Unmanned aerial vehicle device for inspection of upper part diseases of tunnel and use method of unmanned aerial vehicle device

Abstract

The invention relates to an unmanned aerial vehicle device used for tunnel upper part disease inspection and a use method, the unmanned aerial vehicle device comprises an unmanned aerial vehicle body (1) used for flying in a tunnel, a flexible frame (95) arranged on the unmanned aerial vehicle body (1), and a sensor group arranged between the flexible frame (95) and the unmanned aerial vehicle body (1), through the unmanned aerial vehicle body (1), the flexible frame (95) and the sensor group are supported, and the unmanned aerial vehicle body (1) is used for supporting the flexible frame (95) and the sensor group. Through the flexible frame (95), the sensor group is tightly supported with the upper part of the inner wall of the tunnel in a metal memory state, through the sensor group, the upper part disease of the tunnel is identified in a close-range state, and full-signal parameter monitoring on the upper part disease of the tunnel by a suspended part in the tunnel is realized; the technical problems that the inner wall of a tunnel is irradiated by a detector through an illuminating lamp and cracks and water seepage points are observed and recognized through the eyes of the detector are solved, and therefore the tunnel disease recognition effect is improved.

Description

Technical Field

[0001] The invention relates to an unmanned aerial vehicle device and a use method, in particular to an unmanned aerial vehicle device and a use method for inspecting diseases in the upper part of a tunnel. Background Art

[0002] When the tunnel is in use, diseases will occur in the upper part of the tunnel, resulting in cracks and water seepage points on the inner wall of the tunnel. In order to ensure the safe performance of the tunnel, it is necessary to monitor the diseases in the upper part of the tunnel. At present, there is no drone device for inspecting diseases in the upper part of the tunnel. The inspectors still use lighting to illuminate the inner wall of the tunnel and observe and identify the cracks and water seepage points with their eyes. This is limited by the recognition ability of the inspectors' eyes, which affects the identification effect of tunnel diseases. The present invention uses the technical feature of full signal parameter monitoring of the upper tunnel diseases by the suspended components in the tunnel, and effectively explores and studies the technical problem that the inspectors use lighting to illuminate the inner wall of the tunnel and observe and identify cracks and water seepage points with their eyes. The statements here only provide background technology related to the present invention and do not necessarily constitute prior art. The technical solution of the present invention is made based on the technical briefing document provided by the applicant on August 22, 2024, which solves actual technical problems in the work process, and the existing technical problems, technical features and technical effects in the similar patent literature and background technology obtained through retrieval. Summary of the invention

[0003] The object of the present invention is a drone device used for inspecting the upper part of a tunnel. The object of the present invention is a method for using an unmanned aerial vehicle device for inspecting diseases in the upper part of a tunnel.

[0004] In order to overcome the above technical shortcomings, the purpose of the present invention is to provide a drone device and a method of use for inspecting upper tunnel defects, thereby improving the effect of identifying tunnel defects.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a drone device for inspecting diseases in the upper part of a tunnel, comprising a drone body for flying in a tunnel, a flexible frame arranged on the drone body, and a sensor group arranged between the flexible frame and the drone body.

[0006] Due to the design of the UAV body, flexible frame and sensor group, through the UAV body, the flexible frame and sensor group are supported. Through the flexible frame, the sensor group is supported in a tightly attached manner to the upper part of the tunnel inner wall in the metal memory state. Through the sensor group, the diseases on the upper part of the tunnel are identified in the close-range state, and the full-signal parameter monitoring of the diseases on the upper part of the tunnel by the hovering component in the tunnel is realized, solving the technical problem that only inspectors use lighting lamps to irradiate the inner wall of the tunnel and the inspectors observe and identify cracks and water seepage points with their eyes. Therefore, the recognition effect of tunnel diseases is improved.

[0007] The present invention designs to connect the UAV body, flexible frame and sensor group to each other in the way of realizing the full-signal parameter monitoring of the diseases on the upper part of the tunnel by the hovering component in the tunnel.

[0008] The present invention designs to connect the flexible frame to the UAV body and sensor group in the way of realizing the tightly attached support to the upper part of the tunnel inner wall in the metal memory state.

[0009] The present invention designs that the sensor group is set to include a ranging detection sensor, a sound wave detection sensor, an image pickup sensor and a controller.

[0010] The technical effects of the above four technical solutions are as follows: The signal of the diseases on the upper part of the tunnel is picked up by the inspection aircraft in the tunnel, and the passing performance of the inspection aircraft in the tunnel is improved.

[0011] The present invention designs that it further includes a first accessory device and the first accessory device is arranged between the UAV body, flexible frame and sensor group. The first accessory device is set to include a front swing rod, a front horizontal telescopic cylinder, a rear swing rod, a rear horizontal telescopic cylinder, a front moving seat, a front vertical telescopic cylinder, a rear moving seat and a rear vertical telescopic cylinder.

[0012] The present invention designs that it further includes a second accessory device and the second accessory device is arranged on the first accessory device. The second accessory device is set as a follow-up wheel.

[0013] The present invention designs that it further includes a third accessory device and the third accessory device is arranged on the first accessory device. The third accessory device is set to include a cleaning brush, a nozzle and a blower.

[0014] The technical effects of the above three technical solutions are as follows: The integrated installation of other components is realized, and the technical effects of the present invention are expanded.

[0015] The present invention is designed that a front swing rod and a rear swing rod are respectively arranged on the drone body, a front transverse telescopic cylinder is arranged between the front swing rod and the drone body, and a rear transverse telescopic cylinder is arranged between the rear swing rod and the drone body, a follower wheel, a cleaning brush and a front moving seat are respectively arranged on the front swing rod, and a follower wheel and a rear moving seat are respectively arranged on the rear swing rod, a nozzle is arranged on the cleaning brush, and a blower is arranged between the nozzle and the drone body, a front vertical telescopic cylinder is arranged between the front moving seat and the front swing rod, and a rear vertical telescopic cylinder is arranged between the rear moving seat and the rear swing rod, a flexible frame is arranged between the front moving seat and the rear moving seat, and a distance detection sensor, an acoustic wave detection sensor and an image pickup sensor are respectively arranged on the flexible frame, and a controller is arranged between the front transverse telescopic cylinder, the rear transverse telescopic cylinder, the blower, the front vertical telescopic cylinder, the rear vertical telescopic cylinder, the distance detection sensor, the acoustic wave detection sensor and the image pickup sensor and the drone body.

[0016] The technical effect of the above technical scheme is that the basic technical scheme of the present invention is formed by the drone body, the front swing arm, the front lateral telescopic cylinder, the rear swing arm, the rear lateral telescopic cylinder, the follower wheel, the cleaning brush, the nozzle, the blower, the front moving seat, the front vertical telescopic cylinder, the rear moving seat, the rear vertical telescopic cylinder, the flexible frame, the ranging detection sensor, the sound wave detection sensor, the image pickup sensor and the controller, which solves the technical problem of the present invention.

[0017] The present invention is designed that the drone body is configured to include a seat, a rotor, a front leg, a rear leg, a front ear seat and a rear ear seat, and a leakage window body is arranged in the middle of the seat, the corners of the seat are respectively arranged to be connected to the rotor, and the front side of the lower end face of the seat is arranged to be connected to the upper end face of the front leg, the rear side of the lower end face of the seat is arranged to be connected to the upper end face of the rear leg, and the front inner wall of the leakage window body is arranged to be connected to the front ear seat, and the rear inner wall of the leakage window body is arranged to be connected to the rear ear seat The parts are connected and the leakage window body is respectively arranged to be connected with the front swing rod, the rear swing rod and the blower accommodating type, the middle of the inner and outer inner walls of the leakage window body is arranged to be connected with the blower and the inner end surface of the front support leg part is arranged to be connected with the front transverse telescopic cylinder through a pin shaft, the inner end surface of the rear support leg part is arranged to be connected with the rear transverse telescopic cylinder through a pin shaft and the outer end surface of the rear support leg part is arranged to be connected with the controller, the front ear seat part is arranged to be connected with the front swing rod through a pin shaft and the rear ear seat part is arranged to be connected with the rear swing rod through a pin shaft.

[0018] The present invention is designed that the seat portion is configured as a rectangular block and the rotor portion is configured for a powered rotor blade of a drone, the front leg portion and the rear leg portion are respectively configured as long blocks with grooves on the inner end faces, and the grooves on the front leg portion are configured to be connected to a pin shaft between the front leg portion and the front transverse telescopic cylinder, the grooves on the rear leg portion are configured to be connected to a pin shaft between the rear leg portion and the rear transverse telescopic cylinder, and the front ear seat portion and the rear ear seat portion are respectively configured as double-plate ear seats, and the leakage window body is configured as a long strip hole.

[0019] The technical effects of the above two technical solutions are: realizing the use of a rotorcraft UAV as an aircraft carrier and improving the flight performance in the tunnel.

[0020] The present invention is designed that the flexible frame is configured as an arc-shaped memory metal strip sheet and one of the ends of the flexible frame is configured to be connected to the front moving seat, the other end of the flexible frame is configured to be connected to the rear moving seat and the front side of the upper end surface of the flexible frame is configured to be connected to the acoustic wave detection sensor, the middle of the upper end surface of the flexible frame is configured to be connected to the distance detection sensor and the rear side of the upper end surface of the flexible frame is configured to be connected to the image pickup sensor.

[0021] The technical effect of the above technical solution is: to achieve the soft support for the distance detection sensor, the sound wave detection sensor and the image pickup sensor, and effectively shorten the measurement distance.

[0022] The present invention designs that the distance measuring detection sensor is set as a laser distance measuring sensor, the housing of the distance measuring detection sensor is set to be connected with the flexible frame, and the interface of the distance measuring detection sensor is set to be connected with the controller.

[0023] The present invention designs that the acoustic wave detection sensor is set as an ultrasonic thickness detection sensor, the shell of the acoustic wave detection sensor is set to be connected with the flexible frame, and the interface of the acoustic wave detection sensor is set to be connected with the controller.

[0024] The present invention designs that the image pickup sensor is configured to have an integrated body of an image recognition sensor and an infrared detector, the housing of the image pickup sensor is configured to be connected to a flexible frame, and the interface of the image pickup sensor is configured to be connected to a controller.

[0025] The technical effects of the above three technical solutions are: realizing multi-parameter signal picking in the tunnel.

[0026] The present invention is designed that the controller is configured as a PLC controller with a battery and the housing of the controller is configured to be connected to the drone body, and the interfaces of the controller are respectively configured to be connected to the front lateral telescopic cylinder, the rear lateral telescopic cylinder, the blower, the front vertical telescopic cylinder, the rear vertical telescopic cylinder, the ranging detection sensor, the sound wave detection sensor and the image pickup sensor.

[0027] The technical effect of the above technical solution is to realize the control output of electric signals and the processing and storage of electric signal data.

[0028] The present invention is designed that the front swing arm is configured as an L-shaped beam-shaped body and the end of the horizontal portion of the front swing arm is configured to be connected to a cleaning brush, the middle of the horizontal portion of the front swing arm is configured to be connected to a follower wheel and the upper end of the vertical portion of the front swing arm is configured to be through-connected to a front moving seat, the middle of the vertical portion of the front swing arm is configured to be connected to a front vertical telescopic cylinder through an intermediate connecting rod and the lower end of the vertical portion of the front swing arm is configured to be connected to a drone body through a pin shaft, and the ends of the vertical portions of the front swing arm are respectively configured to be connected to front transverse telescopic cylinders through pin shafts.

[0029] The present invention is designed that the front lateral telescopic cylinder is configured as an electric push rod and one of the ends of the front lateral telescopic cylinder is configured to be connected to the drone body through a pin shaft, the other end of the front lateral telescopic cylinder is configured to be connected to the front swing rod through a pin shaft, and the control interface of the front lateral telescopic cylinder is configured to be connected to a controller.

[0030] The present invention is designed that the rear swing rod is arranged as an L-shaped beam-shaped body and the horizontal part of the rear swing rod is arranged to be connected with the follower wheel, the upper end of the vertical part of the rear swing rod is arranged to be connected with the rear moving seat in a through-type manner and the middle of the vertical part of the rear swing rod is arranged to be connected with the rear vertical telescopic cylinder through an intermediate connecting rod, the lower end of the vertical part of the rear swing rod is arranged to be connected with the drone body through a pin shaft and the vertical end heads of the rear swing rod are respectively arranged to be connected with the rear transverse telescopic cylinder through a pin shaft.

[0031] The present invention is designed that the rear lateral telescopic cylinder is configured as an electric push rod and one of the ends of the rear lateral telescopic cylinder is configured to be connected to the drone body through a pin shaft, the other end of the rear lateral telescopic cylinder is configured to be connected to the rear swing rod through a pin shaft, and the control interface of the rear lateral telescopic cylinder is configured to be connected to a controller.

[0032] The technical effect of the above four technical solutions is: realizing variable-angle support for the double swing beam.

[0033] The present invention is designed that the front moving seat is configured as a block with a through hole body and the through hole body of the front moving seat is configured to be connected to the front swing rod, the middle of the lower end face of the front moving seat is configured to be connected to the front vertical telescopic cylinder and the inner side of the upper end face of the front moving seat is configured to be connected to the flexible frame.

[0034] The present invention is designed that the front vertical telescopic cylinder is configured as an electric push rod and the outer shell of the front vertical telescopic cylinder is configured to be connected to the front swing rod through an intermediate connecting rod, the telescopic end of the front vertical telescopic cylinder is configured to be connected to the front moving seat and the control interface of the front vertical telescopic cylinder is configured to be connected to the controller.

[0035] The present invention is designed that the rear moving seat is configured as a block body with a through hole body and the through hole body of the rear moving seat is configured to be connected to the rear swing rod, the middle of the lower end surface of the rear moving seat is configured to be connected to the rear vertical telescopic cylinder and the inner side of the upper end surface of the rear moving seat is configured to be connected to the flexible frame.

[0036] The present invention is designed that the rear vertical telescopic cylinder is configured as an electric push rod and the shell of the rear vertical telescopic cylinder is configured to be connected to the rear swing rod through an intermediate connecting rod, the telescopic end of the rear vertical telescopic cylinder is configured to be connected to the rear moving seat and the control interface of the rear vertical telescopic cylinder is configured to be connected to the controller.

[0037] The technical effect of the above four technical solutions is that the lifting seat body is supported.

[0038] The present invention designs that the follower wheel is configured to include a rod portion I, a spring portion I, a wheel support seat portion and a wheel portion, and the outer end surface of the upper transverse portion of the rod portion I is configured to be connected to the transverse portion of the wheel support seat portion, the wheel support seat portion is configured to be accommodatedly connected to the wheel portion and the vertical portion of the wheel support seat portion is configured to be connected to the wheel portion through a pin shaft, the vertical portion of the rod portion I is respectively configured to be through-connected to the spring portion I, the front swing rod and the rear swing rod, and one of the ends of the spring portion I is configured to be contact-connected to the inner end surface of the upper transverse portion of the rod portion I, one of the ends of the spring portion I corresponding to the front swing rod is configured to be contact-connected to the front swing rod, and one of the ends of the spring portion I corresponding to the rear swing rod is configured to be contact-connected to the rear swing rod.

[0039] The present invention designs that the rod portion I is set as an I-shaped rod-shaped body and the spring portion I is set as a column spring, the wheel support seat portion is set as a double-plate ear seat and the wheel portion is set as a rubber disc wheel.

[0040] The technical effect of the above two technical solutions is that: the wheel body positioning and directional movement is realized on the upper part of the tunnel inner wall.

[0041] The present invention is designed that the cleaning brush is configured to include a rod portion II, a spring portion II, a block portion and a bristle portion, and the outer end surface of the upper horizontal portion of the rod portion II is configured to be connected to the inner end surface of the block portion, the outer end surface of the block portion is configured to be connected to the bristle portion and the vertical portion of the rod portion II is configured to be through-connected to the spring portion II and the front swing rod respectively, one of the end heads of the spring portion I is configured to be contact-connected to the inner end surface of the upper horizontal portion of the rod portion II and one of the end heads of the spring portion I is configured to be contact-connected to the front swing rod, and the rear end surface of the block portion is configured to be connected to the nozzle.

[0042] The present invention designs that the rod part II is set as an I-shaped rod-shaped body and the spring part II is set as a columnar spring, the block part is set as a long seat-shaped body and the bristle part is set as a strip brush.

[0043] The technical effect of the above two technical solutions is that the hair body cleaning of the upper part of the inner wall of the tunnel is realized.

[0044] The present invention is designed that the nozzle is arranged as an air jet nozzle and the housing of the nozzle is arranged to be connected with the cleaning brush through an intermediate connecting rod, and the input interface of the nozzle is arranged to be connected with the blower through an air supply pipe.

[0045] The present invention is designed that the blower is configured as a Roots blower and the housing of the blower is configured to be embeddedly connected to the drone body, the output port of the blower is configured to be connected to the nozzle through an air supply pipe and the control interface of the blower is configured to be connected to a controller.

[0046] The technical effect of the above two technical solutions is that the upper part of the inner wall of the tunnel can be blown away and cleaned by wind.

[0047] The present invention is designed that the distance detection sensor, the sound wave detection sensor and the image pickup sensor are arranged with the drone body and the flexible frame in a manner of aircraft inspection, and the distance detection sensor, the sound wave detection sensor, the image pickup sensor, the drone body and the controller are arranged in a manner of external data processing, and the distance detection sensor, the sound wave detection sensor, the image pickup sensor, the drone body and the front swing rod are arranged with the front transverse telescopic cylinder, the rear swing rod, the rear transverse telescopic cylinder, the front moving seat, the front vertical telescopic cylinder, the rear moving seat and the rear vertical telescopic cylinder are arranged in a manner of movable frame support and In addition, the ranging detection sensor, the sound wave detection sensor, the image pickup sensor, the drone body, the front swing arm, the front lateral telescopic cylinder, the rear swing arm, the rear lateral telescopic cylinder, the front moving seat, the front vertical telescopic cylinder, the rear moving seat and the rear vertical telescopic cylinder and the follower wheel are arranged to be distributed in a rolling guided motion manner, and the ranging detection sensor, the sound wave detection sensor, the image pickup sensor, the drone body, the front swing arm, the front lateral telescopic cylinder, the rear swing arm, the rear lateral telescopic cylinder, the front moving seat, the front vertical telescopic cylinder, the rear moving seat and the rear vertical telescopic cylinder and the cleaning brush, nozzle and blower are arranged to be distributed in a cleaning manner.

[0048] The present invention is designed that the center line of the drone body, the center line of the flexible frame, the center line of the distance detection sensor and the center line of the controller are arranged on the same straight line, one of the follower wheels is arranged to be connected to the front swing rod, another follower wheel is arranged to be connected to the rear swing rod, and multiple nozzles are arranged between the cleaning brush and the blower.

[0049] The present invention designs a method for using a drone device for inspecting diseases in the upper part of a tunnel, and the steps are: the drone body supports a flexible frame and a sensor group, the flexible frame supports the sensor group in a close contact manner with the upper part of the inner wall of the tunnel in a metal memory state, the sensor group identifies diseases in the upper part of the tunnel at a close distance, and the suspended components in the tunnel perform full signal parameter monitoring of diseases in the upper part of the tunnel.

[0050] The technical effect of the above technical scheme is: highlighting the technical characteristics of full signal parameter monitoring of upper tunnel diseases by suspended components in the tunnel, and introducing the application in the technical field of the use of drone devices for patrolling upper tunnel diseases.

[0051] The present invention is designed, and its steps are: when it is necessary to inspect the diseases on the upper part of the tunnel, the drone body is placed in the tunnel, the rotor part is in a working state, the drone body is in a suspended state in the tunnel, the wheel part on the front swing rod, the wheel part and the brush part on the rear swing rod are in contact with the upper part of the inner wall of the tunnel, and under the elastic energy storage of the spring part I and the elastic energy storage of the spring part II, the rod part I and the rod part II move up and down on the transverse part of the front swing rod, so that the wheel part and the brush part on the front swing rod act on the upper part of the inner wall of the tunnel, and under the elastic energy storage of the spring part I Under the action, the rod part I moves up and down on the horizontal part of the rear swing rod, so that the wheel part on the rear swing rod acts on the upper part of the inner wall of the tunnel, so that the flexible frame is placed on the upper part of the inner wall of the tunnel, the blower is in a working state, and the drone body is in a forward state. The wheel part moves forward on the upper part of the inner wall of the tunnel, the bristle part cleans the upper part of the inner wall of the tunnel, and the nozzle blows gas to the upper part of the inner wall of the tunnel. The distance detection sensor picks up the distance signal between the flexible frame and the upper part of the inner wall of the tunnel, and the sound wave detection sensor picks up the deformation signal of the upper part of the inner wall of the tunnel. The pickup sensor picks up the image signal of the upper part of the tunnel inner wall to realize the inspection of the upper part of the tunnel. The controller processes the signal data of the distance detection sensor, the sound wave detection sensor and the image pickup sensor. After completing the inspection of the upper part of the tunnel, the blower is put into a non-working state, and the drone body is landed on the tunnel foundation. Through the controller, when the front vertical telescopic cylinder and the rear vertical telescopic cylinder are in the working state, the front moving seat is driven to perform lifting movement on the vertical part of the front swing rod, and the rear moving seat is driven to perform lifting movement on the vertical part of the rear swing rod, with The flexible frame is moved up and down to adjust the distance between the distance detection sensor, the sound wave detection sensor and the image pickup sensor and the upper part of the inner wall of the tunnel. When the front transverse telescopic cylinder is in a working state, the vertical part of the front swing rod is driven to swing on the front ear seat. When the rear transverse telescopic cylinder is in a working state, the vertical part of the rear swing rod is driven to swing on the rear ear seat, and a deformation torque is applied to the flexible frame to adjust the bending arc of the flexible frame, thereby adjusting the measuring angle of the distance detection sensor, the sound wave detection sensor and the image pickup sensor.

[0052] The technical effect of the above technical solution is that it realizes the picking operation of the upper tunnel defects in the flying state.

[0053] In the present technical scheme, the drone body and the flexible frame are basic components and are also the necessary technical features of the present invention; the front swing arm, the front lateral telescopic cylinder, the rear swing arm, the rear lateral telescopic cylinder, the follower wheel, the cleaning brush, the nozzle, the blower, the front movable seat, the front vertical telescopic cylinder, the rear movable seat, the rear vertical telescopic cylinder, the ranging detection sensor, the sound wave detection sensor, the image pickup sensor and the controller are functional components and are the features for realizing other technical effects of the present invention; the designs of the technical features of the seat, the rotor part, the front support leg part, the rear support leg part, the front ear seat part, the rear ear seat part, the leakage window body, the rod part I, the spring part I, the wheel support seat part, the wheel part, the rod part II, the spring part II, the block part and the bristle part are technical features that comply with the Patent Law and its implementing rules.

[0054] In this technical solution, the full signal parameter monitoring of the upper part of the tunnel by the suspended components in the tunnel is realized by the drone body and the sensor group.

[0055] In this technical solution, the drone body, flexible frame and sensor group that use suspended components in the tunnel to perform full signal parameter monitoring of tunnel upper defects are important technical features. In the technical field of drone devices and use methods for tunnel upper defect inspection, it has novelty, creativity and practicality. The terms in this technical solution can be explained and understood using patent documents in this technical field. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 This is a schematic diagram of a first embodiment of a drone device for inspecting diseases in the upper part of a tunnel according to the present invention. UAV body-1, front swing rod-2, front lateral telescopic cylinder-3, rear swing rod-4, rear lateral telescopic cylinder-5, follower wheel-6, cleaning brush-7, nozzle-8, blower-9, front moving seat-91, front vertical telescopic cylinder-92, rear moving seat-93, rear vertical telescopic cylinder-94, flexible frame-95, ranging detection sensor-96, sound wave detection sensor-97, image pickup sensor-98, controller-99, seat-11, rotor part-12, front support leg part-13, rear support leg part-14, front ear seat part-15, rear ear seat part-16, leakage window body-17, rod part I-61, spring part I-62, wheel support seat part-63, wheel part-64, rod part II-71, spring part II-72, block part-73, brush part-74. DETAILED DESCRIPTION

[0058] According to the Examination Guidelines, terms such as “having”, “including” and “comprising” used in the present invention should be understood as not dispensing with the existence or addition of one or more other elements or combinations thereof.

[0059] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. In addition, unless otherwise specified, the equipment and materials used in the following examples are commercially available. If the processing conditions are not clearly stated, please make improvements according to conventional methods in the art.

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] A drone device for inspecting diseases in the upper part of a tunnel. Figure 1 This is one of the first embodiments of the present invention. This embodiment is specifically described in conjunction with the accompanying drawings, and includes a drone body 1, a front swing rod 2, a front lateral telescopic cylinder 3, a rear swing rod 4, a rear lateral telescopic cylinder 5, a follower wheel 6, a cleaning brush 7, a nozzle 8, a blower 9, a front moving seat 91, a front vertical telescopic cylinder 92, a rear moving seat 93, a rear vertical telescopic cylinder 94, a flexible frame 95, a ranging detection sensor 96, an acoustic wave detection sensor 97, an image pickup sensor 98 and a controller 99. The drone body 1 is respectively provided with a front swing rod 2 and a rear swing rod 4, a front lateral telescopic cylinder 3 is provided between the front swing rod 2 and the drone body 1, and a rear lateral telescopic cylinder 5 is provided between the rear swing rod 4 and the drone body 1, and a follower wheel 6, a cleaning brush 7 and a front moving seat 91 are respectively provided on the front swing rod 2 and A follower wheel 6 and a rear moving seat 93 are respectively arranged on the rear swing rod 4, a nozzle 8 is arranged on the cleaning brush 7, and a blower 9 is arranged between the nozzle 8 and the drone body 1, a front vertical telescopic cylinder 92 is arranged between the front moving seat 91 and the front swing rod 2, and a rear vertical telescopic cylinder 94 is arranged between the rear moving seat 93 and the rear swing rod 4, a flexible frame 95 is arranged between the front moving seat 91 and the rear moving seat 93, and a ranging detection sensor 96, a sound wave detection sensor 97 and an image pickup sensor 98 are respectively arranged on the flexible frame 95, and a controller 99 is arranged between the front lateral telescopic cylinder 3, the rear lateral telescopic cylinder 5, the blower 9, the front vertical telescopic cylinder 92, the rear vertical telescopic cylinder 94, the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98 and the drone body 1.

[0064] The second embodiment of the present invention is described in detail with reference to the accompanying drawings. In this embodiment, the drone body 1 is configured to include a seat 11, a rotor 12, a front leg 13, a rear leg 14, a front ear seat 15 and a rear ear seat 16, and a leakage window body 17 is provided in the middle part of the seat 11, the corners of the seat 11 are respectively configured to be connected to the rotor 12 and the front side of the lower end face of the seat 11 is configured to be connected to the upper end face of the front leg 13, the rear side of the lower end face of the seat 11 is configured to be connected to the upper end face of the rear leg 14 and the front inner wall of the leakage window body 17 is configured to be connected to the front ear seat 15, and the rear inner wall of the leakage window body 17 is configured to be connected to the front ear seat 15. It is connected to the rear ear seat portion 16 and the leakage window body 17 is respectively arranged to be connected to the front swing rod 2, the rear swing rod 4 and the blower 9 in an accommodating manner, the middle of the inner and outer inner walls of the leakage window body 17 is arranged to be connected to the blower 9 and the inner end surface of the front support leg portion 13 is arranged to be connected to the front transverse telescopic cylinder 3 through a pin shaft, the inner end surface of the rear support leg portion 14 is arranged to be connected to the rear transverse telescopic cylinder 5 through a pin shaft and the outer end surface of the rear support leg portion 14 is arranged to be connected to the controller 99, the front ear seat portion 15 is arranged to be connected to the front swing rod 2 through a pin shaft and the rear ear seat portion 16 is arranged to be connected to the rear swing rod 4 through a pin shaft.

[0065] Through the drone body 1, supporting connection points for the front swing arm 2, the front lateral telescopic cylinder 3, the rear swing arm 4, the rear lateral telescopic cylinder 5, the blower 9 and the controller 99 are formed. The front ear seat part 15 and the leakage window body 17 realize the connection with the front swing arm 2, the front support leg part 13 realizes the connection with the front lateral telescopic cylinder 3, the rear ear seat part 16 and the leakage window body 17 realize the connection with the rear swing arm 4, the rear support leg part 14 realizes the connection with the rear lateral telescopic cylinder 5, and the connection with the controller 99 is realized. The seat part 11 and the leakage window body 17 realize the connection with the blower 9, and the rotor part 12 realizes the driving of the seat part 11 for flight processing. The technical purpose is to be used as a supporting carrier for the front swing arm 2, the front lateral telescopic cylinder 3, the rear swing arm 4, the rear lateral telescopic cylinder 5, the blower 9 and the controller 99.

[0066] In this embodiment, the seat portion 11 is configured as a rectangular block and the rotor portion 12 is configured for use in a drone powered rotor blade, the front leg portion 13 and the rear leg portion 14 are respectively configured as long blocks having a groove body on the inner end surface and the groove body of the front leg portion 13 is configured to be connected to a pin shaft located between the front leg portion 13 and the front transverse telescopic cylinder 3, the groove body of the rear leg portion 14 is configured to be connected to a pin shaft located between the rear leg portion 14 and the rear transverse telescopic cylinder 5 and the front ear seat portion 15 and the rear ear seat portion 16 are respectively configured as double-plate ear seats, and the leakage window body 17 is configured as a long strip hole.

[0067] The technical purpose is to achieve hinged connection support for the front swing arm 2, the front transverse telescopic cylinder 3, the rear swing arm 4 and the rear transverse telescopic cylinder 5, hole support for the blower 9 and block support for the controller 99.

[0068] In this embodiment, the front swing arm 2 is configured as an L-shaped beam and the end of the transverse portion of the front swing arm 2 is configured to be connected to the cleaning brush 7, the middle of the transverse portion of the front swing arm 2 is configured to be connected to the follower wheel 6 and the upper end of the vertical portion of the front swing arm 2 is configured to be through-connected to the front moving seat 91, the middle of the vertical portion of the front swing arm 2 is configured to be connected to the front vertical telescopic cylinder 92 through an intermediate connecting rod and the lower end of the vertical portion of the front swing arm 2 is configured to be connected to the drone body 1 through a pin shaft, and the vertical ends of the front swing arm 2 are respectively configured to be connected to the front transverse telescopic cylinder 3 through a pin shaft.

[0069] Through the front swing rod 2, a supporting connection point is formed for the UAV body 1, the front transverse telescopic cylinder 3, the follower wheel 6, the cleaning brush 7, the front moving seat 91 and the front vertical telescopic cylinder 92. The front swing rod 2 realizes the connection with the UAV body 1, the connection with the front transverse telescopic cylinder 3, the connection with the follower wheel 6, the connection with the cleaning brush 7, the connection with the front moving seat 91, and the connection with the front vertical telescopic cylinder 92. Its technical purpose is to serve as a supporting carrier for the follower wheel 6, the cleaning brush 7, the front moving seat 91 and the front vertical telescopic cylinder 92.

[0070] In this embodiment, the front lateral telescopic cylinder 3 is configured as an electric push rod and one of the ends of the front lateral telescopic cylinder 3 is configured to be connected to the drone body 1 through a pin shaft, the other end of the front lateral telescopic cylinder 3 is configured to be connected to the front swing rod 2 through a pin shaft and the control interface of the front lateral telescopic cylinder 3 is configured to be connected to the controller 99.

[0071] Through the front lateral telescopic cylinder 3, a supporting connection point for the drone body 1, the front swing arm 2 and the controller 99 is formed. The front lateral telescopic cylinder 3 realizes the connection with the drone body 1, the connection with the front swing arm 2, and the connection with the controller 99. Its technical purpose is to serve as a component for driving the front swing arm 2 to swing on the drone body 1.

[0072] In this embodiment, the rear swing arm 4 is configured as an L-shaped beam and the horizontal portion of the rear swing arm 4 is configured to be connected to the follower wheel 6, the upper end of the vertical portion of the rear swing arm 4 is configured to be through-connected to the rear moving seat 93 and the middle of the vertical portion of the rear swing arm 4 is configured to be connected to the rear vertical telescopic cylinder 94 through an intermediate connecting rod, the lower end of the vertical portion of the rear swing arm 4 is configured to be connected to the drone body 1 through a pin shaft and the vertical end heads of the rear swing arm 4 are respectively configured to be connected to the rear transverse telescopic cylinder 5 through a pin shaft.

[0073] Through the rear swing rod 4, a supporting connection point is formed for the UAV body 1, the rear lateral telescopic cylinder 5, the follower wheel 6, the rear moving seat 93 and the rear vertical telescopic cylinder 94. The rear swing rod 4 realizes the connection with the UAV body 1, the connection with the rear lateral telescopic cylinder 5, the connection with the follower wheel 6, the connection with the rear moving seat 93, and the connection with the rear vertical telescopic cylinder 94. The technical purpose is to serve as a supporting carrier for the follower wheel 6, the rear moving seat 93 and the rear vertical telescopic cylinder 94.

[0074] In this embodiment, the rear lateral telescopic cylinder 5 is configured as an electric push rod and one of the ends of the rear lateral telescopic cylinder 5 is configured to be connected to the drone body 1 through a pin shaft, the other end of the rear lateral telescopic cylinder 5 is configured to be connected to the rear swing rod 4 through a pin shaft and the control interface of the rear lateral telescopic cylinder 5 is configured to be connected to the controller 99.

[0075] Through the rear lateral telescopic cylinder 5, a supporting connection point for the UAV body 1, the rear swing rod 4 and the controller 99 is formed. The rear lateral telescopic cylinder 5 realizes the connection with the UAV body 1, the connection with the rear swing rod 4, and the connection with the controller 99. Its technical purpose is to serve as a component for driving the rear swing rod 4 to swing on the UAV body 1.

[0076] In the present embodiment, the follower wheel 6 is configured to include a rod portion Ⅰ61, a spring portion Ⅰ62, a wheel support portion 63 and a wheel portion 64, and the outer end surface of the upper transverse portion of the rod portion Ⅰ61 is configured to be connected to the transverse portion of the wheel support portion 63, the wheel support portion 63 is configured to be accommodatingly connected to the wheel portion 64 and the vertical portion of the wheel support portion 63 is configured to be connected to the wheel portion 64 through a pin shaft, the vertical portion of the rod portion Ⅰ61 is respectively configured to be through-connected to the spring portion Ⅰ62, the front swing rod 2 and the rear swing rod 4 and one of the ends of the spring portion Ⅰ62 is configured to be contact-connected to the inner end surface of the upper transverse portion of the rod portion Ⅰ61, one of the ends of the spring portion Ⅰ62 corresponding to the front swing rod 2 is configured to be contact-connected to the front swing rod 2 and one of the ends of the spring portion Ⅰ62 corresponding to the rear swing rod 4 is configured to be contact-connected to the rear swing rod 4.

[0077] Through the follower wheel 6, a support connection point for the front swing arm 2 and the rear swing arm 4 is formed. The rod part Ⅰ61 and the spring part Ⅰ62 realize the connection with the front swing arm 2 and the connection with the rear swing arm 4. The wheel support part 63 and the wheel part 64 realize the rolling support processing of the front swing arm 2 and the rear swing arm 4. The technical purpose is to be used as a component for contact movement with the upper part of the inner wall of the tunnel.

[0078] In this embodiment, the rod portion I 61 is configured as an I-shaped rod-shaped body and the spring portion I 62 is configured as a columnar spring, the wheel support portion 63 is configured as a double plate ear seat and the wheel portion 64 is configured as a rubber disc wheel.

[0079] The technical purpose is to realize the contact movement of the rubber disc wheel on the upper part of the inner wall of the tunnel.

[0080] In this embodiment, the cleaning brush 7 is configured to include a rod portion II 71, a spring portion II 72, a block portion 73 and a bristle portion 74, and the outer end surface of the upper transverse portion of the rod portion II 71 is configured to be connected to the inner end surface of the block portion 73, the outer end surface of the block portion 73 is configured to be connected to the bristle portion 74, and the vertical portion of the rod portion II 71 is respectively configured to be through-connected to the spring portion II 72 and the front swing rod 2, one of the end heads of the spring portion I 62 is configured to be contact-connected to the inner end surface of the upper transverse portion of the rod portion II 71, and one of the end heads of the spring portion I 62 is configured to be contact-connected to the front swing rod 2, and the rear end surface of the block portion 73 is configured to be connected to the nozzle 8.

[0081] A supporting connection point for the front swing rod 2 is formed by the cleaning brush 7, the connection with the front swing rod 2 is realized by the rod part II 71 and the spring part II 72, the connection with the nozzle 8 is realized by the block part 73, and the installation of a brush on the front swing rod 2 is realized by the bristle part 74. The technical purpose is to be used as one of the components for cleaning the upper part of the inner wall of the tunnel.

[0082] In this embodiment, the rod portion II 71 is configured as an I-shaped rod-shaped body and the spring portion II 72 is configured as a columnar spring, the block portion 73 is configured as a long seat-shaped body and the bristle portion 74 is configured as a strip brush.

[0083] The technical purpose is to realize brush cleaning of the upper part of the inner wall of the tunnel.

[0084] In this embodiment, the nozzle 8 is configured as an air nozzle and the housing of the nozzle 8 is configured to be connected to the cleaning brush 7 through an intermediate connecting rod, and the input interface of the nozzle 8 is configured to be connected to the blower 9 through an air supply pipe.

[0085] The nozzle 8 forms a support connection point for the cleaning brush 7 and the blower 9. The nozzle 8 realizes the connection with the cleaning brush 7 and the blower 9. Its technical purpose is to serve as the second component for cleaning the upper part of the inner wall of the tunnel.

[0086] In this embodiment, the blower 9 is configured as a Roots blower and the shell of the blower 9 is configured to be embeddedly connected to the drone body 1, the output port of the blower 9 is configured to be connected to the nozzle 8 through an air pipe and the control interface of the blower 9 is configured to be connected to the controller 99.

[0087] The blower 9 forms a supporting connection point for the drone body 1, the nozzle 8 and the controller 99. The blower 9 realizes the connection with the drone body 1, the nozzle 8 and the controller 99. Its technical purpose is to serve as the third component for cleaning the upper part of the inner wall of the tunnel.

[0088] In this embodiment, the front moving seat 91 is configured as a block body with a through hole body and the through hole body of the front moving seat 91 is configured to be connected to the front swing rod 2, the middle of the lower end face of the front moving seat 91 is configured to be connected to the front vertical telescopic cylinder 92 and the inner side of the upper end face of the front moving seat 91 is configured to be connected to the flexible frame 95.

[0089] Through the front moving seat 91, a supporting connection point for the front swing rod 2, the front vertical telescopic cylinder 92 and the flexible frame 95 is formed. The front moving seat 91 realizes the connection with the front swing rod 2, the connection with the front vertical telescopic cylinder 92, and the connection with the flexible frame 95. Its technical purpose is to serve as one of the components for supporting the flexible frame 95.

[0090] In this embodiment, the front vertical telescopic cylinder 92 is configured as an electric push rod and the outer shell of the front vertical telescopic cylinder 92 is configured to be connected to the front swing rod 2 through an intermediate connecting rod, the telescopic end of the front vertical telescopic cylinder 92 is configured to be connected to the front moving seat 91 and the control interface of the front vertical telescopic cylinder 92 is configured to be connected to the controller 99.

[0091] Through the front vertical telescopic cylinder 92, a supporting connection point for the front swing rod 2, the front moving seat 91 and the controller 99 is formed. The front vertical telescopic cylinder 92 realizes the connection with the front swing rod 2, the connection with the front moving seat 91, and the connection with the controller 99. Its technical purpose is to serve as the second component for supporting the flexible frame 95.

[0092] In this embodiment, the rear moving seat 93 is configured as a block body with a through hole body and the through hole body of the rear moving seat 93 is configured to be connected to the rear swing rod 4, the middle of the lower end face of the rear moving seat 93 is configured to be connected to the rear vertical telescopic cylinder 94 and the inner side of the upper end face of the rear moving seat 93 is configured to be connected to the flexible frame 95.

[0093] Through the rear movable seat 93, a supporting connection point for the rear swing rod 4, the rear vertical telescopic cylinder 94 and the flexible frame 95 is formed. The rear movable seat 93 realizes the connection with the rear swing rod 4, the connection with the rear vertical telescopic cylinder 94, and the connection with the flexible frame 95. Its technical purpose is to serve as the third component for supporting the flexible frame 95.

[0094] In this embodiment, the rear vertical telescopic cylinder 94 is configured as an electric push rod and the outer shell of the rear vertical telescopic cylinder 94 is configured to be connected to the rear swing rod 4 through an intermediate connecting rod, the telescopic end of the rear vertical telescopic cylinder 94 is configured to be connected to the rear moving seat 93 and the control interface of the rear vertical telescopic cylinder 94 is configured to be connected to the controller 99.

[0095] Through the rear vertical telescopic cylinder 94, a supporting connection point for the rear swing rod 4, the rear moving seat 93 and the controller 99 is formed. The rear vertical telescopic cylinder 94 realizes the connection with the rear swing rod 4, the connection with the rear moving seat 93, and the connection with the controller 99. Its technical purpose is to serve as the fourth component for supporting the flexible frame 95.

[0096] In this embodiment, the flexible frame 95 is configured as an arc-shaped memory metal strip sheet and one of the ends of the flexible frame 95 is configured to be connected to the front moving seat 91, the other end of the flexible frame 95 is configured to be connected to the rear moving seat 93 and the front side of the upper end surface of the flexible frame 95 is configured to be connected to the acoustic wave detection sensor 97, the middle of the upper end surface of the flexible frame 95 is configured to be connected to the ranging detection sensor 96 and the rear side of the upper end surface of the flexible frame 95 is configured to be connected to the image pickup sensor 98.

[0097] Through the flexible frame 95, support connection points for the front moving seat 91, the rear moving seat 93, the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98 are formed. The flexible frame 95 realizes connection with the front moving seat 91, connection with the rear moving seat 93, connection with the ranging detection sensor 96, connection with the sound wave detection sensor 97, connection with the image pickup sensor 98, and connection with the controller 99. The technical purpose is to serve as a supporting carrier for the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98.

[0098] In this embodiment, the distance detection sensor 96 is configured as a laser distance detection sensor and the housing of the distance detection sensor 96 is configured to be connected to the flexible frame 95 , and the interface of the distance detection sensor 96 is configured to be connected to the controller 99 .

[0099] Through the distance measuring detection sensor 96, a supporting connection point for the flexible frame 95 and the controller 99 is formed. The distance measuring detection sensor 96 realizes the connection with the flexible frame 95 and the connection with the controller 99. Its technical purpose is to be used as a component for picking up the distance signal between the flexible frame 95 and the upper part of the inner wall of the tunnel.

[0100] In this embodiment, the acoustic wave detection sensor 97 is configured as an ultrasonic thickness detection sensor and the shell of the acoustic wave detection sensor 97 is configured to be connected to the flexible frame 95 , and the interface of the acoustic wave detection sensor 97 is configured to be connected to the controller 99 .

[0101] Through the sound wave detection sensor 97, a support connection point for the flexible frame 95 and the controller 99 is formed. The sound wave detection sensor 97 realizes the connection with the flexible frame 95 and the connection with the controller 99. Its technical purpose is to be used as a component for picking up deformation signals occurring on the upper part of the inner wall of the tunnel.

[0102] In this embodiment, the image pickup sensor 98 is configured to have an integrated body of an image recognition sensor and an infrared detector and the housing of the image pickup sensor 98 is configured to be connected to the flexible frame 95 , and the interface of the image pickup sensor 98 is configured to be connected to the controller 99 .

[0103] Through the image pickup sensor 98, a support connection point for the flexible frame 95 and the controller 99 is formed. The image pickup sensor 98 realizes the connection with the flexible frame 95 and the connection with the controller 99. Its technical purpose is to be used as a component for picking up image signals from the upper part of the inner wall of the tunnel.

[0104] In this embodiment, the controller 99 is configured as a PLC controller with a battery and the shell of the controller 99 is configured to be connected to the drone body 1, and the interfaces of the controller 99 are respectively configured to be connected to the front lateral telescopic cylinder 3, the rear lateral telescopic cylinder 5, the blower 9, the front vertical telescopic cylinder 92, the rear vertical telescopic cylinder 94, the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98.

[0105] Through the controller 99, support connection points for the drone body 1, the front lateral telescopic cylinder 3, the rear lateral telescopic cylinder 5, the blower 9, the front vertical telescopic cylinder 92, the rear vertical telescopic cylinder 94, the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98 are formed. The controller 99 realizes connection with the drone body 1, the front lateral telescopic cylinder 3, the rear lateral telescopic cylinder 5, the blower 9, the front vertical telescopic cylinder 92, the rear vertical telescopic cylinder 94, the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98. The technical purpose is to serve as a component for controlling the working states of the front lateral telescopic cylinder 3, the rear lateral telescopic cylinder 5, the blower 9, the front vertical telescopic cylinder 92 and the rear vertical telescopic cylinder 94, and a component for processing signal data of the ranging detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98.

[0106] In this embodiment, the ranging detection sensor 96, the acoustic wave detection sensor 97, and the image pickup sensor 98 are arranged with the UAV body 1 and the flexible frame 95 in a distribution mode according to the flight inspection of the aircraft, and the ranging detection sensor 96, the acoustic wave detection sensor 97, the image pickup sensor 98, the UAV body 1, and the controller 99 are arranged in a distribution mode according to the external data processing. The ranging detection sensor 96, the acoustic wave detection sensor 97, the image pickup sensor 98, the UAV body 1, and the front swing rod 2 are arranged with the front lateral telescopic cylinder 3, the rear swing rod 4, the rear lateral telescopic cylinder 5, the front moving seat 91, the front vertical telescopic cylinder 92, the rear moving seat 93, and the rear vertical telescopic cylinder 94 in a distribution mode according to the support of the movable frame, and the ranging detection sensor 96, the acoustic wave detection sensor 97, the image pickup sensor 98, the UAV body 1, the front swing rod 2, the front lateral telescopic cylinder 3, the rear swing rod 4, the rear lateral telescopic cylinder 5, the front moving seat 91, the front vertical telescopic cylinder 92, the rear moving seat 93, and the rear vertical telescopic cylinder 94 are arranged with the follower wheels 6 in a distribution mode according to the rolling guiding motion. The ranging detection sensor 96, the acoustic wave detection sensor 97, the image pickup sensor 98, the UAV body 1, the front swing rod 2, the front lateral telescopic cylinder 3, the rear swing rod 4, the rear lateral telescopic cylinder 5, the front moving seat 91, the front vertical telescopic cylinder 92, the rear moving seat 93, and the rear vertical telescopic cylinder 94 are arranged with the cleaning brush 7, the nozzle 8, and the blower 9 in a distribution mode according to the cleaning. The center line of the UAV body 1, the center line of the flexible frame 95, the center line of the ranging detection sensor 96, and the center line of the controller 99 are arranged on the same straight line. One of the follower wheels 6 is arranged to be connected to the front swing rod 2, and the other follower wheel 6 is arranged to be connected to the rear swing rod 4. A plurality of nozzles 8 are arranged between the cleaning brush 7 and the blower 9.

[0107] The present invention will be further described below in conjunction with embodiments. The following embodiments are intended to illustrate the present invention rather than further limit the present invention.

[0108] A method for using an unmanned aerial vehicle device for inspecting diseases in the upper part of a tunnel, the steps of which are: when it is necessary to inspect diseases in the upper part of the tunnel, the unmanned aerial vehicle body 1 is placed in the tunnel, the rotor part 12 is in a working state, the unmanned aerial vehicle body 1 is in a suspended state in the tunnel, the wheel part 64 on the front swing rod 2, the wheel part 64 and the brush part 74 on the rear swing rod 4 are in contact with the upper part of the inner wall of the tunnel, under the elastic energy storage of the spring part I 62 and the elastic energy storage of the spring part II 72, the rod part I 61 and the rod part II 71 move up and down on the transverse part of the front swing rod 2, so that the wheel part 64 and the brush part 74 on the front swing rod 2 act on the upper part of the inner wall of the tunnel, under the elastic energy storage of the spring part I 62, the rod part I 61 moves up and down on the transverse part of the rear swing rod 4, so that the wheel part 64 on the rear swing rod 4 acts on the upper part of the inner wall of the tunnel, The flexible frame 95 is placed on the upper part of the inner wall of the tunnel, the blower 9 is in working state, the UAV body 1 is in forward state, the wheel part 64 moves forward on the upper part of the inner wall of the tunnel, the bristle part 74 cleans the upper part of the inner wall of the tunnel, the nozzle 8 performs gas purge on the upper part of the inner wall of the tunnel, the distance detection sensor 96 picks up the distance signal between the flexible frame 95 and the upper part of the inner wall of the tunnel, the sound wave detection sensor 97 picks up the deformation signal of the upper part of the inner wall of the tunnel, and the image pickup sensor 98 picks up the image signal of the upper part of the inner wall of the tunnel, so as to realize the inspection of the upper part of the tunnel. The controller 99 processes the signal data of the distance detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98. After the inspection of the upper part of the tunnel is completed, the blower 9 is put into non-working state, and the UAV body 1 is landed on the tunnel foundation. Through the controller 99, when the front vertical telescopic cylinder 92 and the rear vertical telescopic cylinder 94 are in the working state, the front moving seat 91 is driven to perform lifting movement on the vertical part of the front swing rod 2, the rear moving seat 93 is driven to perform lifting movement on the vertical part of the rear swing rod 4, and the flexible frame 95 is driven to perform lifting movement, so as to adjust the distance between the distance detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98 and the upper part of the inner wall of the tunnel. When the front transverse telescopic cylinder 3 is in the working state, the vertical part of the front swing rod 2 is driven to swing on the front ear seat part 15. When the rear transverse telescopic cylinder 5 is in the working state, the vertical part of the rear swing rod 4 is driven to swing on the rear ear seat part 16, and a deformation torque is applied to the flexible frame 95 to adjust the bending arc of the flexible frame 95, so as to adjust the measuring angle of the distance detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98.

[0109] When verifying the present invention, the inventor abandoned the existing technical features that all inspectors use lighting to illuminate the inner wall of the tunnel and observe and identify cracks and water seepage points with their eyes. First, a technical feature of full signal parameter monitoring of tunnel upper defects by suspended components in the tunnel was proposed, and a first unexpected technical effect was obtained: the flying components located in the upper part of the tunnel were used to patrol the tunnel upper defects, thereby improving the efficiency of patrolling the tunnel upper defects. A second unexpected technical effect was obtained: the upper part of the tunnel was used as a patrol section without encroaching on the lower part of the tunnel, thereby ensuring the use effect of the tunnel. A third unexpected technical effect was obtained: the flexible frame 95 was used as an installation support for the ranging detection sensor 96, the acoustic wave detection sensor 97 and the image pickup sensor 98 on the drone body 1, thereby improving the installation state repeatability of the ranging detection sensor 96, the acoustic wave detection sensor 97 and the image pickup sensor 98, and improving the ranging detection sensor 96, the acoustic wave detection sensor 97 and the image pickup sensor 98 with the drone body 1. The compliance performance of the upper part of the tunnel has achieved a fourth unexpected technical effect: the distance detection sensor 96, the sound wave detection sensor 97, the image pickup sensor 98 and the controller 99 are used to identify the diseases in the upper part of the tunnel, and the identification of the types of diseases in the upper part of the tunnel is increased, and the fifth unexpected technical effect is achieved: the front swing rod 2, the front lateral telescopic cylinder 3, the rear swing rod 4, the rear lateral telescopic cylinder 5, the front moving seat 91, the front vertical telescopic cylinder 92, the rear moving seat 93 and the rear vertical telescopic cylinder 94 are used to change the state of the flexible frame 95 The conversion adjusts the measurement states of the distance detection sensor 96, the sound wave detection sensor 97 and the image pickup sensor 98, thereby improving the ability to identify the diseases on the upper part of the tunnel, and obtaining the sixth unexpected technical effect: the follower wheel 6 guides the UAV body 1 in the tunnel, thereby improving the safety performance of the UAV body 1 flying in the tunnel, and obtaining the seventh unexpected technical effect: the cleaning brush 7, the nozzle 8 and the blower 9 clean the diseased parts on the upper part of the tunnel, so that the diseases on the upper part of the tunnel are exposed.

[0110] The second unexpected technical effect was achieved: the installation position and flatness of the track plate were adjusted in advance to ensure the installation accuracy of the sleepers.

[0111] In the second embodiment of the present invention, the drone body 1, the flexible frame 95 and the sensor group are interconnected in such a way that the suspended components in the tunnel perform full signal parameter monitoring of the upper part of the tunnel.

[0112] In this embodiment, the flexible frame 95 is connected to the drone body 1 and the sensor group in a manner of close contact support with the upper part of the inner wall of the tunnel in a metal memory state.

[0113] In this embodiment, the sensor group is configured to include a distance detection sensor 96 , an acoustic wave detection sensor 97 , an image pickup sensor 98 and a controller 99 .

[0114] In this embodiment, a first accessory device is also included and the first accessory device is arranged between the drone body 1, the flexible frame 95 and the sensor group. The first accessory device is configured to include a front swing arm 2, a front lateral telescopic cylinder 3, a rear swing arm 4, a rear lateral telescopic cylinder 5, a front moving seat 91, a front vertical telescopic cylinder 92, a rear moving seat 93 and a rear vertical telescopic cylinder 94.

[0115] In this embodiment, a second accessory device is further included and is arranged on the first accessory device, and the second accessory device is arranged as a follower wheel 6 .

[0116] In this embodiment, a third accessory device is further included and is arranged on the first accessory device. The third accessory device is arranged to include a cleaning brush 7 , a nozzle 8 and a blower 9 .

[0117] The second embodiment of the present invention is based on the first embodiment. The second embodiment of the present invention comprises the following steps: the UAV body 1 supports the flexible frame 95 and the sensor group; the flexible frame 95 supports the sensor group in close contact with the upper inner wall of the tunnel in a metal memory state; the sensor group identifies the upper tunnel defects at a close distance; and the suspended components in the tunnel perform full signal parameter monitoring of the upper tunnel defects.

[0118] The second embodiment of the present invention is based on the first embodiment.

[0119] The present invention has the following characteristics: 1. Due to the design of the drone body 1, the flexible frame 95 and the sensor group, the drone body 1 is used to support the flexible frame 95 and the sensor group. The flexible frame 95 is used to support the sensor group in close contact with the upper inner wall of the tunnel in a metal memory state. The sensor group is used to identify the upper tunnel diseases at a close distance. The full signal parameter monitoring of the upper tunnel diseases by the suspended components in the tunnel is realized, which solves the technical problem that the inspection personnel use lighting to illuminate the inner wall of the tunnel and the inspection personnel use their eyes to observe and identify cracks and water seepage points, thereby improving the identification effect of tunnel diseases.

[0120] 2. Due to the design of the distance detection sensor 96, the sound wave detection sensor 97, the image pickup sensor 98 and the controller 99, multi-parameter signal pickup and processing of the upper tunnel defects are realized.

[0121] 3. Due to the design of the front swing rod 2, the front lateral telescopic cylinder 3, the rear swing rod 4, the rear lateral telescopic cylinder 5, the front movable seat 91, the front vertical telescopic cylinder 92, the rear movable seat 93 and the rear vertical telescopic cylinder 94, the deformation frame support of the flexible frame 95 is achieved.

[0122] 4. Due to the design of the follower wheel 6, the flexible frame 95 is supported by the guide wheel body movement.

[0123] 5. Due to the design of the cleaning brush 7, the nozzle 8 and the blower 9, the upper part of the inner wall of the tunnel can be cleaned.

[0124] 6. Since the design limits the numerical range of the structural shape, the numerical range is the technical feature in the technical solution of the present invention, rather than a technical feature calculated by a formula or obtained through a limited number of tests. Tests have shown that the technical feature of this numerical range has achieved good technical effects.

[0125] 7. Due to the design of the technical features of the present invention, the effects of the individual and combined technical features have been shown through experiments to have various performance indicators of the present invention that are at least 1.7 times the existing performance indicators, and have been evaluated to have good market value.

[0126] There are other technical features connected with the drone body 1, the flexible frame 95 and the sensor group for full signal parameter monitoring of upper tunnel diseases by the suspended components in the tunnel, which are all embodiments of the present invention, and the technical features of the above-mentioned embodiments can be combined arbitrarily. In order to meet the requirements of the Patent Law, the Patent Implementation Rules and the Examination Guidelines, all possible combinations of the technical features in the above-mentioned embodiments will no longer be described.

[0127] The above embodiment is only one implementation form of the drone device and the method of use for tunnel upper disease inspection provided by the present invention. Other variations of the solution provided by the present invention, adding or reducing the features or steps therein, or applying the present invention to other technical fields close to the present invention, all fall within the scope of protection of the present invention.

Claims

1. A drone device for tunnel upper part disease inspection, characterized by: The invention comprises a drone body (1) for flying in a tunnel, a flexible frame (95) arranged on the drone body (1), and a sensor group arranged between the flexible frame (95) and the drone body (1).

2. The unmanned aerial vehicle device for tunnel upper disease inspection according to claim 1 is characterized by: The drone body (1), the flexible frame (95) and the sensor group are connected to each other in a manner that the suspended components in the tunnel perform full signal parameter monitoring on the upper part of the tunnel.

3. The unmanned aerial vehicle device for tunnel upper part disease inspection according to claim 2 is characterized in that: The flexible frame (95), the drone body (1) and the sensor group are connected to each other in a manner of close contact support with the upper part of the inner wall of the tunnel in a metal memory state.

4. The unmanned aerial vehicle device for tunnel upper part disease inspection according to claim 1 is characterized in that: The sensor group is configured to include a distance detection sensor (96), an acoustic wave detection sensor (97), an image pickup sensor (98) and a controller (99). Or, it further comprises a first accessory device and the first accessory device is arranged between the drone body (1), the flexible frame (95) and the sensor group, and the first accessory device is arranged to include a front swing rod (2), a front lateral telescopic cylinder (3), a rear swing rod (4), a rear lateral telescopic cylinder (5), a front moving seat (91), a front vertical telescopic cylinder (92), a rear moving seat (93) and a rear vertical telescopic cylinder (94), Or, it further comprises a second accessory device and the second accessory device is arranged on the first accessory device, and the second accessory device is arranged as a follower wheel (6), Or, it further comprises a third accessory device and the third accessory device is arranged on the first accessory device, and the third accessory device is arranged to comprise a cleaning brush (7), a nozzle (8) and a blower (9).

5. The unmanned aerial vehicle device for tunnel upper part disease inspection according to claim 4 is characterized in that: A front swing rod (2) and a rear swing rod (4) are respectively arranged on the drone body (1); a front transverse telescopic cylinder (3) is arranged between the front swing rod (2) and the drone body (1); and a rear transverse telescopic cylinder (5) is arranged between the rear swing rod (4) and the drone body (1); a follower wheel (6), a cleaning brush (7) and a front moving seat (91) are respectively arranged on the front swing rod (2); and a follower wheel (6) and a rear moving seat (93) are respectively arranged on the rear swing rod (4); a nozzle (8) is arranged on the cleaning brush (7); and a blower (9) is arranged between the nozzle (8) and the drone body (1); and a front vertical cylinder (91) is arranged between the front moving seat (91) and the front swing rod (2). A front telescopic cylinder (92) is disposed between the rear moving seat (93) and the rear swing rod (4), a rear vertical telescopic cylinder (94) is disposed between the front moving seat (91) and the rear moving seat (93), a flexible frame (95) is disposed between the front moving seat (91) and the rear moving seat (93), and a distance detection sensor (96), a sound wave detection sensor (97) and an image pickup sensor (98) are disposed on the flexible frame (95), respectively, and a controller (99) is disposed between the front transverse telescopic cylinder (3), the rear transverse telescopic cylinder (5), the blower (9), the front vertical telescopic cylinder (92), the rear vertical telescopic cylinder (94), the distance detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98) and the drone body (1).

6. The unmanned aerial vehicle device for tunnel upper part disease inspection according to claim 5 is characterized by: The drone body (1) is configured to include a seat (11), a rotor (12), a front leg (13), a rear leg (14), a front ear seat (15) and a rear ear seat (16), and a leakage window body (17) is provided in the middle of the seat (11), the corners of the seat (11) are respectively configured to be connected to the rotor (12), and the front side of the lower end face of the seat (11) is configured to be connected to the upper end face of the front leg (13), the rear side of the lower end face of the seat (11) is configured to be connected to the upper end face of the rear leg (14), and the front inner wall of the leakage window body (17) is configured to be connected to the front ear seat (15), and the rear inner wall of the leakage window body (17) is configured to be connected to the rear end face of the rear leg (14). The ear seat portion (16) is connected and the leakage window body (17) is respectively arranged to be accommodatedly connected to the front swing rod (2), the rear swing rod (4) and the blower (9); the middle of the inner and outer inner walls of the leakage window body (17) is arranged to be connected to the blower (9); the inner end surface of the front support leg portion (13) is arranged to be connected to the front transverse telescopic cylinder (3) through a pin shaft; the inner end surface of the rear support leg portion (14) is arranged to be connected to the rear transverse telescopic cylinder (5) through a pin shaft; and the outer end surface of the rear support leg portion (14) is arranged to be connected to the controller (99); the front ear seat portion (15) is arranged to be connected to the front swing rod (2) through a pin shaft; and the rear ear seat portion (16) is arranged to be connected to the rear swing rod (4) through a pin shaft. Or, the seat portion (11) is configured as a rectangular block and the rotor portion (12) is configured as a powered rotor blade for an unmanned aerial vehicle, the front leg portion (13) and the rear leg portion (14) are respectively configured as long block portions having a groove body on the inner end surface, and the groove body of the front leg portion (13) is configured to be connected to a pin shaft located between the front leg portion (13) and the front transverse telescopic cylinder (3), the groove body of the rear leg portion (14) is configured to be connected to a pin shaft located between the rear leg portion (14) and the rear transverse telescopic cylinder (5), and the front ear seat portion (15) and the rear ear seat portion (16) are respectively configured as double-plate ear seats, and the leakage window body (17) is configured as a long strip hole, Or, the flexible frame (95) is configured as an arc-shaped memory metal strip sheet and one end of the flexible frame (95) is configured to be connected to the front moving seat (91), the other end of the flexible frame (95) is configured to be connected to the rear moving seat (93), and the front side of the upper end surface of the flexible frame (95) is configured to be connected to the sound wave detection sensor (97), the middle of the upper end surface of the flexible frame (95) is configured to be connected to the distance detection sensor (96), and the rear side of the upper end surface of the flexible frame (95) is configured to be connected to the image pickup sensor (98), Or, the distance detection sensor (96) is configured as a laser distance detection sensor and the housing of the distance detection sensor (96) is configured to be connected to the flexible frame (95), and the interface of the distance detection sensor (96) is configured to be connected to the controller (99), Or, the acoustic wave detection sensor (97) is configured as an ultrasonic thickness detection sensor and the housing of the acoustic wave detection sensor (97) is configured to be connected to the flexible frame (95), and the interface of the acoustic wave detection sensor (97) is configured to be connected to the controller (99), Or, the image pickup sensor (98) is configured to have an integrated body of an image recognition sensor and an infrared detector, and the housing of the image pickup sensor (98) is configured to be connected to the flexible frame (95), and the interface of the image pickup sensor (98) is configured to be connected to the controller (99), Alternatively, the controller (99) is configured as a PLC controller having a battery and the housing of the controller (99) is configured to be connected to the drone body (1), and the interfaces of the controller (99) are configured to be connected to the front transverse telescopic cylinder (3), the rear transverse telescopic cylinder (5), the blower (9), the front vertical telescopic cylinder (92), the rear vertical telescopic cylinder (94), the distance detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98).

7. The unmanned aerial vehicle device for tunnel upper part disease inspection according to claim 5 is characterized by: The front swing rod (2) is configured as an L-shaped beam-shaped body and the end of the transverse portion of the front swing rod (2) is configured to be connected to a cleaning brush (7), the middle of the transverse portion of the front swing rod (2) is configured to be connected to a follower wheel (6) and the upper end of the vertical portion of the front swing rod (2) is configured to be connected to a front moving seat (91) in a through-type manner, the middle of the vertical portion of the front swing rod (2) is configured to be connected to a front vertical telescopic cylinder (92) via an intermediate connecting rod and the lower end of the vertical portion of the front swing rod (2) is configured to be connected to the drone body (1) via a pin shaft, and the ends of the vertical portions of the front swing rod (2) are respectively configured to be connected to the front transverse telescopic cylinder (3) via a pin shaft, Or, the front transverse telescopic cylinder (3) is configured as an electric push rod and one end of the front transverse telescopic cylinder (3) is configured to be connected to the drone body (1) via a pin shaft, the other end of the front transverse telescopic cylinder (3) is configured to be connected to the front swing rod (2) via a pin shaft, and the control interface of the front transverse telescopic cylinder (3) is configured to be connected to the controller (99), Or, the rear swing rod (4) is configured as an L-shaped beam-shaped body and the transverse portion of the rear swing rod (4) is configured to be connected to the follower wheel (6), the upper end of the vertical portion of the rear swing rod (4) is configured to be connected to the rear moving seat (93) in a through-type manner and the middle of the vertical portion of the rear swing rod (4) is configured to be connected to the rear vertical telescopic cylinder (94) through an intermediate connecting rod, the lower end of the vertical portion of the rear swing rod (4) is configured to be connected to the drone body (1) through a pin shaft and the ends of the vertical portion of the rear swing rod (4) are respectively configured to be connected to the rear transverse telescopic cylinder (5) through a pin shaft, Or, the rear transverse telescopic cylinder (5) is configured as an electric push rod and one end of the rear transverse telescopic cylinder (5) is configured to be connected to the drone body (1) via a pin shaft, the other end of the rear transverse telescopic cylinder (5) is configured to be connected to the rear swing rod (4) via a pin shaft, and the control interface of the rear transverse telescopic cylinder (5) is configured to be connected to the controller (99), Alternatively, the front moving seat (91) is configured as a block having a through hole, and the through hole of the front moving seat (91) is configured to be connected to the front swing rod (2), the middle of the lower end surface of the front moving seat (91) is configured to be connected to the front vertical telescopic cylinder (92), and the inner side of the upper end surface of the front moving seat (91) is configured to be connected to the flexible frame (95), Or, the front vertical telescopic cylinder (92) is configured as an electric push rod and the housing of the front vertical telescopic cylinder (92) is configured to be connected to the front swing rod (2) via an intermediate connecting rod, the telescopic end of the front vertical telescopic cylinder (92) is configured to be connected to the front moving seat (91) and the control interface of the front vertical telescopic cylinder (92) is configured to be connected to the controller (99), Or, the rear movable seat (93) is configured as a block having a through hole, and the through hole of the rear movable seat (93) is configured to be connected to the rear swing rod (4), the middle of the lower end surface of the rear movable seat (93) is configured to be connected to the rear vertical telescopic cylinder (94), and the inner side of the upper end surface of the rear movable seat (93) is configured to be connected to the flexible frame (95), Or, the rear vertical telescopic cylinder (94) is configured as an electric push rod and the housing of the rear vertical telescopic cylinder (94) is configured to be connected to the rear swing rod (4) via an intermediate connecting rod, the telescopic end of the rear vertical telescopic cylinder (94) is configured to be connected to the rear moving seat (93) and the control interface of the rear vertical telescopic cylinder (94) is configured to be connected to the controller (99), Alternatively, the follower wheel (6) is configured to include a rod portion I (61), a spring portion I (62), a wheel support portion (63) and a wheel portion (64), and the outer end surface of the upper transverse portion of the rod portion I (61) is configured to be connected to the transverse portion of the wheel support portion (63), the wheel support portion (63) is configured to be accommodatingly connected to the wheel portion (64), and the vertical portion of the wheel support portion (63) is configured to be connected to the wheel portion (64) via a pin shaft, and the vertical portion of the rod portion I (61) is configured to be connected to the spring portion I ( 62), the front swing rod (2) and the rear swing rod (4) are connected in a through-type manner and one end of the spring portion I (62) is arranged to be connected in a contacting manner with the inner end surface of the upper transverse portion of the rod portion I (61), one end of the spring portion I (62) corresponding to the front swing rod (2) is arranged to be connected in a contacting manner with the front swing rod (2) and one end of the spring portion I (62) corresponding to the rear swing rod (4) is arranged to be connected in a contacting manner with the rear swing rod (4), Or, the rod part I (61) is configured as an I-shaped rod-shaped body and the spring part I (62) is configured as a columnar spring, the wheel support part (63) is configured as a double plate ear seat and the wheel part (64) is configured as a rubber disc wheel, Or, the cleaning brush (7) is configured to include a rod portion II (71), a spring portion II (72), a block portion (73) and a bristle portion (74), and the outer end surface of the upper transverse portion of the rod portion II (71) is configured to be connected to the inner end surface of the block portion (73), the outer end surface of the block portion (73) is configured to be connected to the bristle portion (74), and the vertical portion of the rod portion II (71) is configured to be connected to the spring portion II (72) and the front swing rod (2) respectively in a through-type manner, one end of the spring portion I (62) is configured to be connected in a contacting manner to the inner end surface of the upper transverse portion of the rod portion II (71), and one end of the spring portion I (62) is configured to be connected in a contacting manner to the front swing rod (2), and the rear end surface of the block portion (73) is configured to be connected to the nozzle (8), Or, the rod part II (71) is configured as an I-shaped rod-shaped body and the spring part II (72) is configured as a columnar spring, the block part (73) is configured as a long seat-shaped body and the bristle part (74) is configured as a strip brush, Alternatively, the nozzle (8) is configured as an air jet nozzle and the housing of the nozzle (8) is configured to be connected to the cleaning brush (7) via an intermediate connecting rod, and the input interface of the nozzle (8) is configured to be connected to the blower (9) via an air pipe, Alternatively, the blower (9) is configured as a Roots blower and the housing of the blower (9) is configured to be embeddedly connected to the drone body (1), the output port of the blower (9) is configured to be connected to the nozzle (8) through an air pipe, and the control interface of the blower (9) is configured to be connected to the controller (99).

8. The unmanned aerial vehicle device for tunnel upper part disease inspection according to any one of claims 1 to 9, characterized in that: The distance detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98) are arranged with the drone body (1) and the flexible frame (95) in a manner of distribution according to aircraft inspection, and the distance detection sensor (96), the sound wave detection sensor (97), the image pickup sensor (98), the drone body (1) and the controller (99) are arranged in a manner of distribution according to external data processing, and the distance detection sensor (96), the sound wave detection sensor (97), the image pickup sensor (98), the drone body (1) and the front swing rod (2) are arranged with the front transverse telescopic cylinder (3), the rear swing rod (4), the rear transverse telescopic cylinder (5), the front moving seat (91), the front vertical telescopic cylinder (92), the rear moving seat (93) and the rear vertical telescopic cylinder (94) in a manner of distribution according to the movable frame support, and the distance detection sensor (96) , the acoustic wave detection sensor (97), the image pickup sensor (98), the drone body (1), the front swing rod (2), the front transverse telescopic cylinder (3), the rear swing rod (4), the rear transverse telescopic cylinder (5), the front moving seat (91), the front vertical telescopic cylinder (92), the rear moving seat (93) and the rear vertical telescopic cylinder (94) and the follower wheel (6) are arranged to be distributed in a rolling guided motion manner, the distance measurement detection sensor (96), the acoustic wave detection sensor (97), the image pickup sensor (98), the drone body (1), the front swing rod (2), the front transverse telescopic cylinder (3), the rear swing rod (4), the rear transverse telescopic cylinder (5), the front moving seat (91), the front vertical telescopic cylinder (92), the rear moving seat (93) and the rear vertical telescopic cylinder (94) and the cleaning brush (7), the nozzle (8) and the blower (9) are arranged to be distributed in a cleaning manner, Alternatively, the center line of the drone body (1), the center line of the flexible frame (95), the center line of the distance detection sensor (96) and the center line of the controller (99) are arranged on the same straight line, one of the follower wheels (6) is arranged to be connected to the front swing bar (2), another of the follower wheels (6) is arranged to be connected to the rear swing bar (4), and a plurality of nozzles (8) are arranged between the cleaning brush (7) and the blower (9).

9. A method for using a drone device for tunnel upper disease inspection, characterized in that the steps are: The unmanned aerial vehicle body (1) supports the flexible frame (95) and the sensor group, the flexible frame (95) supports the sensor group in a metal memory state in close contact with the upper part of the tunnel inner wall, the sensor group identifies the upper part of the tunnel at a close distance, and the airborne component monitors the upper part of the tunnel for full signal parameters.

10. The method for using the drone device for tunnel upper disease inspection according to claim 1 is characterized in that the steps are: When it is necessary to inspect the upper part of the tunnel, the drone body (1) is placed in the tunnel, the rotor part (12) is in a working state, the drone body (1) is in a suspended state in the tunnel, the wheel part (64) on the front swing rod (2), the wheel part (64) and the brush part (74) on the rear swing rod (4) are in contact with the upper part of the inner wall of the tunnel, and under the elastic energy storage of the spring part I (62) and the elastic energy storage of the spring part II (72), the rod part I (61) and the rod part II (71) move up and down on the transverse part of the front swing rod (2), so that the wheel part (64) and the brush part (74) on the front swing rod (2) act on the upper part of the inner wall of the tunnel, and under the elastic energy storage of the spring part I (62), the wheel part (64) and the brush part (74) on the front swing rod (2) act on the upper part of the inner wall of the tunnel. The rod part I (61) moves up and down on the transverse part of the rear swing rod (4), so that the wheel part (64) located on the rear swing rod (4) acts on the upper part of the inner wall of the tunnel, thereby placing the flexible frame (95) on the upper part of the inner wall of the tunnel, so that the blower (9) is in a working state, and the drone body (1) is in a forward state. The wheel part (64) moves forward on the upper part of the inner wall of the tunnel, the bristle part (74) cleans the upper part of the inner wall of the tunnel, and the nozzle (8) performs gas purge on the upper part of the inner wall of the tunnel. The distance detection sensor (96) picks up the distance signal between the flexible frame (95) and the upper part of the inner wall of the tunnel, the sound wave detection sensor (97) picks up the deformation signal of the upper part of the inner wall of the tunnel, and the image pickup sensor (98) pick up the image signal of the upper part of the inner wall of the tunnel to realize the inspection of the upper part of the tunnel. The controller (99) processes the signal data of the distance detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98). After the inspection of the upper part of the tunnel is completed, the blower (9) is placed in a non-working state, and the drone body (1) is landed on the tunnel foundation. Through the controller (99), when the front vertical telescopic cylinder (92) and the rear vertical telescopic cylinder (94) are in the working state, the front moving seat (91) is driven to perform lifting movement on the vertical part of the front swing rod (2), and the rear moving seat (93) is driven to perform lifting movement on the vertical part of the rear swing rod (4), and the flexible frame ( The flexible frame (95) is lifted and lowered to adjust the distance between the distance measuring detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98) and the upper part of the tunnel inner wall. When the front transverse telescopic cylinder (3) is in the working state, the vertical part of the front swing rod (2) is driven to swing on the front ear seat (15). When the rear transverse telescopic cylinder (5) is in the working state, the vertical part of the rear swing rod (4) is driven to swing on the rear ear seat (16), and a deformation torque is applied to the flexible frame (95) to adjust the bending arc of the flexible frame (95), thereby adjusting the measuring angle of the distance measuring detection sensor (96), the sound wave detection sensor (97) and the image pickup sensor (98).

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