Scanning unmanned aerial vehicle for digitized recording of grotto

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to a scanning unmanned aerial vehicle for digitized recording of a cavern. The robot comprises a robot body, a plurality of supporting arms, a plurality of spraying assemblies, a scanning mechanism, a plurality of undercarriages, a barrier assembly and the like, the barrier assembly is arranged between the adjacent undercarriages, and the undercarriages can swing towards the direction of the scanning mechanism so that the barrier assembly can shield the scanning mechanism; and the plurality of undercarriages can swing in the direction away from the scanning mechanism, so that the barrier assembly is opened to expose the scanning mechanism. The problem that flying dust in the construction cavern is large, and the scanning and camera shooting definition of the unmanned aerial vehicle is affected is solved. The spraying assembly drives water mist to be sprayed to the well wall of the mine along with blowing of the blades, water mist dust falling is carried out, raised dust in the cavern is remarkably reduced, and therefore the effect of improving the visibility in the cavern is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a scanning unmanned aerial vehicle used for digital cataloging of caverns. Background Art

[0002] The diversion tunnel lock chamber of a large hydropower station is a cavern for installing gates. Its function is to lower the gates to block the water flow in the lower cavern. During the excavation process, the excavation is carried out from top to bottom, with one meter per three layers. After acceptance, shotcrete support is carried out. In order to ensure that complete geological modeling is obtained when the excavation is completed and to provide detailed geological references during subsequent operation and maintenance, detailed geological modeling of each excavation surface is required with an accuracy of 1mm. Multiple three-dimensional oblique photography modeling is required using drones, and then the model is spliced ​​at multiple levels.

[0003] When the drone is scanning, it scans from bottom to top, that is, the drone first falls vertically to the bottom of the cave, during which the scanning camera equipment does not work, and then the drone starts to rise vertically. During this process, the scanning camera equipment starts to work and take pictures and scan the cave conditions.

[0004] However, when using drones for scanning and filming, the operators found that the soil and rocks in the cave were loose because the construction had just been completed. During the flight of the drone, the airflow driven by the fan blades would inevitably blow the cave wall, which in turn caused a lot of dust in the cave. When scanning, on the one hand, the visibility in the cave was reduced, and on the other hand, the dust would block the lens. As a result, the clarity and accuracy of the scanned image were greatly reduced, making it difficult to use for detailed cataloging and analysis.

[0005] Therefore, a new solution for UAV is urgently needed to solve the above problems. Summary of the invention

[0006] The present invention provides a scanning drone for digital cataloging of caverns, aiming to solve the problem that dust in the construction cavern is large and affects the clarity of drone scanning and photography.

[0007] The present invention provides a scanning drone for digital cataloging of caves, which adopts the following technical solution: A scanning drone for digital cataloging of caverns, comprising: Body; A plurality of arms are symmetrically arranged on both sides of the fuselage, and each of the arms is provided with a propeller; A plurality of spray assemblies are arranged on the machine body and are used to spray water mist around the machine body; The scanning mechanism is arranged at the center of the lower part of the machine body; A plurality of landing gears are symmetrically arranged on both sides of the lower part of the fuselage, and each of the landing gears is movably connected to the fuselage; A barrier assembly is disposed between adjacent landing gears, and a plurality of the landing gears are capable of swinging toward the scanning mechanism so that the barrier assembly shields the scanning mechanism; Furthermore, the plurality of landing gears can all swing away from the scanning mechanism, so that the barrier assembly is opened to reveal the scanning mechanism.

[0008] By adopting the above technical solution, during the descent of the scanning drone used for digital cataloging of caves, the spray assembly sprays water mist around the body, effectively reducing dust in the cave and improving visibility; at the same time, multiple landing gears swing toward the scanning mechanism, so that the barrier assembly shields the scanning mechanism and protects the scanning mechanism from dust, water droplets or gravel. During the return ascent, the spray assembly stops working, the landing gear swings away from the scanning mechanism, the barrier assembly opens, the scanning mechanism is exposed and performs scanning operations, thereby ensuring the clarity and accuracy of the scanned image.

[0009] Optionally, the barrier component includes: A sliding shaft, which is horizontally arranged between adjacent landing gears and fixed to the fuselage; Two sliding sleeves slide on each sliding shaft respectively; Two first telescopic arms are provided corresponding to the sliding sleeves, one end of each first telescopic arm is movably connected to the sliding sleeve, and the other end of each first telescopic arm is movably connected to the outer end portions of two adjacent landing gears; Two elastic barriers are respectively fixed between the corresponding first telescopic arms, the sliding sleeves and the landing gear; When the landing gears swing toward the scanning mechanism until the ends thereof collide with each other, the sleeves on the same sliding shaft slide until they collide with each other, and the corresponding two first telescopic arms collide with each other, so that the plurality of barrier assemblies shield the scanning mechanism; When each of the landing gears swings away from the scanning mechanism, the sliding sleeves on the same sliding shaft slide to separate from each other, and the corresponding two first telescopic arms separate from each other, so that the plurality of barrier components are opened to reveal the scanning mechanism.

[0010] By adopting the above technical solution, the sliding shaft is horizontally arranged between adjacent landing gears and fixed to the body, two sliding sleeves slide on each sliding shaft respectively, two first telescopic arms are arranged corresponding to each sliding sleeve, one end of each first telescopic arm is movably connected to the sliding sleeve, and the other end is movably connected to the outer end of two adjacent landing gears respectively, and two elastic barriers are respectively fixed between the corresponding first telescopic arms, the sliding sleeve and the landing gear. When each landing gear swings toward the scanning mechanism until the ends collide, the sliding sleeves on the same sliding shaft slide to collide with each other, and the corresponding two first telescopic arms also collide with each other, so that multiple barriers block the scanning mechanism; when each landing gear swings away from the scanning mechanism, the sliding sleeves on the same sliding shaft slide to separate from each other, and the corresponding two first telescopic arms separate from each other, so that multiple barriers are opened to reveal the scanning mechanism, so that the scanning mechanism can be effectively protected when spraying dust during the descent of the drone to avoid being affected by dust and gravel, and when the drone performs scanning operations during the ascent, the barrier assembly is opened to ensure that the scanning mechanism can smoothly perform high-precision scanning of the cave.

[0011] Optionally, the first telescopic arm includes: A swing arm, one end of which is hinged to the sliding sleeve; A movable arm slides on the swing arm, and one end of the movable arm away from the swing arm is movably connected to the landing gear. The elastic member is fixed between the swing arm and the movable arm, and is used for pulling the movable arm to move toward the swing arm.

[0012] By adopting the above technical solution, the first telescopic arm includes a swing arm, a movable arm and an elastic member. One end of the swing arm is hinged to the sliding sleeve, the movable arm slides on the swing arm and is movably connected to the landing gear, and the elastic member is fixed between the swing arm and the movable arm, and is used to pull the movable arm to move in the direction of the swing arm, thereby ensuring that the landing gear can achieve stable gathering and unfolding when swinging, effectively protecting the scanning mechanism from damage by dust and gravel in the cave, and quickly opening when needed for precise scanning.

[0013] Optionally, magnetic plates capable of attracting each other are fixed to adjacent sides of two sliding sleeves on the same sliding shaft.

[0014] By adopting the above technical solution, when the two sleeves on the same sliding shaft slide to conflict with each other, they can maintain a stable state through the mutually attracted magnetic plates, thereby ensuring that when the landing gear swings toward the scanning mechanism until the ends conflict with each other, the barrier assembly can reliably block the scanning mechanism and improve the protection effect; when the landing gear swings away from the scanning mechanism, the sleeves separate from each other, the magnetism of the magnetic plate is lower than the elastic force of the elastic part, and it loses its function, and the barrier assembly opens to reveal the scanning mechanism, facilitating scanning operations.

[0015] Optionally, the scanning mechanism includes: A scanning assembly, movably arranged at the lower part of the machine body; A second telescopic arm, one end of which is fixed to the landing gear and the other end of which is movably connected to the scanning assembly; The scanning assembly moves away from the body, and the landing gear can be driven by the second telescopic arm to move away from the scanning mechanism to open the barrier assembly; The scanning assembly moves toward the machine body, and can drive the landing gear to move toward the scanning mechanism through the second telescopic arm, so that the barrier assembly blocks the scanning mechanism.

[0016] By adopting the above technical solution, when the scanning component moves away from the body, the second telescopic arm can drive the landing gear to move away from the scanning mechanism, thereby opening the barrier component, ensuring that the scanning component is not blocked during the rising process and can smoothly carry out the scanning operation; when the scanning component moves toward the body, the second telescopic arm can drive the landing gear to move toward the scanning mechanism, so that the barrier component blocks the scanning mechanism, effectively protecting the scanning component from dust and gravel, and improving the accuracy and safety of the scanning operation.

[0017] Optionally, the scanning component includes: A base is vertically movable on the lower side of the machine body, and the second telescopic arm is hinged to the base; The scanning head is rotatably connected to the lower side of the base.

[0018] By adopting the above technical solution, when the UAV is descending, the spray assembly sprays water mist around the body, effectively reducing dust in the cavern, and multiple landing gears swing toward the scanning mechanism, so that the barrier assembly blocks the scanning mechanism and protects the scanning head from damage by dust or gravel; when flying upward on the return journey, the spray assembly stops operating, the base moves downward, and the landing gear is driven by the second telescopic arm to swing away from the scanning mechanism, the barrier assembly opens, the scanning head is exposed, and the cavern wall scanning operation is performed.

[0019] Optionally, also include: The elastic shielding belt is arranged around the lower side of the machine body and located at the lower side of each sliding shaft, and the lower side of the elastic shielding belt is lower than the lower side of the sliding shaft.

[0020] By adopting the above technical solution, the elastic shielding belt can further protect the scanning mechanism when the UAV lands and takes off, prevent external debris from entering, ensure that the scanning mechanism remains clean during operation, and improve the scanning quality and accuracy.

[0021] Optionally, the spray assembly includes: The water tank is fixed to the side of the machine body and located between adjacent arms; The spray head is fixed to the outer end of the water tank.

[0022] By adopting the above technical solution, the spray assembly includes a water tank fixed on the side of the fuselage and a spray head fixed on the outer end of the water tank. It can spray water mist on the side of the fuselage during the descent of the drone, effectively reduce dust, and improve the image clarity and accuracy of the scanning operation.

[0023] Optionally, the scanning mechanism includes: A scanning assembly is fixed to the lower part of the machine body; A slip ring is vertically slidably sleeved on the outside of the scanning assembly; A second telescopic arm, one end of which is fixed to the landing gear and the other end of which is movably connected to the slip ring; The slip ring moves away from the body, and can drive the landing gear to move away from the scanning mechanism through the second telescopic arm to open the barrier assembly; The slip ring moves toward the body, and can drive the landing gear to move toward the scanning mechanism through the second telescopic arm, so that the barrier assembly blocks the scanning mechanism.

[0024] By adopting the above technical solution, the slip ring and the second telescopic arm are used in combination, and when the scanning mechanism needs to work, the landing gear can be opened and closed by moving the slip ring up and down, thereby accurately controlling the opening and closing of the barrier assembly. Specifically, when the slip ring moves away from the body, the second telescopic arm drives the landing gear to move away from the scanning mechanism, so that the barrier assembly opens, exposing the scanning mechanism to facilitate scanning operations; when the slip ring moves toward the body, the second telescopic arm drives the landing gear to move toward the scanning mechanism, so that the barrier assembly closes, shielding the scanning mechanism and protecting the scanning assembly from the external environment. This method not only improves the adaptability and safety of the UAV in complex environments, but also ensures the accuracy and reliability of scanning operations.

[0025] Optionally, also include: A base, fixed to the machine body; A scanning head is rotatably arranged on the base, and one end of the scanning head extends out of the base and is fixed with a gear shaft; A tooth plate, fixed to the slip ring and meshing with the gear shaft; The slip ring drives the tooth plate to move downward, and can push the tooth shaft to rotate, so that the scanning head rotates downward.

[0026] By adopting the above technical solution, when the slip ring drives the tooth plate to move downward, the tooth plate can push the gear shaft to rotate, thereby causing the scanning head to rotate downward, making it easier for the scanning head to start scanning. When the slip ring drives the tooth plate to move upward, the tooth plate can push the gear shaft to rotate, thereby causing the scanning head to rotate upward, thereby protecting the scanning head.

[0027] In summary, the present invention includes at least one of the following beneficial technical effects: 1. The spray assembly of the present invention drives the water mist to spray onto the mine wall along with the blowing of the blades, so as to reduce dust by water mist, which significantly reduces the dust in the cave, thereby improving the visibility in the cave; 2. The support arm of the present invention drives the enclosure to gather when the UAV descends, effectively protecting the scanning camera component and avoiding damage to it caused by water droplets, dust or gravel; 3. When the present invention performs scanning operations, the support arm drives the enclosure to unfold, ensuring that the scanning camera assembly can scan the mine shaft wall clearly and accurately, thereby improving the quality and accuracy of the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of a scanning drone used for digital cataloging of caves in Example 1 of the present invention; Figure 2 It is a schematic diagram of a scanning drone for digital cataloging of caves in Example 1 of the present invention in a deployed landing gear state; Figure 3 It is a schematic diagram of a scanning drone for digital cataloging of caves in Example 1 of the present invention, with its landing gear retracted; Figure 4 It is a cross-sectional schematic diagram of the specific structure of the first telescopic arm of a scanning drone for digital cataloging of caves in Example 1 of the present invention; Figure 5 It is a schematic diagram of a second telescopic arm structure of a scanning drone for digital cataloging of caves in Example 1 of the present invention; Figure 6 It is a schematic diagram of a slip ring structure of a scanning drone used for digital cataloging of caves in Example 2 of the present invention.

[0029] Description of reference numerals: 1-body; 11-elastic shielding belt; 2-arm; 21-propeller; 22-drive motor; 3- spray assembly; 31- water tank; 32- spray head; 4-scanning mechanism; 41-scanning assembly; 411-base; 412-scanning head; 413-gear shaft; 42-second telescopic arm; 43-slip ring; 431-gear plate; 5- Landing gear; 6-barrier assembly; 61-sliding shaft; 62-sliding sleeve; 63-first telescopic arm; 631-swinging arm; 632-movable arm; 633-elastic member; 64-elastic barrier. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. The described embodiments are only possible technical implementations of the present invention, not all possible implementations. Those skilled in the art can completely combine the embodiments of the present invention to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present invention.

[0031] The inventors of the present invention found that when drones were used for photographic modeling during the excavation of diversion tunnels and lock chambers of large hydropower stations, when the drones were scanning, the construction in the tunnel had just been completed and the soil and rocks were loose. When the drones were flying, the fan blades drove the airflow to blow the tunnel walls, resulting in a lot of dust in the tunnel. On the one hand, the visibility in the tunnel was reduced, and on the other hand, the dust would block the lens, causing a significant decrease in the clarity and accuracy of the scanned images, making them difficult to use for detailed cataloging and analysis.

[0032] To this end, the present invention mainly adopts the following scheme to effectively reduce dust in the cave and improve the clarity and accuracy of the scanned image. The present invention is further described in detail below.

[0033] Example 1: Reference Figure 1-3 A scanning drone for digital cataloging of caves provided in an embodiment of the present invention includes a body 1, multiple arms 2, multiple spray assemblies 3, a scanning mechanism 4, multiple landing gears 5 and a barrier assembly 6.

[0034] In this embodiment, there are four arms 2, which are symmetrically fixed on both sides of the body 1, that is, two arms 2 are provided on each side of the body 1, and a propeller 21 is provided at the outer end of each arm 2, and a drive motor 22 is fixed to drive the propeller 21 to rotate. During operation, multiple drive motors 22 work together to drive each propeller 21 to rotate in a preset direction, so that the drone can move along a preset trajectory.

[0035] A plurality of spray assemblies 3 are arranged on the side of the machine body 1. In this embodiment, four spray assemblies 3 are also arranged. The four spray assemblies 3 are arranged at intervals with the four arms 2, that is, a spray assembly 3 is arranged between each of the adjacent arms 2. The spray assembly 3 includes a water tank 31 and a spray head 32. The water tank 31 is fixed on the side of the machine body 1, and the spray head 32 is fixed to the outer end of the water tank 31. The water tank 31 can be made of high-strength plastic with certain corrosion resistance and wear resistance. A liquid level sensor can be arranged inside the water tank 31 to timely understand the water level in the water tank 31. The spray head 32 can select a nozzle with good atomization effect, which can evenly atomize the water in the water tank 31 into fine water mist, spray it on the side of the machine body 1, and effectively reduce dust.

[0036] During operation, each spray head 32 sprays water mist to the side of the machine body 1, and cooperates with the propeller 21 to drive the airflow, so that the water mist can be sprayed to the side wall of the cave chamber to moisten the cave wall and reduce the generation of dust.

[0037] The scanning mechanism 4 is arranged at the center of the lower part of the machine body 1, and a plurality of landing gears 5 are symmetrically arranged on both sides of the lower part of the machine body 1. There are four landing gears 5, and the landing gears 5 can be made of aluminum alloy, which has the characteristics of light weight and high strength. The upper end of the landing gear 5 is movably connected to the machine body 1 through a pin shaft, so that the landing gear 5 can swing relative to the machine body 1. The barrier assembly 6 is respectively arranged between adjacent landing gears 5, and the plurality of landing gears 5 can swing toward the scanning mechanism 4 so that the barrier assembly 6 blocks the scanning mechanism 4, and the plurality of landing gears 5 can swing away from the scanning mechanism 4 so that the barrier assembly 6 opens to reveal the scanning mechanism 4.

[0038] In summary, with this design, during the descent of the drone, the spray assembly 3 sprays water mist around the body 1, effectively reducing dust in the cave. At the same time, the multiple landing gears 5 swing toward the scanning mechanism 4, so that the barrier assembly 6 shields the scanning mechanism 4 and protects the scanning mechanism 4 from dust, water droplets or gravel. During the return ascent, the spray assembly 3 stops working, but the water mist sprayed by the spray assembly 3 makes the side wall of the cave moist, and the dust does not overflow, thus avoiding dust. The landing gear 5 swings away from the scanning mechanism 4, the barrier assembly 6 opens, and the scanning mechanism 4 is exposed and performs scanning operations, thereby ensuring the clarity and accuracy of the scanned image.

[0039] Reference Figure 2-4 Specifically, the barrier assembly 6 includes a sliding shaft 61, two sliding sleeves 62, two first telescopic arms 63 and two elastic barriers 64. The sliding shaft 61 is horizontally arranged between adjacent landing gears 5, coincides with the direction of the connecting line between adjacent landing gears 5, and both ends thereof are fixed to the body 1, and can be made of stainless steel, which has good wear resistance and corrosion resistance. The two sliding sleeves 62 are along the sliding shaft 61, and the sliding sleeves 62 can be made of wear-resistant engineering plastics, and the inner wall thereof is tightly matched with the outer wall of the sliding shaft 61 to ensure that the sliding sleeve 62 can slide smoothly on the sliding shaft 61. The two first telescopic arms 63 are respectively arranged corresponding to the two sliding sleeves 62, one end of the two first telescopic arms 63 is respectively ball-hinged to the sliding sleeve 62, and the other end of the two first telescopic arms 63 is respectively connected to the outer end of the two adjacent landing gears 5 by ball-hinging. In this way, through the telescopic ability of the first telescopic arm 63 and the ball-hinged connection of its end to the sliding sleeve 62 and the landing gear 5, it can be realized to swing freely with the swing of the landing gear 5.

[0040] Specifically, the first telescopic arm 63 includes a swing arm 631, a movable arm 632 and an elastic member 633. One end of the swing arm 631 is ball-hinged to the sliding sleeve 62, the movable arm 632 is slidably inserted in the swing arm 631, and one end of the movable arm 632 facing away from the swing arm 631 is ball-hinged to the outer end of the landing gear 5. The elastic member 633 can be a spring, fixed between the swing arm 631 and the movable arm 632, and used to pull the movable arm 632 to move toward the swing arm 631.

[0041] The two elastic barriers 64 are respectively fixed between the corresponding first telescopic arm 63, the sliding sleeve 62 and the landing gear 5. The elastic barrier 64 can be made of rubber material, has good elasticity and flexibility, and can effectively block dust and gravel. In order to adapt to the extension and contraction of the first telescopic arm 63, the side of the elastic barrier 64 close to the first telescopic arm 63 can be divided into two parts, one part is fixed to the swing arm 631, and the other part is fixed to the movable arm 632. When the movable arm 632 retracts to the initial state with the swing arm 631, the elastic barrier 64 remains normal. When the movable arm 632 and the swing arm 631 extend, the elastic barrier 64 follows the stretching by its own elasticity. At the same time, the elastic force of the elastic barrier 64 cooperates with the elastic force of the spring to play the role of an auxiliary spring, that is, the elastic barrier 64 can also pull the movable arm 632 to move toward the swing arm 631, so that when the elastic member 633 is damaged, the first telescopic arm 63 can still be driven to retract by the elastic barrier 64. In addition, in other embodiments of the present invention, the setting of the elastic member 633 can also be cancelled.

[0042] In this way, when each landing gear 5 swings toward the scanning mechanism 4 until the ends collide with each other, the elastic member 633 and the elastic barrier 64 will pull the first telescopic arm 63 back, so that the sleeve 62 on the same sliding shaft 61 slides to collide with each other. At this time, the two first telescopic arms 63 on the same sliding shaft 61 retract to the initial state and collide with each other, and the adjacent barriers can be surrounded to block the scanning mechanism 4. When each landing gear 5 swings away from the scanning mechanism 4, the elastic member 633 and the elastic barrier 64 are stretched as the landing gear 5 swings, and the two sleeves 62 on the same sliding shaft 61 slide synchronously to the two ends of the sliding shaft 61, so that multiple barriers are opened to reveal the scanning mechanism 4.

[0043] In this way, when the drone sprays dust during its descent, the barrier can effectively protect the scanning mechanism 4 from being affected by dust, water mist and gravel. When the drone performs scanning operations during its ascent, the barrier assembly 6 opens to ensure that the scanning mechanism 4 can smoothly perform high-precision scanning of the cave.

[0044] Furthermore, in order to improve the tightness of the sliding sleeves 62, magnetic plates capable of adsorbing each other are fixed to the adjacent sides of the two sliding sleeves 62. This improves the tightness of the adjacent sliding sleeves 62 when the barrier assembly 6 is closed, and the magnetic plates can be separated from each other when the barrier assembly 6 is opened, which will not affect the opening of the barrier assembly 6.

[0045] Reference Figure 3-5 The scanning mechanism 4 includes a scanning assembly 41, which is movably arranged at the lower part of the body 1. The scanning assembly 41 includes a base 411 and a scanning head 412. A lifting mechanism, such as an electric cylinder, is fixed in the body 1. The telescopic rod of the electric cylinder is fixed to the base 411. The scanning head 412 can use a high-resolution camera to clearly capture the situation in the cave. The scanning head 412 is rotatably connected to the base 411. A rotating driving member, such as a stepping motor, is fixed on the base 411 to drive the scanning head 412 to rotate. A second telescopic arm 42 is also fixed to the side of the upper end of the landing gear 5 facing the scanning assembly 41, and the other end of the second telescopic arm 42 is hinged to the base 411.

[0046] When the lifting mechanism pushes the base 411 to move away from the body 1, the second telescopic arm 42 can drive the landing gear 5 to move away from the scanning mechanism 4, thereby opening the barrier assembly 6, ensuring that the scanning assembly 41 is not blocked during scanning and the scanning operation can be carried out smoothly; when the lifting mechanism drags the base 411 toward the body 1, the second telescopic arm 42 can drive the landing gear 5 to swing toward the scanning mechanism 4, so that the barrier assembly 6 blocks the scanning mechanism 4, effectively protecting the scanning assembly 41 from dust and gravel, and improving the accuracy and safety of the scanning operation.

[0047] In addition, in order to reduce the probability of dust entering part of the sliding shaft 61, an elastic shielding belt 11 is fixed to the outside of each sliding shaft 61 on the lower side of the body 1. The elastic shielding belt 11 is arranged around the lower side of the body 1, and the lower side of the elastic shielding belt 11 is lower than the lower side of the sliding shaft 61. The elastic shielding belt 11 can be made of elastic rubber material, which can further protect the scanning mechanism 4 when the drone lands and takes off, prevent external debris from entering, improve the scanning quality and accuracy, and when the first telescopic arm 63 swings, the elasticity of the elastic shielding belt 11 itself will not hinder the swing of the first telescopic arm 63.

[0048] The implementation principle of this embodiment is as follows: during the descent of the drone, the water in the water tank 31 of the spray assembly 3 is atomized into fine water mist by the spray head 32 and sprayed to the side of the body 1, effectively reducing the dust in the cave and improving the visibility in the cave. At the same time, the landing gear 5 swings toward the scanning mechanism 4, and the first telescopic arm 63 drives the sliding sleeve 62 to slide on the sliding shaft 61, so that the two sliding sleeves 62 collide with each other, and the two first telescopic arms 63 collide with each other, so that the elastic barrier 64 forms a barrier to block the scanning mechanism 4 and protect the scanning mechanism 4 from dust, water droplets or gravel. During the ascending process of the UAV, the spray assembly 3 stops working, the landing gear 5 swings away from the scanning mechanism 4, and the first telescopic arm 63 drives the sliding sleeve 62 to slide on the sliding shaft 61, so that the two sliding sleeves 62 are separated from each other, and the two first telescopic arms 63 are separated from each other, so that the elastic barrier 64 is opened to expose the scanning mechanism 4, and the scanning assembly 41 of the scanning mechanism 4 drives the landing gear 5 to move away from the scanning mechanism 4 through the second telescopic arm 42, opens the barrier assembly 6, and enables the scanning head 412 to smoothly scan the cave, thereby ensuring the clarity and accuracy of the scanned image. Through this design, the problem of large dust in the cave that affects the clarity of the UAV scanning camera is effectively solved, the precision and accuracy of geological modeling are improved, and detailed geological reference is provided for subsequent operation and maintenance.

[0049] Example 2: Reference Figure 6 The difference between this embodiment and the above embodiment is that the scanning assembly 41 includes a cylindrical base 411 vertically fixed to the lower end of the body 1 and a hemispherical scanning head 412 rotating at the lower end of the cylindrical base 411. The slip ring 43 is vertically slidably sleeved on the outer side of the base 411, and a lifting mechanism such as an electric cylinder is fixed in the body 1, which can drive the slip ring 43 to move vertically. The end of the second telescopic arm 42 away from the landing gear 5 is hinged to the slip ring 43.

[0050] When the lifting mechanism pushes the slip ring 43 to move away from the body 1, the second telescopic arm 42 can drive the landing gear 5 to move away from the scanning mechanism 4 to open the barrier assembly 6; when the lifting mechanism drags the slip ring 43 toward the body 1, the second telescopic arm 42 can drive the landing gear 5 to move toward the scanning mechanism 4, so that the barrier assembly 6 blocks the scanning mechanism 4.

[0051] Furthermore, one end of the rotating shaft of the scanning head 412 extends out of the base 411 and is coaxially fixed with a gear shaft 413. A torsion spring (not shown in the figure) is also fixed between the rotating shaft of the scanning head 412 and the base 411. Under normal conditions, the torsion spring drives the scanning head 412 to rotate into the base 411. A tooth plate 431 is fixed to the lower side of the slip ring 43, and the tooth plate 431 is meshed with the gear shaft 413. When the slip ring 43 drives the tooth plate 431 to move downward, it can push the gear shaft 413 to rotate, so that the scanning head 412 rotates downward, that is, when the barrier component 6 is opened, the scanning head 412 rotates out of the base 411 to operate, and when the barrier component 6 is closed, the scanning head 412 rotates into the base 411 to be closed. In this way, the scanning head 412 can be further protected, and a wiping structure, such as a wiping cloth, can be set in the base 411, so that the scanning head 412 can be wiped when the scanning head 412 rotates toward the base 411, thereby improving the scanning accuracy.

[0052] The implementation principle of this embodiment is as follows: during the descent of the drone, the spray assembly 3 sprays water mist on the side of the body 1 to reduce dust in the cave. The landing gear 5 swings toward the scanning mechanism 4, so that the barrier assembly 6 blocks the scanning mechanism 4 and protects the scanning assembly 41. During the ascent of the drone, the spray assembly 3 stops working, the slip ring 43 moves away from the body 1, and the landing gear 5 is driven by the second telescopic arm 42 to move away from the scanning mechanism 4, opening the barrier assembly 6 so that the scanning head 412 can perform scanning operations. At the same time, since the slip ring 43 is set to drive the gear plate 431 to move, the gear shaft 413 is driven to rotate, so that the scanning head 412 rotates relative to the base 411 to perform scanning operations, the scanning head 412 can be further protected and the scanning clarity can be improved.

[0053] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A scanning drone for digital cataloging of caverns, characterized in that: include: Body (1); A plurality of supporting arms (2) are symmetrically arranged on both sides of the machine body (1), and each of the supporting arms (2) is provided with a propeller (21); A plurality of spray assemblies (3) are arranged on the machine body (1) and are used to spray water mist around the machine body (1); A scanning mechanism (4) is arranged at the center of the lower part of the machine body (1); A plurality of landing gears (5) are symmetrically arranged on both sides of the lower part of the fuselage (1), and each of the landing gears (5) is movably connected to the fuselage (1); A barrier assembly (6) is arranged between adjacent landing gears (5), and a plurality of the landing gears (5) are capable of swinging toward the scanning mechanism (4) so ​​that the barrier assembly (6) blocks the scanning mechanism (4); Furthermore, the plurality of landing gears (5) are capable of swinging away from the scanning mechanism (4), so that the barrier assembly (6) is opened to expose the scanning mechanism (4).

2. A scanning drone for digital cataloging of caves according to claim 1, characterized in that: The barrier assembly (6) comprises: A sliding shaft (61) is horizontally arranged between adjacent landing gears (5) and fixed to the fuselage (1); Two sliding sleeves (62) slide on the sliding shafts (61) respectively; Two first telescopic arms (63) are provided corresponding to the sliding sleeves (62), one end of each first telescopic arm (63) is movably connected to the sliding sleeve (62), and the other end of each first telescopic arm (63) is movably connected to the outer end portions of two adjacent landing gears (5); Two elastic barriers (64) are respectively fixed between the corresponding first telescopic arms (63), the sliding sleeves (62) and the landing gear (5); When each of the landing gears (5) swings toward the scanning mechanism (4) until the ends thereof collide with each other, the sliding sleeves (62) on the same sliding shaft (61) slide until they collide with each other, and the corresponding two first telescopic arms (63) collide with each other, so that the plurality of barrier assemblies (6) shield the scanning mechanism (4); When each of the landing gears (5) swings away from the scanning mechanism (4), the sliding sleeves (62) on the same sliding shaft (61) slide to separate from each other, and the corresponding two first telescopic arms (63) separate from each other, thereby opening the plurality of barrier assemblies (6) to expose the scanning mechanism (4).

3. The scanning drone for digital cataloging of caves according to claim 2, characterized in that: The first telescopic arm (63) comprises: A swing arm (631), one end of which is hinged to the sliding sleeve (62); The movable arm (632) slides on the swing arm (631), and one end of the movable arm (632) away from the swing arm (631) is movably connected to the landing gear (5). The elastic member (633) is fixed between the swing arm (631) and the movable arm (632) and is used to pull the movable arm (632) to move in the direction of the swing arm (631).

4. The scanning drone for digital cataloging of caves according to claim 2, characterized in that: Magnetic plates capable of attracting each other are fixed on adjacent sides of two sliding sleeves (62) on the same sliding shaft (61).

5. The scanning drone for digital cataloging of caves according to claim 2, characterized in that: The scanning mechanism (4) comprises: A scanning assembly (41) movably disposed at the lower part of the machine body (1); A second telescopic arm (42), one end of which is fixed to the landing gear (5) and the other end of which is movably connected to the scanning assembly (41); The scanning assembly (41) moves away from the machine body (1), and can drive the landing gear (5) to move away from the scanning mechanism (4) through the second telescopic arm (42) to open the barrier assembly (6); The scanning assembly (41) moves toward the machine body (1) and can drive the landing gear (5) to move toward the scanning mechanism (4) through the second telescopic arm (42), so that the barrier assembly (6) blocks the scanning mechanism (4).

6. The scanning drone for digital cataloging of caves according to claim 5, characterized in that: The scanning component (41) comprises: A base (411) is vertically movable on the lower side of the machine body (1), and the second telescopic arm (42) is hinged to the base (411); The scanning head (412) is rotatably connected to the lower side of the base (411).

7. The scanning drone for digital cataloging of caves according to claim 2, characterized in that: Also includes: The elastic shielding belt (11) is arranged in a surrounding manner on the lower side of the machine body (1) and is located on the lower side of each sliding shaft (61). The lower side of the elastic shielding belt (11) is lower than the lower side of the sliding shaft (61).

8. The scanning drone for digital cataloging of caves according to claim 1, characterized in that: The spray assembly (3) comprises: A water tank (31) is fixed to the peripheral side of the machine body (1) and is located between adjacent supporting arms (2); The spray head (32) is fixed to the outer end of the water tank (31).

9. The scanning drone for digital cataloging of caves according to claim 2, characterized in that: The scanning mechanism (4) comprises: A scanning assembly (41) is fixed to the lower part of the machine body (1); A slip ring (43) is vertically slidably sleeved on the outside of the scanning assembly (41); A second telescopic arm (42), one end of which is fixed to the landing gear (5) and the other end of which is movably connected to the slip ring (43); The slip ring (43) moves away from the machine body (1), and can drive the landing gear (5) to move away from the scanning mechanism (4) through the second telescopic arm (42) to open the barrier assembly (6); The slip ring (43) moves toward the body (1) and can drive the landing gear (5) to move toward the scanning mechanism (4) through the second telescopic arm (42), so that the barrier assembly (6) blocks the scanning mechanism (4).

10. The scanning drone for digital cataloging of caves according to claim 9, characterized in that: Also includes: A base (411) fixed to the body (1); A scanning head (412) is rotatably disposed on the base (411), and one end of the scanning head (412) extends out of the base (411) and is fixed with a gear shaft (413); A tooth plate (431) is fixed to the slip ring (43) and meshes with the gear shaft (413); The slip ring (43) drives the tooth plate (431) to move downward, which can push the tooth shaft (413) to rotate, so that the scanning head (412) rotates downward.

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