Tunnel inspection unmanned aerial vehicle

Abstract

The tunnel inspection unmanned aerial vehicle relates to the technical field of unmanned aerial vehicles and comprises a vehicle body, two front vehicle arms are symmetrically arranged on the left side and the right side of the front portion of the vehicle body, and two rear vehicle arms are symmetrically arranged on the left side and the right side of the rear portion of the vehicle body; the lifting wing group comprises a floating duct and a rotor mechanism I; the floating duct is cylindrical, and the axial direction of the floating duct is arranged along the height direction of the fuselage; floating ducts are fixed at the tail ends of the front arm and the rear arm; the lower part of the floating duct corresponds to the lower part of the fuselage and can be immersed into water to provide buoyancy, so that the unmanned aerial vehicle floats on the water surface; a rotor wing mechanism I is arranged at the upper part in each floating duct cylinder cavity to form a duct rotor wing structure; the additional driving wing sets are symmetrically arranged on the left side and the right side of the middle of the fuselage so as to drive the unmanned aerial vehicle to advance and steer. The unmanned aerial vehicle can be used in water and air, is compact in structure and good in safety and stability, and can effectively cope with the application scene that ponding or underground rivers exist in the tunnel besides the capability of autonomously flying in the narrow and small space of the tunnel.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a tunnel inspection unmanned aerial vehicle. Background Art

[0002] Traditional tunnel inspection unmanned aerial vehicles are generally equipped with technologies such as automatic obstacle avoidance, binocular vision, and multispectral imaging, which significantly improve the efficiency and safety during inspections in narrow spaces. For example: The obstacle avoidance system based on binocular vision simulates the human eye to perceive environmental texture differences through dual cameras, and combines ultrasonic ranging to achieve dynamic obstacle avoidance; some models also integrate an infrared thermal imager, which can capture the infrared radiation energy of diseases such as water seepage and cracks in the tunnel. However, such tunnel inspection unmanned aerial vehicles pose serious safety risks when dealing with scenarios where there is water accumulation or underground rivers in the tunnel. Existing unmanned aerial vehicles mostly rely on visual SLAM or lidar to achieve autonomous navigation in a GPS-free environment, but do not optimize the fuselage structure for the water surface environment. When there is water accumulation in the inspection path, the traditional propeller power system may cause short circuits or equipment damage due to contact with the water surface, resulting in interruption of data collection or even mission failure, and the environmental adaptability is significantly insufficient; binocular vision and ultrasonic sensors are easily affected by light reflection and water surface ripples on the water surface, which may lead to misjudgment of obstacles or obstacle avoidance delay; for example, water surface reflection may cause the binocular vision system to misidentify the water surface as a continuous path, resulting in the unmanned aerial vehicle directly falling into the water, and the ultrasonic signal attenuates significantly when propagating at the air-water interface, further reducing the ranging accuracy and limiting the obstacle avoidance technology; although some models adopt safety strategies such as automatic return when the battery is low and spherical collision protection structures, due to the lack of water surface floating and driving capabilities, when the unmanned aerial vehicle accidentally falls into the water, the traditional design cannot maintain the stable floating of the equipment and does not have the ability to escape on the water surface. In the prior art, water-air dual-purpose unmanned aerial vehicles achieve the water surface floating function of the unmanned aerial vehicle by setting floats or floating plates at the bottom of the landing gear. They are top-heavy and have poor water surface floating stability, and are prone to roll over and cause the fuselage to be flooded when the wind and waves are large. Moreover, when there is water accumulation or underground rivers in the tunnel, traditional tunnel inspection unmanned aerial vehicles cannot effectively detect the water depth and the tunnel structure conditions under the water surface.

[0003] Therefore, how to design a tunnel inspection unmanned aerial vehicle that can be used for both water and air, has a compact structure, good safety and stability, and in addition to having the basic ability to fly autonomously in the narrow space of the tunnel, can also effectively cope with the application scenarios where there is water accumulation or underground rivers in the tunnel is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention proposes a tunnel inspection unmanned aerial vehicle, aiming to solve the technical problem that the traditional tunnel inspection unmanned aerial vehicle cannot effectively inspect the tunnel with water accumulation or underground rivers.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention provides a tunnel inspection drone, including:

[0007] A fuselage, on the left and right sides of the front part of the fuselage, two front arms are symmetrically arranged, and on the left and right sides of the rear part of the fuselage, two rear arms are symmetrically arranged;

[0008] A lifting wing group, the lifting wing group includes a floating duct and a first rotor mechanism; the floating duct is cylindrical and its axis is arranged along the height direction of the fuselage; the floating ducts are fixed to the ends of the front arms and the rear arms; the lower part of the floating duct corresponds to the lower part of the fuselage and can be immersed in water to provide buoyancy, so that the drone floats on the water surface; in the upper part of the cylindrical cavity of each floating duct, a first rotor mechanism is arranged to form a ducted rotor structure;

[0009] An additional driving wing group, the additional driving wing group is symmetrically arranged on the left and right sides of the middle part of the fuselage to drive the drone to move forward and turn.

[0010] When the tunnel inspection drone of the present invention is in use, the lifting wing group is mainly responsible for driving the drone to lift and descend, and the additional driving wing group is used to drive the drone to move horizontally (forward, backward and left and right turning), changing the control mode of the traditional drone to regulate the horizontal movement of the drone by adjusting the rotor speeds of the front and rear parts and the left and right sides; it can keep the fuselage flying horizontally when the drone moves horizontally, increasing the stability of detection. The floating duct not only plays a role in protecting the first rotor mechanism and improving the flight power and stability, but also enables the drone to have the function of landing on the water surface; when the drone lands on the water surface, the lower part of the floating duct is immersed in water to provide buoyancy, and the lower part of the cylindrical floating duct immersed in water plays a role similar to an anchor leg, improving the stability of the drone floating on the water surface. After the drone lands on the water surface, it still drives the drone to move forward and turn on the water surface through the additional driving wing group, improving the flexibility and maneuverability of the drone on the water surface; when the drone takes off again, the first rotor mechanism conveys air flow through the floating duct and acts on the water surface, and the take-off force is greater and more stable. The tunnel inspection drone of the present invention cleverly uses the ducted rotor structure to construct a floating body unit, realizing the dual use of water and air, with a simple structure, a smaller volume, being more suitable for autonomous flight in the narrow space of the tunnel, and being able to effectively cope with the application scenarios where there is accumulated water or underground river in the tunnel, and having a higher stable performance on the water surface.

[0011] As a further improvement of the above technical solution, the floating duct includes a cylindrical floating body and a support frame; the cylindrical floating body is fixed to the end of the corresponding front arm or rear arm through the support frame; the first rotor mechanism is installed in the upper part of the cylindrical cavity of the cylindrical floating body.

[0012] The beneficial effect of the above technical solution is that the function of the cylindrical floating body is to provide stable buoyancy when the drone lands on the water surface.

[0013] As a further improvement of the above technical solution, the cylindrical floating body cylinder wall is a closed hollow structure.

[0014] The beneficial effect of the above technical solution is that by designing the cylinder wall of the cylindrical floating body as a closed hollow structure, the buoyancy of the cylindrical floating body can be increased.

[0015] As a further improvement of the above technical solution, the material of the cylindrical floating body is any one of carbon fiber, aluminum alloy, ABS plastic and foam plastic.

[0016] The beneficial effect of the above technical solution is that the material of the cylindrical floating body can be selected as the carbon fiber material with higher strength, lighter weight and corrosion resistance according to needs, or the ABS plastic with lower manufacturing cost can be selected according to needs, or the lighter foam plastic can be selected according to needs, meeting the usage requirements of multiple scenarios.

[0017] As a further improvement of the above technical solution, the first rotor mechanism includes a first driving motor and a first rotor; the fixed end of the first driving motor is fixed to the end of the corresponding front arm or the rear arm; the first rotor is installed on the rotating shaft of the first driving motor; the rotating shaft of the first driving motor is arranged along the axial direction of the cylindrical floating body;

[0018] The support frame is arranged along the radial direction of the cylindrical floating body, and one end of it is fixed to the inner wall of the cylindrical floating body, and the other end is fixed to the outer wall of the fixed end of the first driving motor.

[0019] The beneficial effect of the above technical solution is that the first driving motor is used to drive the first rotor to rotate, and the rotating first rotor forms a directional air flow in the direction from top to bottom in the cylindrical floating body, with high aerodynamic efficiency and less dust disturbance, and is more suitable for operating in the complex environment of the tunnel; the cylindrical floating body has the function of protecting the first rotor and can avoid the dangerous situation of the rotor hitting the wall when flying in the narrow space of the tunnel.

[0020] As a further improvement of the above technical solution, the additional driving wing group includes a left additional driving wing and a right additional driving wing; the left additional driving wing and the right additional driving wing are symmetrically arranged on the left and right sides of the middle part of the fuselage to jointly drive the UAV to move forward and turn.

[0021] The beneficial effect of the above technical solution is that the flexible control of the horizontal movement of the UAV can be realized by adjusting the driving force and driving direction of the left additional driving wing and the right additional driving wing; in the case of requiring large lift, the left additional driving wing and the right additional driving wing can also assist the first rotor mechanism to further increase the lift.

[0022] As a further improvement of the above technical solution, the left additional driving wing includes a left rotating arm, a left rotating motor, a left driving motor and a left rotor; the right additional driving wing includes a right rotating arm, a right rotating motor, a right driving motor and a right rotor;

[0023] The left rotating motor and the right rotating motor are symmetrically arranged on the left and right sides of the middle part of the fuselage; the length directions of the left rotating arm and the right rotating arm are both arranged along the left and right directions of the fuselage; one end of the left rotating arm is drivingly connected to the rotating shaft of the left rotating motor, and the other end of the left rotating arm is fixedly connected to the fixed end of the left driving motor; the left rotor is installed on the rotating shaft of the left driving motor; one end of the right rotating arm is drivingly connected to the rotating shaft of the right rotating motor, and the other end of the right rotating arm is fixedly connected to the fixed end of the right driving motor; the right rotor is installed on the rotating shaft of the right driving motor; the rotating shafts of the left driving motor and the right rotating motor are both perpendicular to the length directions of the left rotating arm and the right rotating arm.

[0024] The beneficial effects of the above technical solution are: the left driving motor is used to drive the left rotor to rotate to provide driving force, and the left rotating motor can drive the left rotating arm to rotate 360 degrees to flexibly adjust the thrust direction of the left rotor; similarly, the right driving motor is used to drive the right rotor to rotate to provide driving force, and the right rotating motor can drive the right rotating arm to rotate 360 degrees to flexibly adjust the thrust direction of the right rotor; therefore, by coordinately controlling the left rotating motor, the right rotating motor, the left driving motor and the right driving motor, the movement and turning of the UAV can be controlled.

[0025] As a further improvement of the above technical solution, a lidar is further included, and the lidar is installed on the fuselage.

[0026] The beneficial effects of the above technical solution are: the lidar can quickly and accurately obtain the three-dimensional spatial information of the tunnel, construct a detailed geometric model, and accurately reflect the structures such as the contour, walls, and vaults of the tunnel, providing an accurate spatial reference for subsequent flight navigation.

[0027] As a further improvement of the above technical solution, a binocular camera is further included, and the binocular camera is installed on the fuselage.

[0028] The beneficial effects of the above technical solution are: the binocular camera can sense the depth information of an object, more accurately identify various obstacles in the tunnel, such as protruding rocks, fallen debris, construction equipment, etc., and cooperate with the obstacle avoidance algorithm to enable the flight device to flexibly shuttle in a complex tunnel environment and avoid collision accidents.

[0029] As a further improvement of the above technical solution, a sonar sensor is further included, and the sonar sensor is installed under the fuselage through a bracket.

[0030] The beneficial effects of the above technical solution are as follows: When the unmanned aerial vehicle conducts water surface inspection operations, it can use sonar sensors to detect the tunnel structure under the water surface, so as to achieve the full - range inspection tasks for tunnels with water accumulation or underground rivers.

[0031] As a further improvement of the above technical solution, it further includes a thermal imager, and the thermal imager is installed on the fuselage.

[0032] The beneficial effects of the above technical solution are as follows: By using the thermal imaging function of the thermal imager, it can keenly capture temperature differences. In the tunnel scenario, it can monitor temperature changes in real - time, timely detect local high - temperature abnormal points caused by reasons such as poor ventilation and electrical failures, and prevent problems before they occur. Moreover, it can also detect heat - source animals, which is of great significance for mountain tunnels with wildlife activities. It can not only protect animals from being disturbed by the aircraft, but also ensure the safety of the flight equipment itself and avoid damage caused by collision with animals.

[0033] It can be seen from the above - mentioned technical solution that compared with the prior art, the present invention discloses a tunnel inspection unmanned aerial vehicle, which has the following advantages and beneficial effects:

[0034] 1. The present invention ingeniously designs the ducted structure as a floating body, which not only retains the function of the ducted rotor but also realizes the water - air dual - use function of the unmanned aerial vehicle; the cylindrical floating ducted structure can be immersed deeper and anchored in the water. Compared with traditional floating - board and floating - drum water - air dual - use unmanned aerial vehicles, it has better water - surface floating stability and anti - wind - and - wave performance, and will not easily roll over and cause the fuselage to be immersed in water. It is more suitable for using the aerodynamic thrust of the additional drive wing group to drive the unmanned aerial vehicle to travel stably on the water surface, so there is no need to set up an underwater propeller, which simplifies the structure and makes it more flexible and portable.

[0035] 2. The lifting wing group of the present invention is a ducted - rotor structure, which mainly provides the lifting power of the unmanned aerial vehicle; the forward movement and steering functions of the unmanned aerial vehicle are realized by the joint cooperation of the left additional drive wing and the right additional drive wing; the left additional drive wing and the right additional drive wing can not only assist the lifting wing group in lift assistance but also flexibly control the horizontal movement of the unmanned aerial vehicle, and the fuselage can always maintain level flight without adjusting the thrust direction by tilting the fuselage, providing a basis for more stable and accurate tunnel detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for description in the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0037] Figure 1Schematic three-dimensional view of the overall structure of a tunnel inspection unmanned aerial vehicle according to the present invention;

[0038] In the figure: 1, fuselage; 11, front arm; 12, rear arm; 2, lifting wing group; 21, floating duct; 211, cylindrical floating body; 212, support frame; 22, rotor mechanism I; 221, drive motor I; 222, rotor I; 3, additional drive wing group; 31, left additional drive wing; 311, left rotating arm; 312, left rotating motor; 313, left drive motor; 314, left rotor; 32, right additional drive wing; 321, right rotating arm; 322, right rotating motor; 323, right drive motor; 324, right rotor. Detailed implementation manners

[0039] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships 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 thus should not be construed as limiting the present invention.

[0041] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0042] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] According to an embodiment of the present invention, as Figure 1As shown in the figure, a tunnel inspection drone includes: a fuselage 1, a lifting wing group 2 and an additional driving wing group 3.

[0044] On the left and right sides of the front part of the fuselage 1, two front arms 11 are symmetrically fixed, and on the left and right sides of the rear part of the fuselage 1, two rear arms 12 are symmetrically fixed.

[0045] The lifting wing group 2 includes a floating duct 21 and a first rotor mechanism 22; the floating duct 21 is cylindrical and its axis is arranged along the height direction of the fuselage 1; floating ducts 21 are fixed at the ends of both the front arm 11 and the rear arm 12; the lower part of the floating duct 21 corresponds to the lower part of the fuselage 1 and can be immersed in water to provide buoyancy, so that the drone floats on the water surface; a first rotor mechanism 22 is arranged in the upper part of the cylindrical cavity of each floating duct 21 to form a ducted rotor structure.

[0046] The additional driving wing group 3 is symmetrically arranged on the left and right sides of the middle part of the fuselage 1 to drive the drone to move forward and turn.

[0047] When the tunnel inspection drone of this embodiment is in use, the lifting wing group 2 is mainly responsible for driving the drone to move up and down, and the additional driving wing group 3 is used to drive the drone to move horizontally forward, backward and turn left and right, changing the control method of the traditional drone to regulate the horizontal movement of the drone by adjusting the rotational speeds of the rotors at the front and rear, left and right; it can keep the fuselage flying level when the drone moves horizontally, increasing the stability of detection. The floating duct 21 not only plays a role in protecting the first rotor mechanism 22 and improving flight power and stability, but also enables the drone to have the function of landing on the water surface; when the drone lands on the water surface, the lower part of the floating duct 21 is immersed in water to provide buoyancy, and the lower part of the cylindrical floating duct 21 immersed in water plays a role similar to an anchor leg, improving the stability of the drone floating on the water surface. After the drone lands on the water surface, it still uses the additional driving wing group 3 to drive the drone to move forward and turn on the water surface, improving the flexibility of the drone's water travel; when the drone takes off again, the first rotor mechanism 22 conveys air flow through the floating duct 21 and acts on the water surface, with greater and more stable takeoff force. The tunnel inspection drone of the present invention cleverly uses the ducted rotor structure to construct a floating body unit, with a simple structure and a small volume, capable of flying autonomously in the narrow space of the tunnel, and being able to effectively cope with the application scenarios where there is water accumulation or underground river in the tunnel, and having higher stability performance for water travel.

[0048] Specifically, a flight control system is installed inside the fuselage 1, and the flight control system is electrically connected to and controls the first rotor mechanism 22 and the additional driving wing group 3.

[0049] In some embodiments, the floating duct 21 includes a cylindrical floating body 211 and a support frame 212; the cylindrical floating body 211 is fixed to the end of the corresponding front arm 11 or rear arm 12 through the support frame 212; the first rotor mechanism 22 is installed in the upper part of the cylindrical cavity of the cylindrical floating body 211.

[0050] The function of the cylindrical floating body 211 is to provide stable buoyancy when the UAV lands on the water surface.

[0051] In some embodiments, the wall of the cylindrical floating body 211 is a closed hollow structure.

[0052] By designing the wall of the cylindrical floating body 211 as a closed hollow structure, the buoyancy of the cylindrical floating body 211 can be increased.

[0053] In some embodiments, the material of the cylindrical floating body 211 is any one of carbon fiber, aluminum alloy, ABS plastic, and foam plastic.

[0054] The material of the cylindrical floating body 211 can be selected as the carbon fiber material with higher strength, lighter weight and corrosion resistance according to needs, or the ABS plastic with lower production cost can be selected according to needs, or the lighter foam plastic can be selected according to needs, meeting the requirements of multi-scene use.

[0055] In some embodiments, the first rotor mechanism 22 includes a first driving motor 221 and a first rotor 222; the fixed end of the first driving motor 221 is fixed to the end of the corresponding front arm 11 or rear arm 12; the first rotor 222 is installed on the rotating shaft of the first driving motor 221; the rotating shaft of the first driving motor 221 is arranged along the axial direction of the cylindrical floating body 211;

[0056] The support frame 212 is arranged radially along the cylindrical floating body 211, and one end of it is fixed to the inner wall of the cylindrical floating body 211, and the other end is fixed to the outer wall of the fixed end of the first driving motor 221.

[0057] The first driving motor 221 is used to drive the first rotor 222 to rotate. The rotating first rotor 222 forms a directional air flow in the cylindrical floating body 211 from top to bottom, with higher aerodynamic efficiency, and the air flow can be constrained by the duct to reduce the disturbance to the dust in the tunnel, which is more suitable for operation in the complex environment of the tunnel; the cylindrical floating body 211 has the function of protecting the first rotor 222, and can avoid the dangerous situation of the rotor hitting the wall when flying in the narrow space of the tunnel.

[0058] Specifically, each first driving motor 221 is electrically connected to the flight control system.

[0059] In some embodiments, the additional driving wing group 3 includes a left additional driving wing 31 and a right additional driving wing 32; the left additional driving wing 31 and the right additional driving wing 32 are symmetrically arranged on the left and right sides of the middle part of the fuselage 1 to jointly drive the UAV to move forward and turn.

[0060] Flexible control of the horizontal movement of the UAV can be achieved by regulating the driving forces and driving directions of the left additional driving wing 31 and the right additional driving wing 32; in case of need for large lift, the left additional driving wing 31 and the right additional driving wing 32 can also assist the rotor mechanism 22 to further increase the lift.

[0061] In some embodiments, the left additional driving wing 31 includes a left rotating arm 311, a left rotating motor 312, a left driving motor 313, and a left rotor 314; the right additional driving wing includes a right rotating arm 321, a right rotating motor 322, a right driving motor 323, and a right rotor 324;

[0062] The left rotating motor 312 and the right rotating motor 322 are symmetrically arranged on the left and right sides of the middle part of the fuselage 1; the length directions of the left rotating arm 311 and the right rotating arm 321 are both arranged along the left and right directions of the fuselage 1; one end of the left rotating arm 311 is drivingly connected to the rotating shaft of the left rotating motor 312, and the other end of the left rotating arm 311 is fixedly connected to the fixed end of the left driving motor 313; the left rotor 314 is installed on the rotating shaft of the left driving motor 313; one end of the right rotating arm 321 is drivingly connected to the rotating shaft of the right rotating motor 322, and the other end of the right rotating arm 321 is fixedly connected to the fixed end of the right driving motor 323; the right rotor 324 is installed on the rotating shaft of the right driving motor 323; the rotating shafts of the left driving motor 313 and the right rotating motor 322 are both perpendicular to the length directions of the left rotating arm 311 and the right rotating arm 321.

[0063] The left driving motor 313 is used to drive the left rotor 314 to rotate to provide driving force, and the left rotating motor 312 can drive the left rotating arm 311 to rotate 360 degrees, thereby flexibly adjusting the thrust direction of the left rotor 314; similarly, the right driving motor 323 is used to drive the right rotor 324 to rotate to provide driving force, and the right rotating motor 322 can drive the right rotating arm 321 to rotate 360 degrees, thereby flexibly adjusting the thrust direction of the right rotor 324; therefore, by coordinately controlling the left rotating motor 312, the right rotating motor 322, the left driving motor 313, and the right driving motor 323, the movement and turning of the UAV can be controlled.

[0064] Specifically, both the left rotor 314 and the right rotor 324 correspond to the upper part or above of the cylindrical floating body 211, so that when the UAV lands on the water surface, both the left rotor 314 and the right rotor 324 are located above the water surface. The left rotating motor 312, the right rotating motor 322, the left driving motor 313, and the right rotating motor 322 are all electrically connected to the flight control system.

[0065] In some embodiments, both the left rotating arm 311 and the right rotating arm 321 can be designed as telescopic arms; the flexibility of steering and the stability of traveling can be adjusted by adjusting the telescopic lengths of the left rotating arm 311 and the right rotating arm 321; the left rotating arm 311 can be shortened so that the left rotor wing 314 is located in the middle of the cylindrical floating bodies 211 on the corresponding front arm 11 and rear arm 12, and the right rotating arm 321 can be shortened so that the right rotor wing 324 is located in the middle of the cylindrical floating bodies 211 on the corresponding front arm 11 and rear arm 12, and the corresponding left rotor wing 314 and right rotor wing 324 are protected by the cylindrical floating bodies 211.

[0066] In some embodiments, a lidar is further included, and the lidar is installed on the fuselage 1.

[0067] Using the lidar, the three-dimensional spatial information of the tunnel can be obtained quickly and accurately, a detailed geometric model can be constructed, and the structures such as the contour, walls, and vaults of the tunnel can be accurately reflected, providing an accurate spatial reference for subsequent flight navigation.

[0068] Specifically, the lidar can be set at any position of the bottom, top, front, and rear of the fuselage 1 according to the needs of the inspection task.

[0069] In some embodiments, a binocular camera is further included, and the binocular camera is installed on the fuselage 1.

[0070] The binocular camera can sense the depth information of an object, more accurately identify various obstacles in the tunnel, such as protruding rocks, fallen debris, construction equipment, etc., and cooperate with the obstacle avoidance algorithm to enable the flying device to shuttle flexibly in the complex tunnel environment and avoid collision accidents.

[0071] Specifically, the binocular camera can be set at any position of the bottom, top, front, and rear of the fuselage 1 according to the needs of the inspection task. The binocular camera is installed corresponding to the upper part of the floating duct 21 to avoid immersion in water.

[0072] In some embodiments, the binocular camera is installed below the fuselage 1 through a lifting arm, and the lifting arm can drive the binocular camera to lift and lower, so that the binocular camera can descend below the corresponding floating duct 21, and thus has a better observation field of view.

[0073] In some embodiments, a sonar sensor is further included, and the sonar sensor is installed below the fuselage 1 through a bracket.

[0074] When the unmanned aerial vehicle conducts water surface inspection operations, the sonar sensor can be used to detect the structural conditions of the tunnel covered by the water surface, so as to achieve the all-round inspection task of tunnels with water accumulation or underground rivers.

[0075] Specifically, the sonar sensor corresponds to the bottom of the floating duct 21. When the UAV lands on the water surface, the sonar sensor can be immersed in the water to perform sonar detection on the tunnel structure below the water surface.

[0076] In some embodiments, a thermal imager is further included, and the thermal imager is installed on the fuselage 1.

[0077] Specifically, the thermal imager can be set at any one of the bottom end, top end, front part and rear part of the fuselage 1 according to the needs of the inspection task.

[0078] Using the thermal imaging function of the thermal imager can keenly capture temperature differences. In the tunnel scenario, it can monitor the temperature changes in real time, timely detect local high-temperature abnormal points caused by reasons such as poor ventilation and electrical failures, and prevent problems before they occur. Moreover, it can also detect heat source animals, which is of great significance for some mountain tunnels with wild animal activities. It can not only protect animals from being disturbed by the aircraft, but also ensure the safety of the flight equipment itself and avoid being damaged by colliding with animals.

[0079] Specifically, the lidar, binocular camera, sonar sensor and thermal imager are all electrically connected to the flight control system; the flight control system is designed with reference to the prior art.

[0080] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0081] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A tunnel inspection drone, characterized in that, Comprising: A fuselage (1), on the left and right sides of the front part of the fuselage (1), two front arms (11) are symmetrically arranged, and on the left and right sides of the rear part of the fuselage (1), two rear arms (12) are symmetrically arranged; A lifting wing group (2), the lifting wing group (2) includes a floating duct (21) and a first rotor mechanism (22); the floating duct (21) is cylindrical and its axis is arranged along the height direction of the fuselage (1); at the ends of the front arm (11) and the rear arm (12), the floating duct (21) is fixed; the lower part of the floating duct (21) corresponds to the lower part of the fuselage (1) and can be immersed in water to provide buoyancy, so that the UAV floats on the water surface; in the upper part of the cylindrical cavity of each floating duct (21), a first rotor mechanism (22) is arranged to form a ducted rotor structure; An additional driving wing group (3), the additional driving wing group (3) is symmetrically arranged on the left and right sides of the middle part of the fuselage (1) to drive the UAV to move forward and turn.

2. The tunnel inspection drone according to claim 1, characterized in that, The floating duct (21) includes a cylindrical floating body (211) and a support frame (212); the cylindrical floating body (211) is fixed to the end of the corresponding front arm (11) or rear arm (12) through the support frame (212); the first rotor mechanism (22) is installed in the upper part of the cylindrical cavity of the cylindrical floating body (211).

3. The tunnel inspection drone according to claim 2, characterized in that, The wall of the cylindrical floating body (211) is a closed hollow structure.

4. The tunnel inspection drone according to claim 3, characterized in that, The material of the cylindrical floating body (211) is any one of carbon fiber, aluminum alloy, ABS plastic and foam plastic.

5. The tunnel inspection drone according to claim 2, wherein The first rotor mechanism (22) includes a first driving motor (221) and a first rotor (222); the fixed end of the first driving motor (221) is fixed to the end of the corresponding front arm (11) or rear arm (12); the first rotor (222) is installed on the rotating shaft of the first driving motor (221); the rotating shaft of the first driving motor (221) is arranged along the axis of the cylindrical floating body (211); The support frame (212) is arranged radially along the cylindrical floating body (211), and one end of it is fixed to the inner wall of the cylindrical floating body (211), and the other end is fixed to the outer wall of the fixed end of the first driving motor (221).

6. The tunnel inspection drone according to claim 1, wherein The additional driving wing group (3) includes a left additional driving wing (31) and a right additional driving wing (32); the left additional driving wing (31) and the right additional driving wing (32) are symmetrically arranged on the left and right sides of the middle part of the fuselage (1) to jointly drive the UAV to move forward and turn.

7. The tunnel inspection drone according to claim 6, characterized in that, The left additional driving wing (31) includes a left rotating arm (311), a left rotating motor (312), a left driving motor (313) and a left rotor (314); the right additional driving wing includes a right rotating arm (321), a right rotating motor (322), a right driving motor (323) and a right rotor (324); The left rotation motor (312) and the right rotation motor (322) are symmetrically arranged on the left and right sides of the middle part of the fuselage (1); the length directions of the left rotation arm (311) and the right rotation arm (321) are both arranged along the left and right direction of the fuselage (1); one end of the left rotation arm (311) is drivingly connected to the rotating shaft of the left rotation motor (312), and the other end of the left rotation arm (311) is fixedly connected to the fixed end of the left driving motor (313); the left rotor wing (314) is installed on the rotating shaft of the left driving motor (313); one end of the right rotation arm (321) is drivingly connected to the rotating shaft of the right rotation motor (322), and the other end of the right rotation arm (321) is fixedly connected to the fixed end of the right driving motor (323); the right rotor wing (324) is installed on the rotating shaft of the right driving motor (323); the rotating shafts of the left driving motor (313) and the right rotation motor (322) are both perpendicular to the length directions of the left rotation arm (311) and the right rotation arm (321).

8. The tunnel inspection drone according to claim 1, wherein, It further includes a lidar, and the lidar is installed on the fuselage (1).

9. The tunnel inspection drone according to claim 1, characterized in that, It further includes a binocular camera, and the binocular camera is installed on the fuselage (1).

10. The tunnel inspection drone according to claim 1, characterized in that, It further includes a sonar sensor, and the sonar sensor is installed below the fuselage (1) through a bracket.

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