A scanning drone for digital cataloging of caverns

Abstract

This invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a scanning UAV for digital cataloging in tunnels. The invention includes a fuselage, multiple booms, multiple spray assemblies, a scanning mechanism, multiple landing gears, and a barrier assembly. The barrier assembly is positioned between adjacent landing gears. All landing gears can swing towards the scanning mechanism to allow the barrier assembly to shield it; conversely, all landing gears can swing away from the scanning mechanism to open the barrier assembly and expose it. This invention solves the problem of high dust levels in construction tunnels, which affects the clarity of UAV scanning images. The spray assembly, accompanied by blades, sprays water mist onto the mine wall for dust suppression, significantly reducing dust levels inside the tunnel and thus improving visibility.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a scanning UAV for digital cataloging of caverns. Background Technology

[0002] The diversion tunnel gate chamber of a large hydropower station is the chamber where the gate is installed. Its function is to lower the gate to block the water flow in the lower chamber. During the excavation process, the excavation proceeds from top to bottom, with each three layers being one meter apart. After acceptance, shotcrete support is installed. In order to ensure that a complete geological model is obtained when the excavation is completed, and to provide detailed geological references during subsequent operation and maintenance, detailed geological modeling of each excavation face is required, with an accuracy of 1mm. Multiple three-dimensional oblique photogrammetry models are required using drones, and then the models are spliced ​​together in multiple layers.

[0003] When the drone is scanning, it uses a bottom-up scanning method. The drone first descends vertically to the bottom of the cavern, during which the scanning camera equipment does not operate. Then the drone begins to ascend vertically, during which the scanning camera equipment starts to operate and scan the cavern.

[0004] However, when using drones for scanning and photography, the operators found that due to the recent completion of construction inside the cave, the soil and rocks inside were loose. During the drone's flight, the airflow driven by the fan blades inevitably stirred up the cave walls, resulting in a large amount of dust inside the cave. This reduced visibility inside the cave and obstructed the lens during the scanning operation. Consequently, the clarity and accuracy of the scanned images were significantly reduced, making them unsuitable for detailed recording and analysis.

[0005] Therefore, a new solution for drones is urgently needed to address the aforementioned problems. Summary of the Invention

[0006] The present invention provides a scanning drone for digital cataloging of caverns, aiming to solve the problem of high dust levels inside construction caverns affecting the clarity of drone scanning images.

[0007] The present invention provides a scanning drone for digital cataloging of caverns, which adopts the following technical solution:

[0008] A scanning drone for digital cataloging of caverns includes:

[0009] Organism;

[0010] Multiple outriggers are symmetrically arranged on both sides of the fuselage, and each outrigger is equipped with a propeller.

[0011] Multiple spray components are installed on the machine body to spray water mist around the machine body;

[0012] The scanning mechanism is located at the center of the lower part of the machine body;

[0013] Multiple landing gears are symmetrically arranged on both sides of the lower part of the fuselage, and each landing gear is movably connected to the fuselage;

[0014] A barrier assembly is disposed between adjacent landing gears, and all of the landing gears are capable of swinging toward the scanning mechanism so that the barrier assembly blocks the scanning mechanism;

[0015] Furthermore, all of the aforementioned landing gears can swing away from the scanning mechanism, causing the barrier assembly to open and expose the scanning mechanism.

[0016] By adopting the above technical solution, this scanning UAV for digital cataloging of caverns sprays water mist around the aircraft during descent, effectively reducing dust and improving visibility within the cavern. Simultaneously, multiple landing gears swing towards the scanning mechanism, causing a barrier assembly to shield the scanning mechanism and protect it from dust, water droplets, or debris. During the return ascent, the spray assembly ceases operation, the landing gear swings away from the scanning mechanism, the barrier assembly opens, and the scanning mechanism is exposed and begins scanning, thus ensuring the clarity and accuracy of the scanned images.

[0017] Optionally, the barrier component includes:

[0018] The sliding shaft is horizontally installed between adjacent landing gears and fixed to the fuselage;

[0019] Two sliding sleeves slide on each sliding shaft respectively;

[0020] Two first telescopic arms are provided corresponding to each sliding sleeve. 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 of two adjacent landing gears.

[0021] Two elastic barriers are respectively fixed between the corresponding first telescopic boom, sliding sleeve and landing gear;

[0022] When each of the landing gears swings toward the scanning mechanism until its ends collide, the sliding sleeves on the same sliding shaft slide to collide with each other, and the corresponding two first telescopic arms collide with each other, thereby causing the multiple barrier components to block the scanning mechanism;

[0023] 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, thereby opening the multiple barrier components to expose the scanning mechanism.

[0024] By adopting the above technical solution, the sliding shaft is horizontally set between adjacent landing gears and fixed to the fuselage. Two sliding sleeves slide on each sliding shaft respectively. Two first telescopic arms are set 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 the two adjacent landing gears respectively. Two elastic barriers are fixed between the corresponding first telescopic arms, sliding sleeves, and landing gears respectively. When each landing gear swings towards the scanning mechanism until its 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, thereby blocking the scanning mechanism with multiple barriers. 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, thereby opening multiple barriers to expose the scanning mechanism. This effectively protects the scanning mechanism from dust and gravel during the drone's descent when spraying dust. When the drone is ascending and performing scanning operations, the barrier assembly opens to ensure that the scanning mechanism can smoothly perform high-precision scanning of the cavern.

[0025] Optionally, the first telescopic arm includes:

[0026] A swing arm, one end of which is hinged to a sliding sleeve;

[0027] The movable arm slides along the swing arm, and the end of the movable arm opposite to the swing arm is movably connected to the landing gear.

[0028] An elastic element is fixed between the swing arm and the movable arm, used to pull the movable arm toward the direction of the swing arm.

[0029] By adopting the above technical solution, the first telescopic arm includes a swing arm, a movable arm, and an elastic element. One end of the swing arm is hinged to a sliding sleeve, the movable arm slides on the swing arm and is movably connected to the landing gear, and the elastic element is fixed between the swing arm and the movable arm to pull the movable arm toward the direction of the swing arm, thereby ensuring that the landing gear can achieve stable convergence and deployment when swinging, effectively protecting the scanning mechanism from damage by dust and gravel in the cave, and quickly opening for accurate scanning when needed.

[0030] Optionally, magnetic plates that can attract each other are fixed on the adjacent sides of the two sliding sleeves on the same sliding shaft.

[0031] By adopting the above technical solution, when the two sliding sleeves on the same sliding shaft slide to the point of mutual contact, they can maintain a stable state through the mutual attraction of the magnetic plates. This ensures that when the landing gear swings towards the scanning mechanism and the ends of the sleeves come into contact, the barrier assembly can reliably block the scanning mechanism, thus improving the protection effect. When the landing gear swings away from the scanning mechanism, the sliding sleeves separate from each other, the magnetism of the magnetic plates is lower than the elastic force of the elastic element, and they lose their function. The barrier assembly then opens to expose the scanning mechanism, facilitating the scanning operation.

[0032] Optionally, the scanning mechanism includes:

[0033] The scanning component is located at the lower part of the machine body;

[0034] The second telescopic arm is fixed at one end to the landing gear and movably connected to the scanning assembly at the other end;

[0035] The scanning component moves away from the body and can drive the landing gear to move away from the scanning mechanism via the second telescopic arm to open the barrier component;

[0036] The scanning component moves toward the body and can drive the landing gear toward the scanning mechanism via the second telescopic arm, so that the barrier component blocks the scanning mechanism.

[0037] 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 and ensuring that the scanning component is not obstructed during the ascent and can carry out scanning operations smoothly; when the scanning component moves towards the body, the second telescopic arm can drive the landing gear to move towards the scanning mechanism, so that the barrier component blocks the scanning mechanism, effectively protecting the scanning component from the influence of dust and gravel, and improving the accuracy and safety of scanning operations.

[0038] Optionally, the scanning component includes:

[0039] The base is vertically movable under the body, and the second telescopic arm is hinged to the base;

[0040] The scanning head is rotatably connected to the underside of the base.

[0041] By adopting the above technical solution, during the descent of the UAV, the spray component sprays water mist around the aircraft, effectively reducing dust in the cave. Multiple landing gears swing towards the scanning mechanism, causing the barrier component to shield the scanning mechanism and protect the scanning head from dust or gravel damage. When returning and flying upward, the spray component stops operating, the base moves downward, and the second telescopic arm drives the landing gear to swing away from the scanning mechanism. The barrier component opens, the scanning head is exposed, and the scanning operation of the cave wall is carried out.

[0042] Optionally, also include:

[0043] An elastic shielding strip is wrapped around the lower side of the machine body, located below each sliding shaft, with the lower side of the elastic shielding strip being lower than the lower side of the sliding shaft.

[0044] By adopting the above technical solution, the elastic shielding strip 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 scanning quality and accuracy.

[0045] Optionally, the spray assembly includes:

[0046] The water tank is fixed to the perimeter of the machine body and located between adjacent support arms;

[0047] The spray nozzle is fixed to the outer end of the water tank.

[0048] By adopting the above technical solution, the spray assembly includes a water tank fixed to the side of the drone body and a spray head fixed to the outer end of the water tank. It can spray water mist to the side of the drone body during the descent of the drone, effectively reducing dust and improving the image clarity and accuracy of the scanning operation.

[0049] Optionally, the scanning mechanism includes:

[0050] The scanning component is fixed to the lower part of the machine body;

[0051] A slip ring, which slides vertically and is fitted onto the outside of the scanning assembly;

[0052] The second telescopic boom is fixed at one end to the landing gear and movably connected to a slip ring at the other end;

[0053] The slip ring moves away from the body, which can drive the landing gear to move away from the scanning mechanism through the second telescopic arm, so as to open the barrier assembly;

[0054] The slip ring moves toward the body and can drive the landing gear toward the scanning mechanism via the second telescopic arm, so that the barrier assembly blocks the scanning mechanism.

[0055] By adopting the above technical solution, the combined use of the slip ring and the second telescopic arm allows for precise control of the barrier assembly's opening and closing by moving the slip ring up and down when the scanning mechanism needs to operate. Specifically, when the slip ring moves away from the fuselage, the second telescopic arm drives the landing gear away from the scanning mechanism, opening the barrier assembly and exposing the scanning mechanism for easier scanning. Conversely, when the slip ring moves towards the fuselage, the second telescopic arm drives the landing gear towards the scanning mechanism, closing the barrier assembly and shielding it from external environmental influences. This approach not only improves the UAV's adaptability and safety in complex environments but also ensures the accuracy and reliability of scanning operations.

[0056] Optionally, also include:

[0057] The base is fixed to the main body;

[0058] A scanning head is rotatably mounted on a base, with one end of the scanning head extending out of the base and fixed with a gear shaft;

[0059] A toothed plate, fixed to a slip ring, meshes with the toothed shaft;

[0060] The slip ring drives the toothed plate to move downwards, which in turn drives the toothed shaft to rotate, causing the scanning head to rotate downwards.

[0061] By adopting the above technical solution, when the slip ring drives the toothed plate to move downward, the toothed plate can push the toothed shaft to rotate, thereby causing the scanning head to rotate downward, making it easier for the scanning head to start scanning operations. When the slip ring drives the toothed plate to move upward, the toothed plate can push the toothed shaft to rotate, thereby causing the scanning head to rotate upward, protecting the scanning head.

[0062] In summary, the present invention has at least one of the following beneficial technical effects:

[0063] 1. The spray assembly of the present invention, along with the blowing of the blades, sprays water mist onto the mine wall to suppress dust, significantly reducing dust in the mine and thus improving visibility inside the mine.

[0064] 2. The support arm of this invention drives the enclosure to converge when the drone descends, effectively protecting the scanning camera components and avoiding damage caused by water droplets, dust or gravel;

[0065] 3. During the scanning operation, the support arm of this invention drives the enclosure to unfold, ensuring that the scanning camera assembly can clearly and accurately scan the mine wall, thereby improving the quality and accuracy of the images. Attached Figure Description

[0066] Figure 1 This is a schematic diagram of the overall structure of a scanning drone for digital cataloging of caverns according to Embodiment 1 of the present invention;

[0067] Figure 2 This is a schematic diagram of the deployed landing gear state of a scanning UAV used for digital cataloging of caverns in Embodiment 1 of the present invention;

[0068] Figure 3 This is a schematic diagram of the retracted landing gear state of a scanning drone used for digital cataloging of caverns in Embodiment 1 of the present invention;

[0069] Figure 4 This is a cross-sectional schematic diagram of the specific structure of the first telescopic arm of a scanning drone used for digital cataloging of caverns in Embodiment 1 of the present invention;

[0070] Figure 5 This is a schematic diagram of the second telescopic arm structure of a scanning drone for digital cataloging of caverns in Embodiment 1 of the present invention;

[0071] Figure 6 This is a schematic diagram of the slip ring structure of a scanning drone used for digital cataloging of caverns, according to Embodiment 2 of the present invention.

[0072] Explanation of reference numerals in the attached drawings: 1-body; 11-elastic shielding strip;

[0073] 2- outrigger; 21- propeller; 22- drive motor;

[0074] 3-Spray assembly; 31-Water tank; 32-Spray head;

[0075] 4-Scanning mechanism; 41-Scanning assembly; 411-Base; 412-Scanning head; 413-Gear shaft; 42-Second telescopic arm; 43-Slip ring; 431-Gear plate;

[0076] 5-Landing gear;

[0077] 6-Barrier assembly; 61-Sliding shaft; 62-Sliding sleeve; 63-First telescopic arm; 631-Swing arm; 632-Moving arm; 633-Elastic element; 64-Elastic barrier. Detailed Implementation

[0078] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of the present invention and not all possible implementations. Those skilled in the art can obtain other embodiments in conjunction with the embodiments of the present invention without creative effort, and these embodiments are also within the protection scope of the present invention.

[0079] The inventors of this invention discovered that during the excavation of the diversion tunnel gate chamber of a large hydropower station, when using drones for photogrammetric modeling, the soil and rocks inside the tunnel are loose due to the recent completion of construction. The airflow driven by the drone's blades blows through the tunnel walls, resulting in significant dust pollution inside the tunnel. This reduces visibility and obstructs the lens, leading to a substantial decrease in the clarity and accuracy of the scanned images, making them unsuitable for detailed recording and analysis.

[0080] Therefore, the present invention mainly adopts the following scheme to effectively reduce dust in the cave and improve the clarity and accuracy of the scanned images. The present invention will be further described in detail below.

[0081] Example 1: Refer to Figure 1-3 The present invention provides a scanning drone for digital cataloging of caverns, comprising a body 1, multiple arms 2, multiple spray components 3, a scanning mechanism 4, multiple landing gears 5, and a barrier component 6.

[0082] In this embodiment, four support arms 2 are provided, symmetrically fixed to both sides of the body 1, that is, two arms are provided on each side of the body 1. Each support arm 2 has a propeller 21 at its outer end, and a drive motor 22 for driving the propeller 21 to rotate is fixed thereon. During operation, multiple drive motors 22 work together to drive each propeller 21 to rotate in a preset direction, thereby enabling the UAV to move along a preset trajectory.

[0083] Multiple spray components 3 are disposed around the perimeter of the machine body 1. In this embodiment, four spray components 3 are also provided, with the four spray components 3 spaced apart from the four support arms 2, meaning that there is one spray component 3 between each adjacent support arm 2. Each spray component 3 includes a water tank 31 and a spray head 32. The water tank 31 is fixed to the perimeter 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, possessing certain corrosion resistance and wear resistance. A liquid level sensor can be installed inside to monitor the water level in the water tank 31. The spray head 32 can be a nozzle with good atomization effect, capable of uniformly atomizing the water in the water tank 31 into fine water mist, spraying it around the perimeter of the machine body 1 to effectively reduce dust.

[0084] During operation, each spray head 32 sprays water mist around the machine body. In conjunction with the propeller 21 driving the airflow, the water mist can be sprayed onto the side walls of the cavern to moisten the cavern walls and reduce the generation of dust.

[0085] The scanning mechanism 4 is located at the center of the lower part of the fuselage 1. Multiple landing gears 5 are symmetrically arranged on both sides of the lower part of the fuselage 1. There are four landing gears 5, which can be made of aluminum alloy, offering lightweight and high strength. The upper ends of the landing gears 5 are movably connected to the fuselage 1 via pins, allowing the landing gears 5 to swing relative to the fuselage 1. Barrier assemblies 6 are respectively arranged between adjacent landing gears 5. All landing gears 5 can swing towards the scanning mechanism 4 to block the scanning mechanism 4, and can also swing away from the scanning mechanism 4 to open the barrier assemblies 6 and expose the scanning mechanism 4.

[0086] In summary, this design allows the spray assembly 3 to spray water mist around the drone body 1 during descent, effectively reducing dust within the cavern. Simultaneously, multiple landing gears 5 swing towards the scanning mechanism 4, causing the barrier assembly 6 to shield the scanning mechanism 4, protecting it from dust, water droplets, or debris. During the return ascent, the spray assembly 3 ceases operation, but the water mist sprayed by the assembly keeps the cavern walls moist, preventing dust from spreading and thus avoiding dust pollution. The landing gears 5 swing away from the scanning mechanism 4, opening the barrier assembly 6 and exposing the scanning mechanism 4 for scanning operations, thereby ensuring the clarity and accuracy of the scanned images.

[0087] Reference Figure 2-4Specifically, 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 positioned between adjacent landing gears 5, coinciding with the line connecting the adjacent landing gears 5, and both ends are fixed to the fuselage 1. It can be made of stainless steel, offering good wear resistance and corrosion resistance. The two sliding sleeves 62 are along the sliding shaft 61. The sliding sleeves 62 can be made of wear-resistant engineering plastic, with their inner walls tightly fitting the outer walls of the sliding shaft 61 to ensure smooth sliding on the sliding shaft 61. The two first telescopic arms 63 are respectively positioned corresponding to the two sliding sleeves 62. One end of each first telescopic arm 63 is ball-jointed to a sliding sleeve 62, and the other end of each first telescopic arm 63 is ball-jointed to the outer ends of the two adjacent landing gears 5. Thus, through the telescopic capability of the first telescopic arms 63 and their ball-jointed ends to the sliding sleeves 62 and landing gears 5, they can freely swing with the swing of the landing gears 5.

[0088] Specifically, the first telescopic arm 63 includes a swing arm 631, a movable arm 632, and an elastic element 633. One end of the swing arm 631 is ball-jointed to a sliding sleeve 62, and the movable arm 632 is slidably inserted into the swing arm 631. The end of the movable arm 632 facing away from the swing arm 631 is ball-jointed to the outer end of the landing gear 5. The elastic element 633 can be a spring, fixed between the swing arm 631 and the movable arm 632, and is used to pull the movable arm 632 to move towards the swing arm 631.

[0089] Two elastic barriers 64 are respectively fixed between the corresponding first telescopic arm 63, sliding sleeve 62, and landing gear 5. The elastic barriers 64 can be made of rubber, which has good elasticity and flexibility and can effectively block dust and gravel. To accommodate the extension and retraction of the first telescopic arm 63, the side of the elastic barrier 64 near 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 in a normal state. When the movable arm 632 and the swing arm 631 extend, the elastic barrier 64 stretches along with 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 assisting the spring. That is, the elastic barrier 64 can also pull the movable arm 632 towards the swing arm 631. Thus, even if the elastic element 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 elastic element 633 can also be omitted.

[0090] Thus, when each landing gear 5 swings toward the scanning mechanism 4 until its ends collide, the elastic element 633 and elastic barrier 64 will pull the first telescopic arm 63 back, causing the sliding sleeve 62 on the same sliding shaft 61 to slide and collide with each other. At this time, the two first telescopic arms 63 on the same sliding shaft 61 retract to their initial state and collide with each other, and the adjacent barriers can block the scanning mechanism 4. When each landing gear 5 swings away from the scanning mechanism 4, the elastic element 633 and elastic barrier 64 are stretched as the landing gear 5 swings, and the two sliding sleeves 62 on the same sliding shaft 61 slide synchronously to both ends of the sliding shaft 61, so that multiple barriers open to expose the scanning mechanism 4.

[0091] Thus, when the drone sprays mist to reduce dust during its descent, the enclosed barrier effectively protects the scanning mechanism 4 from dust, water mist, and gravel. When the drone ascends and performs scanning operations, the barrier assembly 6 opens to ensure that the scanning mechanism 4 can perform high-precision scanning of the cavern smoothly.

[0092] Furthermore, to improve the tightness of the sliding sleeves 62, magnetic plates that can attract each other are fixed to the adjacent sides of both sliding sleeves 62. This ensures that when the barrier assembly 6 is closed, the tightness of the adjacent sliding sleeves 62 is improved, while when the barrier assembly 6 is open, the magnetic plates can separate from each other without affecting the opening of the barrier assembly 6.

[0093] Reference Figure 3-5 The scanning mechanism 4 includes a scanning assembly 41, which is movably disposed 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 inside the body 1. The telescopic rod of the electric cylinder is fixed to the base 411. The scanning head 412 can be equipped with a high-resolution camera, which can clearly capture the situation in the cave. The scanning head 412 is rotatably connected to the base 411. A rotary drive component, such as a stepper 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 upper end of the landing gear 5 on the side facing the scanning assembly 41. The other end of the second telescopic arm 42 is hinged to the base 411.

[0094] When the lifting mechanism pushes the base 411 away from the body 1, it can drive the landing gear 5 away from the scanning mechanism 4 through the second telescopic arm 42, thereby opening the barrier assembly 6 to ensure that the scanning assembly 41 is not blocked during scanning and can perform scanning operations smoothly. When the lifting mechanism drags the base 411 toward the body 1, it can drive the landing gear 5 toward the scanning mechanism 4 through the second telescopic arm 42 to swing, so that the barrier assembly 6 blocks the scanning mechanism 4, effectively protecting the scanning assembly 41 from the influence of dust and gravel, and improving the accuracy and safety of scanning operations.

[0095] In addition, to reduce the probability of dust entering the sliding shafts 61, an elastic shielding band 11 is fixed to the outside of each sliding shaft 61 on the lower side of the body 1. The elastic shielding band 11 is arranged around the lower side of the body 1, and the lower side of the elastic shielding band 11 is lower than the lower side of the sliding shaft 61. The elastic shielding band 11 can be made of elastic rubber material, which can further protect the scanning mechanism 4 during the landing and takeoff of the UAV, prevent external debris from entering, improve scanning quality and accuracy, and when the first telescopic arm 63 swings, the elasticity of the elastic shielding band 11 itself will not hinder the swing of the first telescopic arm 63.

[0096] The implementation principle of this embodiment is as follows: During the descent of the UAV, the water in the water tank 31 of the spray assembly 3 is atomized into fine water mist through the spray head 32 and sprayed around the body 1, effectively reducing dust in the cave and improving visibility inside the cave. At the same time, the landing gear 5 swings towards 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 abut against each other and the two first telescopic arms 63 abut against each other, thereby forming a barrier 64 to shield the scanning mechanism 4 and protect the scanning mechanism 4 from the influence of dust, water droplets or gravel. During the drone's ascent, the spray assembly 3 ceases operation, and the landing gear 5 swings away from the scanning mechanism 4. This, via the first telescopic arm 63, causes the sliding sleeve 62 to slide on the sliding shaft 61, separating the two sliding sleeves 62 and the two first telescopic arms 63. This opens the elastic barrier 64, exposing the scanning mechanism 4. The scanning assembly 41 of the scanning mechanism 4, via the second telescopic arm 42, moves the landing gear 5 away from the scanning mechanism 4, opening the barrier assembly 6. This allows the scanning head 412 to smoothly scan the cavern, ensuring the clarity and accuracy of the scanned images. This design effectively solves the problem of high dust levels inside the cavern affecting the clarity of the drone's scanning images, improving the precision and accuracy of geological modeling and providing detailed geological references for subsequent operation and maintenance.

[0097] Example 2: Refer to Figure 6 The difference between this embodiment and the previous 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. A slip ring 43 is vertically slidably fitted onto the outside of the base 411. A lifting mechanism, such as an electric cylinder, is fixed inside the body 1, and the lifting mechanism can drive the slip ring 43 to move vertically. The end of the second telescopic arm 42 facing away from the landing gear 5 is hinged to the slip ring 43.

[0098] When the lifting mechanism pushes the slip ring 43 away from the body 1, it can drive the landing gear 5 away from the scanning mechanism 4 through the second telescopic arm 42 to open the barrier assembly 6; when the lifting mechanism drags the slip ring 43 toward the body 1, it can drive the landing gear 5 toward the scanning mechanism 4 through the second telescopic arm 42 to make the barrier assembly 6 block the scanning mechanism 4.

[0099] 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 toothed plate 431 is fixed to the lower side of the slip ring 43, and the toothed plate 431 meshes with the gear shaft 413. When the slip ring 43 drives the toothed 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 assembly 6 is open, the scanning head 412 rotates out of the base 411 to operate, and when the barrier assembly 6 is closed, the scanning head 412 rotates into the base 411 to be closed. This further protects the scanning head 412. A wiping structure, such as a wiping cloth, can also be provided in the base 411 to wipe the scanning head 412 when it rotates towards the base 411, thereby improving scanning accuracy.

[0100] The implementation principle of this embodiment is as follows: During the descent of the UAV, the spray assembly 3 sprays water mist around the body 1 to reduce dust inside the cavity. The landing gear 5 swings towards the scanning mechanism 4, causing the barrier assembly 6 to shield the scanning mechanism 4 and protect the scanning assembly 41. During the ascent of the UAV, the spray assembly 3 stops operating, and the slip ring 43 moves away from the body 1. Through the second telescopic arm 42, it drives the landing gear 5 to move away from the scanning mechanism 4, opening the barrier assembly 6 and allowing the scanning head 412 to perform scanning operations. At the same time, because the slip ring 43 drives the toothed plate 431 to move, it pushes the toothed shaft 413 to rotate, causing the scanning head 412 to rotate relative to the base 411 to perform scanning operations, which can further protect the scanning head 412 and improve scanning clarity.

[0101] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A scanning drone for digital cataloging of caverns, characterized in that, include: Body (1); Multiple support arms (2) are symmetrically arranged on both sides of the body (1), and each of the support arms (2) is equipped with a propeller (21); Multiple spraying components (3) are installed on the body (1) for spraying water mist around the body (1); The scanning mechanism (4) is located at the center of the lower part of the body (1); Multiple landing gears (5) are symmetrically arranged on both sides of the lower part of the fuselage (1), and each landing gear (5) is movably connected to the fuselage (1); A barrier assembly (6) is disposed between adjacent landing gears (5), and all of the landing gears (5) are able to swing toward the scanning mechanism (4) so ​​that the barrier assembly (6) blocks the scanning mechanism (4); Furthermore, all of the aforementioned landing gears (5) are able to swing away from the scanning mechanism (4) to open the barrier assembly (6) and expose the scanning mechanism (4); The barrier component (6) includes: A sliding shaft (61) is horizontally positioned between adjacent landing gears (5) and fixed to the fuselage (1); Two sliding sleeves (62) slide on each sliding shaft (61); Two first telescopic arms (63) are provided corresponding to each sliding sleeve (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 of two adjacent landing gears (5). Two elastic barriers (64) are respectively fixed between the corresponding first telescopic arm (63), the sliding sleeve (62) and the landing gear (5); When each of the landing gears (5) swings toward the scanning mechanism (4) until its ends collide, the sliding sleeves (62) on the same sliding shaft (61) slide to collide with each other, and the corresponding two first telescopic arms (63) collide with each other, thereby causing the multiple barrier components (6) to block 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 multiple barrier assemblies (6) to expose the scanning mechanism (4).

2. The scanning drone for digital cataloging of caverns according to claim 1, characterized in that, The first telescopic arm (63) includes: A swing arm (631) is hinged at one end to a sliding sleeve (62); The movable arm (632) slides on the swing arm (631), and the end of the movable arm (632) opposite to the swing arm (631) is movably connected to the landing gear (5). An elastic element (633) is fixed between the swing arm (631) and the movable arm (632) to pull the movable arm (632) toward the swing arm (631).

3. A scanning drone for digital cataloging of caverns according to claim 1, characterized in that, On the same sliding shaft (61), the two sliding sleeves (62) have magnetic plates that can attract each other fixed on their adjacent sides.

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

5. A scanning drone for digital cataloging of caverns according to claim 4, characterized in that, The scanning component (41) includes: The base (411) is vertically movable under the body (1), and the second telescopic arm (42) is hinged to the base (411); The scanning head (412) is rotatably connected to the underside of the base (411).

6. A scanning drone for digital cataloging of caverns according to claim 1, characterized in that, Also includes: An elastic shielding strip (11) is arranged around the lower side of the body (1) and located below each sliding shaft (61). The lower side of the elastic shielding strip (11) is lower than the lower side of the sliding shaft (61).

7. A scanning drone for digital cataloging of caverns according to claim 1, characterized in that, The spray assembly (3) includes: Water tank (31) is fixed to the periphery of the body (1) and located between adjacent support arms (2); The spray head (32) is fixed to the outer end of the water tank (31).

8. A scanning drone for digital cataloging of caverns according to claim 1, characterized in that, The scanning mechanism (4) includes: The scanning component (41) is fixed to the lower part of the body (1); The slip ring (43) is vertically slidably sleeved on the outside of the scanning assembly (41); The second telescopic boom (42) is fixed at one end to the landing gear (5) and movably connected at the other end to the slip ring (43); The slip ring (43) moves away from the 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) toward the scanning mechanism (4) through the second telescopic arm (42) so that the barrier assembly (6) blocks the scanning mechanism (4).

9. A scanning drone for digital cataloging of caverns according to claim 8, characterized in that, Also includes: The base (411) is fixed to the body (1); A scanning head (412) is rotatably mounted on a base (411), and one end of the scanning head (412) extends out of the base (411) and is fixed with a gear shaft (413); The toothed plate (431) is fixed to the slip ring (43) and meshes with the toothed shaft (413); The slip ring (43) drives the toothed plate (431) to move downward, which can push the toothed shaft (413) to rotate, so that the scanning head (412) rotates downward.

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