requirements of the first side beam 211 and the second side beam 212. Specifically, the diameters of the plurality of first through holes are the same, and the distances between adjacent first through holes may be equal or unequal, and may be equal to facilitate processing and manufacturing.

[0043] In this embodiment, the first side beam 211 may be provided with a plurality of first through holes spaced apart along its length direction, the second side beam 212 may be provided with a plurality of second through holes spaced apart along its length direction, or both the first side beam 211 and the second side beam 212 may be provided with a plurality of through holes spaced apart along their length direction, so as to reduce their own weight while maintaining their necessary structural strength and rigidity, so that the UAV 1000 is more efficient, flexible and safe in tunnel de-icing operations.

[0044] like Figure 3 As shown, in some embodiments, the drone 1000 further includes a gimbal camera assembly 300. The gimbal camera assembly 300 includes a mounting plate 310, an adapter plate 320, a shock absorbing assembly 330, and a camera 340. The mounting plate 310 is connected to the fuselage frame 110. The adapter plate 320 is stacked and arranged opposite to the mounting plate 310, and the adapter plate 320 is arranged on the side of the mounting plate 310 facing the fuselage frame 110. The shock absorbing assembly 330 is arranged between the mounting plate 310 and the adapter plate 320, and is respectively connected to the mounting plate 310 and the adapter plate 320. And the camera 340 is installed on the side of the mounting plate 310 away from the adapter plate 320.

[0045] In this embodiment, the gimbal camera assembly 300 is mounted on the fuselage frame 110 of the drone 1000 through the mounting plate 310 to ensure the stability of the gimbal camera assembly 300 during flight. The adapter plate 320 is arranged on the side of the mounting plate 310 facing the fuselage frame 110, and the shock absorbing assembly 330 is connected to the mounting plate 310 and the adapter plate 320 respectively, and the vibration from the fuselage is buffered by the elastic elements (such as springs, rubber, etc.) inside it. When the drone 1000 hits the ice cone during the de-icing process, the shock absorbing assembly 330 can effectively absorb these vibrations, thereby ensuring that the camera 340 is not damaged.

[0046] like Figure 3 As shown, in some embodiments, the adapter plate 320 includes a first mounting hole 321 and a second mounting hole 322 that penetrate along the thickness direction, and the first mounting hole 321 and the second mounting hole are arranged at intervals. The gimbal camera assembly 300 also includes a limiter 350. The limiter 350 is in a "J" shape along its own extension direction. One end of the limiter 350 along the length direction passes through the first mounting hole 321 to connect with the mounting plate 310, and the other end passes through the second mounting hole 322 to connect with the mounting plate 310, and the two ends of the limiter 350 along the length direction are respectively abutted against one side of the adapter plate 320 facing the mounting plate 310.

[0047] In this embodiment, the adapter plate 320 includes two first mounting holes 321 and a second mounting hole 322 arranged at intervals in the thickness direction. The design of the two mounting holes allows the limiter 350 to pass through, thereby forming a stable connection with the mounting plate 310. One end of the limiter 350 along the length direction passes through the first mounting hole 321 to connect with the mounting plate 310, and the other end passes through the second mounting hole 322 to connect with the mounting plate 310, ensuring a firm connection between the adapter plate 320 and the mounting plate 310 and preventing the adapter plate 320 from shaking during flight. The two ends of the limiter 350 along the length direction are respectively abutted against one side of the adapter plate 320 facing the mounting plate 310. Not only does it increase the connection stability between the adapter plate 320 and the mounting plate 310, but it also prevents the adapter plate 320 from being deformed or displaced when subjected to external force, making the gimbal camera assembly 300 more durable and reliable when subjected to external force.

[0048] like Figure 4 As shown, in some embodiments, the UAV 1000 also includes a laser radar component 400, which is installed on the fuselage frame 110, effectively solving the problem of no satellite positioning system coverage in the tunnel, so that the UAV 1000 can quickly and accurately lock the position of the ice cone in the tunnel through the laser radar component 400 to perform precise impact deicing operations, ensuring the safety and reliability of the operation process.

[0049] like Figure 4 As shown, in some embodiments, the laser radar assembly 400 includes a mounting seat 410 and a laser radar 420. The mounting seat 410 includes a first connecting plate 411 and a second connecting plate 412, and a second preset angle β is formed between the first connecting plate 411 and the second connecting plate 412. The first connecting plate 411 is used to connect to the fuselage frame 110, and the second connecting plate 412 is used to connect to the laser radar 420.

[0050] In this embodiment, a second preset angle β is formed between the second connecting plate 412 and the first connecting plate 411 to prevent the height of the protection frame 210 from blocking the radar waves emitted by the laser radar 420 when it is working, providing reliable navigation and positioning support for the impact deicing operation of the drone 1000, and ensuring that the drone 1000 can complete the task safely and accurately. The specific setting of the second preset angle β can be adjusted according to actual application requirements to ensure that the laser radar 420 can scan and measure distance at the best viewing angle and range.

[0051] In some optional embodiments, in order to adjust the second preset angle β, the mounting base 410 may further include some angle adjustment mechanisms, such as a rotating shaft, a locking device, etc. These mechanisms allow the user to adjust the angle of the second connecting plate 412 as needed and fix it through the locking device.

[0052] like Figure 5 As shown, the embodiment of the present application also provides a deicing method for the drone 1000 according to any of the aforementioned embodiments of the present application, the method comprising the following steps:

[0053] S10 obtains specification parameters of the ice cone to be struck.

[0054] In this step, the drone 1000 needs to obtain detailed specifications of the ice cone to be hit. These parameters may include but are not limited to the size (such as length, width, height), shape, position (specific position in the tunnel), and adhesion between the ice cone and the tunnel wall. This information can be obtained in a variety of ways, such as using a camera carried by the drone 1000 for visual recognition, or through pre-measurement and recording.

[0055] S20 obtains the working parameters of the drone 1000 according to the specification parameters;

[0056] After obtaining the specification parameters of the ice cone, the drone 1000 system needs to calculate and determine the operating parameters of the drone 1000 based on these parameters. These operating parameters may include the flight speed, flight altitude, impact angle, impact force, etc. of the drone 1000. The determination of these parameters requires comprehensive consideration of multiple factors, such as the performance limitations of the drone 1000, the physical properties of the ice cone, and the safety and efficiency of the impact operation. In this step, the drone 1000 system may need to use some algorithms or models for calculations and predictions. For example, the impact process can be simulated to evaluate the impact effect under different operating parameters, so as to select the optimal combination of operating parameters. Exemplarily,

[0057]

[0058] S30 impacts the ice cone to be impacted according to the working parameters.

[0059] After determining the operating parameters of the drone 1000, the drone 1000 can perform the impact operation according to these parameters. In this step, the drone 1000 needs to accurately fly to the location where the ice cone is to be impacted and impact it at an appropriate speed and angle. The impact force needs to be strong enough to remove the ice cone from the tunnel wall, but at the same time, it must avoid causing damage to the drone 1000 or the tunnel wall.

[0060] like Figure 5 As shown, in some embodiments, the specification parameters of the ice cone to be impacted specifically include the length and cone angle. The working parameters of the drone 1000 specifically include the impact speed and impact position of the drone 1000.

[0061] In this embodiment, step S10 obtains the specification parameters of the ice cone to be impacted, specifically including the length and cone angle of the ice cone.

[0062] S20 obtains the working parameters of the drone 1000 based on the specification parameters. In this step, the operator obtains the conclusion that the ice cone flies out in parallel after the root is cut off, the ice cone rotates and falls on the top of the aircraft after breaking, and the ice cone breaks according to a large number of practices and simulation experiments. The occurrence of these situations is closely related to the impact position and impact speed of the de-icing blade. The higher the impact point, the greater the probability of the ice cone flying out in parallel; the lower the impact point, the greater the probability of the ice cone rotating and falling on the fuselage; the faster the impact speed, the greater the probability of the ice cone breaking; the slower the impact speed, the ice cone cannot be de-iced below a certain threshold. In order to optimize the de-icing effect, we tend to let the ice cone fly out in parallel, but considering the uncertainty in actual operation, we also need to take into account the possibility that the ice cone may fall on the top of the aircraft, and try to avoid the ice cone from breaking. Therefore, the working parameters of the drone 1000 specifically include the impact speed and impact position of the drone 1000.

[0063] Although the present invention has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A UAV for tunnel deicing, characterized in that: include: The drone body includes a fuselage frame, at least one lift rotor and at least one thrust duct 130, wherein the lift rotor and the thrust duct are both mounted on the fuselage frame, the lift rotor is used to provide a lifting force for the drone body, and the thrust duct is used to provide a thrust for the drone body that is opposite to the flight direction; as well as The de-icing assembly includes an ice-breaking blade and a protective frame. The ice-breaking blade is arranged on the head of the drone body and installed on the protective frame. The protective frame is connected to the fuselage frame. The protective frame has a protective surface. The protective surface is inclined at a first preset angle to the plane where the drone fuselage frame is located.

2. The drone according to claim 1, characterized in that: The protection frame is a hollow frame structure, and the protection frame includes: A first side beam, used to be connected to the fuselage frame, and the ice-beating blade is installed on a side of the first side beam away from the fuselage frame; a second side beam, spaced apart from and arranged opposite to the first side beam; and A plurality of connecting beams are spaced apart and distributed along the extension direction of the first side beam, and each of the connecting beams is supported between the first side beam and the second side beam.

3. The drone according to claim 2, characterized in that: The first side beam comprises: The main body, the ice-breaking blade is arranged on a side of the main body away from the fuselage frame; and A connecting portion, wherein the connecting portion is respectively provided at both ends of the main body along its length direction, the connecting portion is used to connect to the fuselage frame, and an extending direction of the main body intersects with an extending direction of the connecting portion; and The light source is installed on the connecting part.

4. The drone according to any one of claims 1 to 3, characterized in that: The first preset angle has a value range of 30° to 60°.

5. The drone according to claim 2 or 3, characterized in that: The first side beam is provided with a plurality of first through holes at intervals along its length direction, and / or the second side beam is provided with a plurality of second through holes at intervals along its length direction.

6. The drone according to claim 1, characterized in that: Also included is a pan-tilt camera assembly, the pan-tilt camera assembly comprising: A mounting plate connected to the fuselage frame; An adapter plate, stacked with and arranged opposite to the mounting plate, and the adapter plate is arranged on a side of the mounting plate facing the fuselage frame; A shock absorbing assembly is disposed between the mounting plate and the adapter plate, and is connected to the mounting plate and the adapter plate respectively; and The camera is installed on a side of the mounting plate away from the adapter plate.

7. The drone according to claim 6, characterized in that: The adapter plate includes a first mounting hole and a second mounting hole penetrating along the thickness direction of the adapter plate; The gimbal camera assembly also includes a limit member, which is in the shape of a "X" along its own extension direction. One end of the limit member along the length direction passes through the first mounting hole to be connected to the mounting plate, and the other end passes through the second mounting hole to be connected to the mounting plate, and both ends of the limit member along the length direction are respectively abutted against one side of the adapter plate toward the mounting plate.

8. The drone according to claim 1, characterized in that: It also includes a laser radar component, which is installed on the fuselage frame.

9. The drone according to claim 8, characterized in that: The laser radar assembly includes a mounting base and a laser radar. The mounting base includes a first connecting plate and a second connecting plate with a second preset angle. The first connecting plate is used to connect to the fuselage frame, and the second connecting plate is used to connect to the laser radar.

10. A deicing method for a drone as claimed in any one of claims 1 to 9, characterized in that: include: Obtain the specification parameters of the ice cone to be impacted; According to the specification parameters, the operating parameters of the UAV are obtained; The ice cone to be impacted is impacted according to the working parameters.

11. The deicing method according to claim 10, characterized in that: The specification parameters of the ice cone to be impacted specifically include the size and cone angle; the working parameters of the drone specifically include the impact speed and impact position of the drone.

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