Special illumination enhancement unmanned aerial vehicle for tunnel and control method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a tunnel special illumination enhancing unmanned aerial vehicle which comprises a base, a plurality of first sliding grooves are formed in the upper surface of the base, a first rotating shaft is slidably connected into the first sliding grooves of the base, a vehicle arm is fixedly arranged at the top end of the outer wall of the first rotating shaft, and a second sliding groove is formed in the bottom end of the vehicle arm. A plurality of lighting spotlights are arranged on the two sides of the second sliding groove of the vehicle arm, a sliding block is arranged on one side of the first sliding groove of the base, the second sliding groove of the vehicle arm is connected to the top end of the sliding block in a sliding mode, a flying assembly is arranged at one end of the vehicle arm, and a transmission assembly is arranged in the middle of the lower surface of the base. Multi-angle and multi-azimuth illumination layout is achieved through the illumination spotlights on the machine arms and the LED illumination baffles and the LED lamp caps on the supporting legs, light can be projected to different heights and different transverse position areas of a tunnel, traditional fixed illumination blind areas are reduced, and the overall illumination coverage range of the tunnel is widened. The problem of insufficient tunnel illumination is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a tunnel-specific lighting-enhanced unmanned aerial vehicle and its control method. Background Art

[0002] In the construction of modern transportation infrastructure, tunnels play a crucial role. They effectively connect different regions, enabling the smooth passage of transportation lines such as highways and railways. However, the internal environment of tunnels has significant particularities, and the most prominent one is the severe lack of natural light. Since tunnels are surrounded by mountains, underground structures, etc., sunlight cannot directly shine in, making the interior of the tunnel almost completely without light.

[0003] In such a lightless environment, daily tunnel maintenance, repair work, and various emergency rescue operations all face great challenges. Traditional tunnel lighting methods mainly rely on lamps fixedly installed on the tunnel walls to provide lighting. After these lamps are installed, their positions and lighting angles are basically fixed. For example, for the high areas of the tunnel vault, the corner positions of the side walls, and some special structural areas, it is difficult for fixed lamps to effectively project light to these places, thus forming many lighting blind spots, seriously affecting the visibility of workers when inspecting, repairing, etc. in relevant areas, thereby reducing work efficiency and even potentially causing safety accidents due to poor visibility.

[0004] Moreover, different tunnel operation scenarios often have diverse and dynamically changing lighting requirements. Sometimes, it is necessary to focus on illuminating the bottom of the tunnel to facilitate the passage of personnel and equipment; sometimes, it is necessary to focus on specific parts of the side walls to carefully inspect equipment and facilities; and sometimes, higher lighting intensity and angles are required for the vault area to check for structural safety hazards, etc. However, the existing fixed lighting systems lack a flexible angle adjustment function and cannot quickly and accurately change the lighting angle according to the actual operation situation, making it difficult to meet the needs of targeted lighting for different upper and lower areas. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a tunnel-specific lighting-enhanced unmanned aerial vehicle and its control method, which solves the problem of insufficient tunnel lighting.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: a tunnel - specific lighting - enhanced unmanned aerial vehicle, including a base. On the upper surface of the base, there are several first chutes. A first rotating shaft is slidably connected in the first chute of the base. At the top end of the outer wall of the first rotating shaft, an arm is fixedly arranged. At the bottom end of the arm, there is a second chute. On both sides of the second chute of the arm, there are several lighting spotlights. On one side of the first chute of the base, there is a slider. The second chute of the arm is slidably connected to the top end of the slider. At one end of the arm, there is a flight assembly. In the middle of the lower surface of the base, there is a transmission assembly. On the lower surface of the base, there are several second hinge blocks. In the middle of the second hinge block, a second rotating shaft is rotatably connected. In the middle of the second rotating shaft, a first hinge block is rotatably connected. At the bottom end of the first hinge block, there is a leg. On the side wall of the leg, there is an LED lighting baffle. On the outer wall of the LED lighting baffle, there are several LED lamp heads.

[0007] Preferably, the transmission assembly includes a housing. The top end of the housing is arranged in the middle of the lower surface of the base. Inside the housing, there is a motor. The output of the motor is fixedly provided with a fourth rotating shaft. The bottom end of the outer wall of the fourth rotating shaft is arranged in the middle of a limiting plate. On the upper surface of the limiting plate, there is a protective shell. On the outer wall of the fourth rotating shaft, a second gear is fixedly arranged. The bottom end of the second gear is arranged on the upper surface of the limiting plate. The tooth end of the second gear is meshed with several first gears. In the middle of the first gear, a third rotating shaft is fixedly arranged. The bottom end of the third rotating shaft penetrates through a swing arm and is arranged on the upper surface of the base.

[0008] Preferably, the flight assembly includes a brushless motor. The bottom end of the brushless motor is fixedly arranged at one end of the upper surface of the arm. The output end of the brushless motor is fixedly provided with a fixing plate. At both ends of the fixing plate, there are wings.

[0009] Preferably, at the bottom end of the lower surface of the base, there are several first hinge seats. One end of the first hinge seat is rotatably connected to a third hinge block. At the bottom end of the third hinge block, there is an electric push rod. The output end of the electric push rod is provided with a fourth hinge block. One end of the fourth hinge block is rotatably connected to a second hinge seat. One end of the second hinge seat is arranged on one side of the leg.

[0010] The tunnel - specific lighting - enhanced unmanned aerial vehicle system for the tunnel - specific lighting - enhanced unmanned aerial vehicle includes the following steps: A flight control system module for realizing precise control and management of the flight state of the tunnel - specific lighting - enhanced unmanned aerial vehicle; A lighting system module for providing lighting - enhancement services in the tunnel and improving the lighting coverage in the tunnel; A communication system module for information interaction between the unmanned aerial vehicle and the ground control terminal and for remotely controlling the lighting; The power system module is used to provide stable electrical energy for each electrical component of the tunnel - dedicated lighting - enhanced drone, enabling the drone to continuously fly and perform lighting operations in the tunnel.

[0011] Preferably, the flight control system module includes: The main control unit is responsible for aggregating and processing various types of data related to the flight attitude, position, and surrounding environment of the drone collected from each sensor, and at the same time receiving flight control and lighting adjustment instructions issued by the ground control terminal; The sensor unit is used to continuously monitor and obtain various key information related to the flight of the drone; The execution unit is used to convert the control instructions issued by the main control unit into actual actions, driving the drone to complete corresponding flight operations.

[0012] Preferably, the lighting system module includes: The lighting fixture unit is used for emitting light. Through the included multi - group of high - brightness and high - color - rendering - index LED light source arrays, it generates light when the drone flies in the tunnel, illuminating different areas in the tunnel, and each lamp head has the function of fine - tuning the angle; The brightness adjustment module unit is used to receive instructions from the flight control system according to the actual lighting conditions in different areas of the tunnel and the requirements of specific lighting tasks, and uses pulse - width modulation technology to accurately adjust the brightness output of the LED light source arrays in the lighting fixture unit.

[0013] Preferably, the communication system module includes: a communication unit, which is used to realize two - way information interaction between the drone and the ground control terminal and remotely control the lighting.

[0014] Preferably, the power system module includes: The power supply unit is used to provide stable electrical energy for each electrical component of the drone; The power management unit is used to intelligently manage the power status of the drone's power supply.

[0015] The control method of the tunnel - dedicated lighting - enhanced drone, which is used for the tunnel - dedicated lighting - enhanced drone, includes the following steps: S1. The operator collects tunnel information, analyzes the lighting requirements of each area, marks the key lighting areas, plans the specific coordinates and the expected illuminance standard for the supplementary light to reach, with an error within ±0.3 meters; S2. Perform initial parameter settings on the supplementary light at the ground control terminal, including the default brightness and the initial angle, with the maximum brightness being 30% - 50%, and bind the control instruction channel; S3. The ground control terminal plans a path for the drone, considers obstacles and maintains a safety distance of more than 0.5 meters, and combines ultra - wideband and inertial navigation to guide the drone to move; S4. During flight, the position is fed back in real time. When the deviation exceeds the limit, the path is corrected. When approaching the target position, the position of the supplementary light is fine-tuned through the mechanical structure. The accuracy reaches ±0.05 m and ±1°, ensuring alignment with the target area within a deviation of ±0.1 m. S5. The ground control terminal generates commands for turning on the supplementary light and adjusting its parameters according to the ambient light intensity, area size, and illumination standard. S6. The command is transmitted to the supplementary light control system via wireless communication within a delay of less than 0.5 s. After decoding and verification, the brightness is adjusted with a duty cycle adjustment accuracy of ±1% using pulse width modulation technology. The response time for controlling the motor to drive the pan-tilt to adjust the angle is within 1 s, achieving precise illumination.

[0016] Working principle:.

[0017] The present invention provides a tunnel-specific lighting-enhanced unmanned aerial vehicle and its control method. It has the following beneficial effects: 1. The present invention realizes a multi-angle and multi-direction lighting layout through the lighting spotlights on the arms and the LED lighting baffles and LED lamp heads on the legs, and can project light onto different height and different lateral position areas of the tunnel, reducing the blind spots of traditional fixed lighting, providing lighting for the area near the ground and the surrounding areas of the tunnel from a lower position, further improving the comprehensiveness of lighting, and enhancing the overall lighting coverage of the tunnel. It solves the problem of insufficient tunnel lighting.

[0018] 2. The rotational power output by the motor of the present invention is effectively converted into rotational power in multiple different directions depending on the arrangement position of the first gears through the meshing transmission between the second gear and multiple first gears, and then the power is transmitted to the swing arm through the third rotating shaft, and finally converted into the swinging action of the swing arm, providing a power basis for the subsequent actions of the entire mechanical structure. It solves the problem of unstable power transmission.

[0019] 3. Driven by the electric push rod, the present invention flexibly switches between two states of unfolding and folding. When the unmanned aerial vehicle needs to take off and land or is stationary on the ground, the legs can be reliably unfolded and supported on the ground, providing stable support for the unmanned aerial vehicle and ensuring its stable state; while during the flight of the unmanned aerial vehicle or when it needs to be stored and transported, the legs can be folded up smoothly, reducing the overall space occupied by the unmanned aerial vehicle, facilitating its movement in the tunnel and transfer between different sites. It solves the problem of lack of flexibility in leg support.

[0020] 4. When the drone flies in the tunnel, the present invention relies on multiple LED light source arrays to generate sufficient and uniform light, illuminating different areas within the tunnel, including the top, side walls, and bottom. This effectively expands the lighting coverage, reduces lighting blind spots, and improves overall visibility. With the angle fine-tuning function of a single lamp head, light can be precisely projected to areas requiring focused lighting, such as equipment maintenance areas on the tunnel side walls and structural inspection areas on the vault, based on the specific structure within the tunnel and actual operational needs. The lighting angle can be changed as needed, enhancing the targetedness and adaptability of the lighting. This solves the problem that a fixed lighting angle makes it difficult to meet diverse needs.

[0021] 5. This invention allows operators to conveniently and accurately remotely control drones from a ground-based control terminal. Whether adjusting the drone's flight path to reach different lighting target areas within the tunnel or flexibly adjusting lighting parameters such as brightness and angle based on actual lighting needs, all can be accomplished remotely and efficiently. This ensures that the drone can complete tasks such as lighting enhancement as intended, improving operational flexibility and accuracy. This solves the problem of control limitations. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a front perspective view of the tunnel-specific lighting enhancement drone of the present invention; Figure 2 This is a schematic diagram of the partial structure of the base of the tunnel-specific lighting enhancement drone of the present invention; Figure 3 This is a schematic diagram of the partial structure of the second gear of the tunnel lighting enhancement drone of the present invention; Figure 4 This is a schematic diagram of the partial structure of the motor of the tunnel-specific lighting enhancement drone of the present invention; Figure 5 This is a partial structural diagram of the brushless motor of the tunnel-specific lighting enhancement drone of the present invention; Figure 6 This is a system module architecture diagram of the tunnel-specific lighting enhancement drone system of the present invention; Figure 7 This is a module architecture diagram of the flight control system of the tunnel-specific lighting enhancement UAV system of the present invention; Figure 8 This is a diagram of the lighting system module architecture of the tunnel-specific lighting enhancement drone system of the present invention; Figure 9 This is a diagram showing the module architecture of the positioning and communication system of the tunnel-specific lighting-enhanced UAV system of the present invention; Figure 10 This is a diagram of the power system module architecture of the tunnel-specific lighting enhancement drone system of the present invention.

[0023] Among them, 1. Base; 2. Protective shell; 3. Wing; 4. Limiting plate; 5. Arm; 6. Leg; 7. LED lighting baffle; 8. Brushless motor; 9. Rotating shaft 1; 10. Electric push rod; 11. Hinge block 1; 12. Hinge block 2; 13. Rotating shaft 2; 14. Outer shell; 15. Hinge seat 1; 16. Hinge block 3; 17. Hinge seat 2; 18. Hinge block 4; 19. Slide groove 1; 20. Gear 1; 21. Gear 2; 22. Rotating shaft 3; 23. Rotating shaft 4; 24. Swing arm; 25. Motor; 26. Slide groove 2; 27. Lighting spotlight; 28. Fixed plate. Specific implementation mode

[0024] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0025] Embodiment 1: Please refer to the attached Figure 1 - Attached Figure 4 , the embodiment of the present invention provides a tunnel-specific lighting-enhanced unmanned aerial vehicle, including a base 1. A plurality of slide grooves 19 are provided on the upper surface of the base 1. A rotating shaft 1 9 is slidably connected in the slide groove 19 of the base 1. The top end of the outer wall of the rotating shaft 1 9 is fixedly provided with an arm 5. A slide groove 26 is provided at the bottom end of the arm 5. A plurality of lighting spotlights 27 are provided on both sides of the slide groove 26 of the arm 5. A slider is provided on one side of the slide groove 19 of the base 1. The slide groove 26 of the arm 5 is slidably connected to the top end of the slider. A flight component is provided at one end of the arm 5. A transmission component is provided in the middle of the lower surface of the base 1. A plurality of hinge blocks 2 12 are provided on the lower surface of the base 1. A rotating shaft 2 13 is rotatably connected in the middle of the hinge block 2 12. A hinge block 1 11 is rotatably connected in the middle of the rotating shaft 2 13. A leg 6 is provided at the bottom end of the hinge block 1 11. An LED lighting baffle 7 is provided on the side wall of the leg 6. A plurality of LED lamp heads are provided on the outer wall of the LED lighting baffle 7.

[0026] Specifically, on the upper surface of the base 1, by providing a plurality of slide grooves 19 and allowing the rotating shaft 1 9 to be slidably connected in the slide groove 19, and the top end of the outer wall of the rotating shaft 1 9 is fixed with the arm 5, the arm 5 can move along the slide groove 19. At the same time, a slide groove 26 is provided at the bottom end of the arm 5, and a plurality of lighting spotlights 27 are arranged on both sides thereof, and the slide groove 26 is slidably connected to the top end of the slider on one side of the slide groove 19 on the base 1. Such a structural design enables the lighting spotlights 27 to change their positions and angles as the arm 5 moves, and can illuminate the tunnel in different directions.

[0027] The lower surface of the base 1 features several hinged blocks 12, the middle of which are pivotally connected to a second pivot shaft 13. This pivot shaft 13 is in turn pivotally connected to the middle of hinged block 11. A support leg 6 is mounted at the bottom of the support leg 11, forming a movable support leg structure. An LED lighting baffle 7, mounted on the side wall of the support leg 6, carries several LED lamp heads. These LED lamp heads can provide supplemental lighting to the tunnel perimeter from a low angle, such as near the ground, during takeoff and landing, or when the drone is stationary. The support leg 6 can also be repositioned via its hinged structure to adjust the position of the LED lighting baffle 7 and the lamp heads to the desired lighting angle, depending on actual needs.

[0028] The spotlights 27 on the arm 5 can achieve a multi-angle and multi-directional lighting layout through the arm's sliding movements, projecting light to different heights and lateral locations in the tunnel, reducing the blind spots of traditional fixed lighting and improving the overall lighting coverage of the tunnel. The LED lighting baffles 7 and LED lamp heads on the legs 6 provide illumination from a lower position to the tunnel ground and surrounding areas, further improving the comprehensiveness of the lighting. This ensures that all areas of the tunnel, from high to low, receive a certain degree of light coverage, enhancing the overall lighting effect. This solves the problem of insufficient tunnel lighting.

[0029] Please see the attached Figure 3 -Attached Figure 4 The transmission assembly includes a shell 14, the top of the shell 14 is arranged in the middle of the lower surface of the base 1, and a motor 25 is arranged inside the shell 14. The output of the motor 25 is fixedly provided with a rotating shaft 4 23, and the bottom end of the outer wall of the rotating shaft 4 23 is arranged in the middle of the limit plate 4. The upper surface of the limit plate 4 is provided with a protective shell 2, and the outer wall of the rotating shaft 4 23 is fixedly provided with a gear 21, the bottom end of the gear 21 is arranged on the upper surface of the limit plate 4, and the tooth end of the gear 21 is meshed and connected with a number of gears 1 20. A rotating shaft 3 22 is fixedly provided in the middle of the gear 1 20, and the bottom end of the rotating shaft 3 22 passes through the swing arm 24 and is arranged on the upper surface of the base 1.

[0030] Specifically, the transmission assembly is powered by a motor 25 housed within housing 14. When motor 25 is powered on and begins operating, its output shaft drives a fixedly connected shaft 23 to rotate. During rotation, the bottom end of the outer wall of shaft 23 is supported by the center portion of a stop plate 4, ensuring rotational stability. A protective cover 2 is also provided on the upper surface of stop plate 4 to protect the associated components.

[0031] On the outer wall of the fourth rotating shaft 23, a second gear 21 is fixedly arranged. As the fourth rotating shaft 23 rotates, the second gear 21 also rotates synchronously. The tooth ends of the second gear 21 are in meshing connection with a number of first gears 20. When the second gear 21 rotates, through the mutual meshing of the teeth, the first gears 20 meshed with it are driven to rotate. In the middle of each first gear 20, a third rotating shaft 22 is fixedly arranged, and the bottom end of the third rotating shaft 22 passes through the swing arm 24 and is arranged on the upper surface of the base 1. In this way, the rotation of the first gear 20 will drive the third rotating shaft 22 to rotate together, and then the swing arm 24 will swing correspondingly with the third rotating shaft 22 as the axis.

[0032] The rotational power output by the motor 25 is effectively converted into rotational powers in multiple different directions depending on the arrangement positions of the first gears 20 through the meshing transmission between the second gear 21 and the multiple first gears 20. Then, the power is transmitted to the swing arm 24 by means of the third rotating shaft 22, and finally converted into the swinging action of the swing arm 24, providing a power basis for the subsequent actions of the entire mechanical structure. The problem of unstable power transmission is solved.

[0033] Please refer to the appendix Figure 1 - appendix Figure 5 , the flight assembly includes a brushless motor 8. The bottom end of the brushless motor 8 is fixedly arranged at one end of the upper surface of the arm 5. The output end of the brushless motor 8 is fixedly provided with a fixing plate 28, and wings 3 are arranged at both ends of the fixing plate 28.

[0034] Specifically, when the brushless motor 8 is powered on and starts to work, the internal electromagnetic induction and other related mechanisms drive the motor rotor to rotate. Since the output end of the brushless motor 8 is fixedly provided with a fixing plate 28, the rotation of the motor rotor will drive the fixing plate 28 to rotate synchronously. The wings 3 are installed at both ends of the fixing plate 28. Thus, as the fixing plate 28 rotates, the wings 3 start to rotate rapidly. During the rotation of the wings 3, their special airfoil structure will generate relative motion with the surrounding air. According to Bernoulli's principle, the air flow velocity on the upper surface of the wing is fast and the pressure is low, while the air flow velocity on the lower surface is slow and the pressure is high, thereby forming an upward lift force to push the drone to rise and fly.

[0035] By providing sufficient lift force for the drone, the drone can overcome its own gravity and stably achieve various flight actions such as vertical takeoff and landing, hovering, horizontal flight, and turning according to a preset trajectory in the space environment of the tunnel, ensuring that the drone can carry lighting equipment to reach different areas in the tunnel, and then complete the task of enhancing lighting, solving the problem that the drone cannot move to specific positions that need lighting in the tunnel.

[0036] Please refer to the appendix Figure 1 - appendix Figure 4, at the bottom end of the lower surface of the base 1, there are several first hinge seats 15. One end of the first hinge seat 15 is rotatably connected to a third hinge block 16. At the bottom end of the third hinge block 16, there is an electric push rod 10. The output end of the electric push rod 10 is provided with a fourth hinge block 18. One end of the fourth hinge block 18 is rotatably connected to a second hinge seat 17. One end of the second hinge seat 17 is arranged on one side of the leg 6.

[0037] Specifically, at the bottom end of the lower surface of the base 1, there are several first hinge seats 15. One end of the first hinge seat 15 is rotatably connected to the third hinge block 16, forming a movable joint structure. At the bottom end of the third hinge block 16, there is an electric push rod 10. As a device capable of providing linear telescopic power, the output end of the electric push rod 10 is connected to the fourth hinge block 18. One end of the fourth hinge block 18 is also rotatably connected to the second hinge seat 17, and one end of the second hinge seat 17 is arranged on one side of the leg 6. In this way, the electric push rod 10 and the leg 6 are associated through this series of hinge components.

[0038] When it is necessary to change the state of the leg 6, the electric push rod 10 starts to work. If the output end of the electric push rod 10 extends outwards, it will push the fourth hinge block 18 to move. Since the fourth hinge block 18 is rotatably connected to the second hinge seat 17, and the second hinge seat 17 is connected to the leg 6, the leg 6 will be constrained by the relevant hinge points and rotate around the hinge parts connected to the base 1, such as through the first hinge block 11, the second rotating shaft 13, etc., so as to realize the transformation of the leg 6 from the contracted state to the deployed state, gradually extending to the appropriate position to support the drone; on the contrary, when the output end of the electric push rod 10 contracts, it will pull the fourth hinge block 18 to move back, and then drive the leg 6 to rotate in the reverse direction around the corresponding hinge point, so that the leg 6 folds towards the direction close to the base 1 to complete the folding action.

[0039] Under the drive of the electric push rod 10, the two states of expansion and folding can be switched flexibly. When the drone needs to take off and land or is stationary on the ground, the leg 6 can be reliably deployed and supported on the ground, providing stable support for the drone to ensure its stable state; while during the flight of the drone or when it needs to be stored and transported, the leg 6 can be folded up smoothly, reducing the overall space occupied by the drone, facilitating its movement in the tunnel and transfer between different sites. It solves the problem of lack of flexibility in leg support.

[0040] Embodiment 2: The tunnel special lighting enhanced drone system for the tunnel special lighting enhanced drone includes the following steps: The flight control system module is used to achieve precise control and management of the flight state of the tunnel special lighting enhanced drone; The lighting system module is used to provide lighting enhancement services in the tunnel and improve the lighting coverage in the tunnel. The communication system module is used for information interaction between the drone and the ground control terminal and remote control of lighting. The power system module is used to provide stable electrical energy for each electrical component of the tunnel dedicated lighting enhancement drone, enabling the drone to continuously fly and perform lighting operations in the tunnel.

[0041] The flight control system module includes: The main control unit is responsible for summarizing and processing various types of data collected by each sensor regarding the flight attitude, position, and surrounding environment of the drone. At the same time, it receives flight control and lighting adjustment instructions issued by the ground control terminal. The sensor unit is used to continuously monitor and obtain various key information related to the flight of the drone. The execution unit is used to convert the control instructions issued by the main control unit into actual actions and drive the drone to complete corresponding flight operations.

[0042] Specifically, various sensors such as the inertial measurement unit, barometric altitude sensor, and vision sensor continuously collect various types of data such as the angle information of the drone's flight attitude (such as pitch angle, roll angle, yaw angle), the coordinate information obtained through the positioning system for the position, the distance to surrounding objects and the light conditions in the surrounding environment, etc. of the surrounding environment, and transmit these data to the main control unit. At the same time, the main control unit constantly receives flight control instructions from the ground control terminal such as flight speed and direction adjustment instructions, and lighting adjustment instructions such as lighting fixture brightness and angle adjustment instructions. The main control unit has data processing and analysis functions internally, and will summarize, integrate, calculate, and analyze these received multi-source data according to the preset algorithm, and then generate corresponding decision-making instructions.

[0043] The sensor unit is composed of various sensors with different functions. The inertial measurement unit uses components such as gyroscopes and accelerometers inside it to obtain information related to the drone's attitude by detecting the angular velocity change and acceleration change of the object in different directions; the barometric altitude sensor calculates the relative altitude by measuring the atmospheric pressure at the position of the drone in real time based on the principle that the atmospheric pressure changes with altitude; the vision sensor captures the image information around the drone through devices such as cameras, and analyzes the position, shape, etc. of the surrounding objects through image recognition and processing technology, so as to continuously monitor and obtain various key information related to the flight of the drone.

[0044] The execution unit receives control instructions sent from the main control unit. These instructions contain specific operation requirements for various flight components of the drone, such as the brushless motors 8 on the arms and the brightness adjustment components in the lighting system. The execution unit has corresponding drive circuits and control logic inside. It will parse the instructions and then accurately adjust the working states of the corresponding components according to the requirements. For example, it adjusts the rotation speed of the brushless motor 8 and controls the operation of the brightness adjustment module of the lighting fixture, thereby driving the drone to complete corresponding flight operations such as vertical takeoff and landing, hovering, turning, flying along a predetermined trajectory, etc. and lighting adjustment operations.

[0045] Through the centralized management and intelligent analysis of data from multiple sources, based on comprehensive and accurate information, precise control instructions that conform to the current flight conditions and mission requirements of the drone can be formulated, ensuring the coordinated and orderly progress of the drone's flight and lighting operations, guaranteeing the stability of the flight process and the effectiveness of the lighting effect, and solving the problem of the lack of a unified processing and coordination mechanism.

[0046] The lighting system module includes: The lighting fixture unit is used for emitting light for illumination. Through the included multi-group high-brightness and high-color rendering index LED light source arrays, it generates light when the drone is flying in the tunnel, illuminating different areas in the tunnel, and each lamp head has the function of fine-tuning the angle. The brightness adjustment module unit is used to receive instructions from the flight control system according to the actual lighting conditions in different areas of the tunnel and the specific lighting task requirements, and uses pulse width modulation technology to accurately adjust the brightness output of the LED light source arrays in the lighting fixture unit.

[0047] Specifically, the lighting fixture unit internally contains multi-group high-brightness and high-color rendering index LED light source arrays. When power is supplied to this unit, the current passes through the circuits in the LED light source arrays, causing electrons and holes in the LED chips to recombine. Based on the optoelectronic properties of semiconductor materials, energy is released in the form of photons during the recombination process, thereby generating light.

[0048] Each lamp head has the function of fine-tuning the angle, which is achieved by setting a rotatable mechanical structure at the connection part of the lamp head. For example, a small motor or a high-precision rotating shaft is used in cooperation with corresponding transmission devices such as gears and lead screws according to specific designs. When receiving an angle adjustment instruction, the driving motor rotates or the lead screw drives, driving the lamp head to change the angle around a specific axis, and thus the projection direction of the light can be flexibly adjusted within a certain range to meet the lighting requirements at different angles.

[0049] The brightness adjustment module unit maintains a communication connection with the flight control system at all times. The flight control system will detect and obtain the actual lighting conditions in different areas of the tunnel through devices such as light sensors installed on the drone, and preset the corresponding brightness standards for different areas according to the specific lighting task requirements. For example, a higher brightness is required in key operation areas, and a moderate brightness is required in passage areas, etc. It generates corresponding brightness adjustment instructions and sends them to the brightness adjustment module unit. After receiving the instructions, this unit uses Pulse Width Modulation (PWM) technology to adjust the brightness output of the LED light source array in the lighting fixture unit. Specifically, by changing the duty cycle of the pulse signal, the average voltage applied across the LED light source array is controlled. Since the brightness of the LED is related to the magnitude of the current passing through it, within a certain range, the greater the current, the higher the brightness, and the change in the average voltage will affect the magnitude of the current, thereby achieving precise adjustment of the brightness of the LED light source array.

[0050] When the drone is flying in the tunnel, it can rely on multiple groups of LED light source arrays to generate sufficient and uniform light to illuminate different areas in the tunnel, including positions such as the top, side walls, and bottom, effectively expanding the lighting coverage area, reducing lighting blind spots, and enhancing the overall visibility. With the angle fine-tuning function of a single lamp head, according to the specific structure in the tunnel and the actual operation requirements, the light can be accurately projected onto the parts that need key lighting, such as the equipment maintenance area on the side wall of the tunnel, the structure inspection area on the vault, etc., and the lighting angle can be changed as needed, enhancing the pertinence and adaptability of the lighting. It solves the problem that the fixed lighting angle is difficult to meet diverse needs.

[0051] The communication system module includes: a communication unit for realizing two-way information interaction between the drone and the ground control terminal and remotely controlling the lighting.

[0052] Specifically, the communication unit is based on specific wireless communication technologies such as Wi-Fi, Bluetooth, 4G / 5G, etc., and is selected according to the actual application scenarios and requirements to build a communication link between the drone and the ground control terminal. Corresponding wireless communication modules are equipped at both the drone end and the ground control terminal end. These modules follow the same communication protocol and will perform signal search, matching, and connection operations after startup to establish a stable and reliable two-way communication link to ensure that data can be transmitted between the two.

[0053] For the transmission of information from the drone to the ground control terminal, various sensors on the drone, such as flight attitude sensors, light sensors, positioning sensors, etc., and various system modules, such as flight control systems, lighting systems, etc., will collect relevant data in real time, such as the current position coordinates of the drone, flight speed, brightness status of lighting fixtures, etc. Then, these data will be encoded and processed according to the specified data format and sent to the ground control terminal through the established communication link. After receiving the signal, the ground control terminal uses its built-in decoding program to decode and restore the data, so as to obtain the real-time status information of the drone and display it to the operator.

[0054] When the operator needs to remotely control the drone, such as adjusting the flight trajectory of the drone, controlling the brightness and angle of the lighting, etc., corresponding operation instructions will be input on the ground control terminal. The ground control terminal will encode these operation instructions according to the requirements of the communication protocol and then send them to the communication unit on the drone side through the communication link. After receiving the instruction, the communication unit first checks and decodes the instruction. After confirming that there is no error, it passes the instruction to the corresponding execution system, such as the flight control system receiving the flight control instruction, the lighting system receiving the lighting control instruction, etc. The execution system drives the corresponding components to complete specific actions, so as to realize the remote control of the lighting and the control of the flight state of the drone.

[0055] Through the ground control terminal, the operator can conveniently and accurately remotely control the drone. Whether it is to adjust the flight path of the drone to make it reach different lighting target areas in the tunnel, or to flexibly adjust parameters such as the brightness and angle of the lighting according to the actual lighting needs, it can be remotely and efficiently completed, ensuring that the drone can complete tasks such as lighting enhancement as expected, improving the flexibility and accuracy of the operation. It solves the problem of control limitations.

[0056] The power system module includes: A power supply unit for providing stable electrical energy for each electrical component of the drone; A power management unit for intelligently managing the power status of the drone power supply.

[0057] Specifically, the power supply unit usually selects a high-performance lithium battery pack as the power supply, which is internally composed of multiple lithium battery monomers combined in series and / or parallel. During the charging process, the external power supply charges the battery pack through the corresponding charging circuit according to the charging characteristics requirements of the lithium battery, with an appropriate charging current and charging voltage, so that electrical energy is stored in the battery in the form of chemical energy. When various electrical components of the drone, such as the main control unit, sensor unit, and execution unit of the flight control system, the lamp unit of the lighting system, and the relevant modules of the positioning and communication system, need electricity, the chemical energy stored in the battery pack is converted into electrical energy through the discharge circuit, and according to the working voltage and current requirements of each component, after circuit links such as voltage regulation and current distribution, it stably outputs appropriate electrical energy for each electrical component to ensure the normal operation of each component.

[0058] The power management unit monitors various key parameters of the lithium battery pack in the power supply unit in real time. For example, it measures the terminal voltage of the battery pack in real time through a voltage sensor, accurately detects the magnitude of the charge and discharge current using a current sensor, and senses the temperature of the battery with the help of a temperature sensor, etc. Based on the data obtained in real time, the power management unit calculates the remaining power of the current battery pack according to the built-in power calculation algorithm, combined with the characteristic curves of the lithium battery, such as the variation rules of parameters such as voltage and internal resistance in different power states. At the same time, it compares and judges the calculated remaining power with the pre-set power thresholds, such as the low-power threshold and overcharge threshold. When the remaining power is lower than the low-power threshold, the power management unit will send a prompt message to the flight control system to remind it to plan a return flight in time or take other countermeasures; when it detects that the power is approaching the overcharge threshold during the charging process, it controls the charging circuit to stop charging to prevent the battery from being damaged by overcharging, so as to realize the intelligent management and control of the power situation.

[0059] It realizes the continuous, stable and reliable supply of electrical energy for numerous electrical components of the drone, meets the diverse requirements of different components for electrical energy in terms of voltage, current, etc. under different working states, such as when the flight control system is performing complex operations and the lighting lamp unit is providing high-brightness lighting, etc., and ensures that the drone can normally carry out flight and lighting enhancement operations in the tunnel without malfunctioning or interrupting operations due to unstable power supply.

[0060] Embodiment 3: A control method for a tunnel-specific lighting enhancement drone, which is used for the tunnel-specific lighting enhancement drone, includes the following steps: S1. The operator collects tunnel information, analyzes the lighting requirements of each area, marks the key lighting areas, and plans the specific coordinates and expected illuminance standards for the supplementary light to reach, with an error within ±0.3 meters; S2. Set initial parameters for the supplementary light on the ground control terminal, including the default brightness and initial angle, with its maximum brightness being 30% - 50%, and bind the control instruction channel; S3. The ground control terminal plans a path for the UAV, considers obstacles and maintains a safety distance of more than 0.5 meters, and combines ultra-wideband and inertial navigation to guide the UAV to move; S4. During flight, the position is fed back in real time. When the deviation exceeds the limit, the path is corrected. When approaching the target position, the position of the supplementary light is finely adjusted through a mechanical structure, with an accuracy of ±0.05 meters and ±1°, ensuring alignment with the target area and a deviation within ±0.1 meters; S5. The ground control terminal generates instructions for turning on the supplementary light and adjusting its parameters according to the ambient light intensity, area size, and illumination standard; S6. Transmit the instructions to the supplementary light control system within a wireless communication delay of less than 0.5 seconds. After decoding and verification, use pulse width modulation technology to adjust the brightness with a duty cycle adjustment accuracy of ±1%, and the response time for controlling the motor to drive the gimbal to adjust the angle is within 1 second to achieve precise lighting.

[0061] Specifically, the operator first collects detailed information about the entire tunnel, covering physical feature information such as the length, width, height, bend positions, and layout of existing internal facilities in the tunnel. At the same time, understand the corresponding functional uses of different areas, such as maintenance areas and traffic lanes. Based on this information, combined with the conventional lighting requirements in past similar tunnel operation scenarios and the specific operation requirements of this tunnel, such as specific equipment maintenance and structural inspections, conduct a detailed analysis of each area in the tunnel, judge the lighting intensity, light angle and other conditions required in different areas during actual operation, and then mark key lighting areas such as the tunnel vault, specific height ranges on the side walls, and the inner side of bends. Then, based on the established space coordinate system of the tunnel, use professional surveying or planning tools to plan specific coordinates for each position where the supplementary light needs to be installed, and set the corresponding expected illumination standard according to the area characteristics and operation requirements. At the same time, strictly control the coordinate error within ±0.3 meters to ensure the accuracy and scientific nature of the supplementary light position planning.

[0062] On the ground control terminal, the operating platform, initial parameters are set for each planned fill light based on the lighting requirements of its location and the performance parameters of the lamp itself. The default brightness is set between 30% and 50% of the maximum brightness, taking into account factors such as the need for fill lights to provide a certain level of basic illumination when initially illuminated in different areas, while also avoiding excessive power consumption and irritation to operators caused by strong light. Fill lights of different wattages correspond to different specific initial brightness values. The initial angle is set based on the general lighting direction requirements of the area, such as towards the main work surface or the structural parts that need to be illuminated, combined with the lamp's adjustable angle range to set appropriate horizontal and vertical angles. Finally, through software programming and communication protocol configuration, each fill light is individually bound to its corresponding control command channel, ensuring that subsequent control commands issued from the ground control terminal are accurately transmitted to the corresponding fill light, achieving precise control.

[0063] The ground control terminal leverages its built-in mapping and path planning software, combined with previously collected tunnel information and marked obstacle locations such as tunnel pillars and temporary construction equipment. Using path planning algorithms such as the A* algorithm, the ground control terminal plans a path for the drone from its starting position to each fill light target location, optimizing for the shortest path, avoiding obstacles, and ensuring flight stability. During the planning process, a strict safety distance of at least 0.5 meters is maintained between the path and obstacles to ensure the drone's safety during movement. Simultaneously, the drone's ultra-wideband positioning system utilizes a number of pre-placed ultra-wideband base stations within the tunnel to interact with the drone's positioning tag. This system accurately calculates the drone's position based on parameters such as signal propagation time, achieving centimeter-level accuracy. The inertial navigation system, based on its internal accelerometers and gyroscopes, measures the drone's acceleration and angular velocity in real time, inferring its position and attitude. This planned path information is then transmitted to the drone's navigation module, which guides the drone along the planned path, comparing its position with the planned path in real time and continuously adjusting its flight direction and speed for precise navigation.

[0064] During the process of the drone moving along the planned path, its self - carried positioning systems such as ultra - wideband positioning and inertial navigation will continuously feedback real - time position information to the ground control terminal through the communication link. After receiving the position information, the ground control terminal compares and analyzes it with the target position coordinates in the planned path. Once it is found that the horizontal position deviation of the drone exceeds the set allowable range, such as exceeding ±0.3 meters, or the vertical position deviation exceeds the limit value, such as exceeding ±0.2 meters, it will send a path correction instruction to the drone through the communication link according to the deviation situation. After receiving the instruction, the drone adjusts its flight direction and speed to correct the deviation and make it return to the planned path again. When the drone is close to the target position, with the horizontal distance from the target position less than a certain value, such as less than 0.5 meters, and the vertical distance less than 0.3 meters, the mechanical adjustment structures carried on the drone, such as retractable cantilevers and rotatable pan - tilts, which have high - precision adjustment functions, with a telescopic accuracy of up to ±0.05 meters and an angular rotation accuracy of up to ±1°, are used to finely adjust the position of the fill light according to the precise coordinates and angular requirements of the target area, ensuring that the fill light finally aligns with the target area and the deviation between the central light of the fill light and the center of the target area is controlled within ±0.1 meters to ensure the accuracy of lighting.

[0065] The ground control terminal, relying on the light sensors connected to it and deployed at specific positions on the drone or in the tunnel, can detect the ambient light intensity in real - time, with a measurement accuracy of up to ±5 lux, to obtain the current ambient light intensity data at the position of the fill light. At the same time, combined with the target illuminance standard set in the previous plan for this area and the actual area size information known through surveying and mapping or preset tunnel area division data, using the built - in lighting calculation model, a mathematical model established by comprehensively considering factors such as the luminous flux of the lamp, illumination distance, and light scattering, it analyzes and calculates the accurate brightness, illumination angle and other parameters that the current fill light should have to meet the lighting requirements of this area, and then generates an instruction for turning on the fill light and adjusting its parameters, ensuring that the content of the instruction can accurately match the actual lighting needs.

[0066] The ground control terminal selects a suitable wireless frequency band through a wireless communication link, such as the 2.4 GHz or 5 GHz band, to ensure the stability and low latency of signal transmission. It is required that the data transmission latency be controlled within 0.5 seconds, and the generated instruction for turning on the fill light and adjusting parameters is sent to the corresponding fill light control system on the drone. After receiving the instruction, the fill light control system first decodes the instruction using the built-in decoding and verification algorithms, checks whether the instruction is complete, accurate, and compliant with the communication protocol requirements. After confirmation, according to the parameters for brightness adjustment in the instruction, the pulse width modulation (PWM) technology is used to precisely adjust the duty cycle of the pulse signal, with a duty cycle adjustment accuracy of up to ±1%. In this way, the average voltage applied to the fill light is changed, and then the current passing through the fill light is controlled to achieve precise adjustment of the brightness of the fill light; at the same time, according to the parameters for angle adjustment in the instruction, the corresponding motor (the motor has fast response and high-precision control capabilities, and the angle adjustment response time is controlled within 1 second) drives the rotation structure such as the gimbal to rotate, so that the fill light rotates at the required angle, and finally the fill light is turned on according to the expected parameters and performs lighting operations, achieving the effect of precise lighting.

[0067] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Tunnel-specific lighting-enhanced drone, including a base (1), characterized in that: The upper surface of the base (1) is provided with a number of first chutes (19). A first rotating shaft (9) is slidably connected in the first chute (19) of the base (1). The top end of the outer wall of the first rotating shaft (9) is fixedly provided with an arm (5). A second chute (26) is provided at the bottom end of the arm (5). A number of lighting spotlights (27) are provided on both sides of the second chute (26) of the arm (5). A slider is provided on one side of the first chute (19) of the base (1). The second chute (26) of the arm (5) is slidably connected to the top end of the slider. A flight assembly is provided at one end of the arm (5). A transmission assembly is provided in the middle of the lower surface of the base (1). A number of second hinge blocks (12) are provided on the lower surface of the base (1). A second rotating shaft (13) is rotatably connected to the middle of the second hinge block (12). A first hinge block (11) is rotatably connected to the middle of the second rotating shaft (13). A leg (6) is provided at the bottom end of the first hinge block (11). An LED lighting baffle (7) is provided on the side wall of the leg (6). A number of LED lamp heads are provided on the outer wall of the LED lighting baffle (7).

2. The tunnel-specific lighting-enhanced drone according to claim 1, wherein: The transmission assembly includes a housing (14). The top end of the housing (14) is provided in the middle of the lower surface of the base (1). A motor (25) is provided inside the housing (14). The output of the motor (25) is fixedly provided with a fourth rotating shaft (23). The bottom end of the outer wall of the fourth rotating shaft (23) is provided in the middle of a limiting plate (4). A protective shell (2) is provided on the upper surface of the limiting plate (4). A second gear (21) is fixedly provided on the outer wall of the fourth rotating shaft (23). The bottom end of the second gear (21) is provided on the upper surface of the limiting plate (4). The tooth end of the second gear (21) is meshed with a number of first gears (20). A third rotating shaft (22) is fixedly provided in the middle of the first gear (20). The bottom end of the third rotating shaft (22) penetrates through a swing arm (24) and is provided on the upper surface of the base (1).

3. The tunnel-specific lighting-enhanced drone according to claim 1, wherein: The flight assembly includes a brushless motor (8). The bottom end of the brushless motor (8) is fixedly provided at one end of the upper surface of the arm (5). A fixing plate (28) is fixedly provided at the output end of the brushless motor (8). Wings (3) are provided at both ends of the fixing plate (28).

4. The tunnel-specific lighting-enhanced drone according to claim 1, wherein: A number of first hinge seats (15) are provided at the bottom end of the lower surface of the base (1). One end of the first hinge seat (15) is rotatably connected to a third hinge block (16). An electric push rod (10) is provided at the bottom end of the third hinge block (16). The output end of the electric push rod (10) is provided with a fourth hinge block (18). One end of the fourth hinge block (18) is rotatably connected to a second hinge seat (17). One end of the second hinge seat (17) is provided on one side of the leg (6).

5. Tunnel-specific lighting enhancement drone system for the tunnel-specific lighting enhancement drone according to any one of claims 1-4, characterized in that Including the following steps: A flight control system module for realizing precise control and management of the flight state of the tunnel special lighting enhancement unmanned aerial vehicle; A lighting system module for providing lighting enhancement services in the tunnel and improving the lighting coverage in the tunnel; A communication system module for information interaction and remote control of lighting between the drone and the ground control terminal; A power system module for providing stable electrical energy for each electrical component of the tunnel dedicated lighting-enhanced drone, enabling the drone to continuously fly and perform lighting operations in the tunnel.

6. The tunnel-specific lighting enhancement drone system according to claim 5, wherein The flight control system module includes: A main control unit responsible for aggregating and processing various data on the flight attitude, position, and surrounding environment of the drone collected by each sensor, and simultaneously receiving flight control and lighting adjustment instructions issued by the ground control terminal; A sensor unit for real-time monitoring and obtaining various key information related to the flight of the drone; An execution unit for converting the control instructions issued by the main control unit into actual actions to drive the drone to complete corresponding flight operations.

7. The tunnel-specific lighting enhancement drone system according to claim 5, wherein The lighting system module includes: A lighting fixture unit for emitting light. Through the included multi-group high-brightness and high-color rendering index LED light source arrays, it generates light when the drone flies in the tunnel, illuminating different areas in the tunnel, and each lamp head has the function of fine-tuning the angle; A brightness adjustment module unit for receiving instructions from the flight control system according to the actual lighting conditions in different areas of the tunnel and the requirements of specific lighting tasks, and using pulse width modulation technology to accurately adjust the brightness output of the LED light source array in the lighting fixture unit.

8. The tunnel-specific lighting-enhanced drone system according to claim 5, characterized in that, The communication system module includes: a communication unit for realizing two-way information interaction and remote control of lighting between the drone and the ground control terminal.

9. The tunnel-specific lighting-enhanced drone system according to claim 5, wherein, The power system module includes: A power supply unit for providing stable electrical energy for each electrical component of the drone; A power management unit for intelligently managing the power status of the drone power supply.

10. A control method for a tunnel-specific lighting-enhanced drone, which is used for the tunnel-specific lighting-enhanced drone described in claim 1, characterized in that, It includes the following steps: S1. The operator collects tunnel information, analyzes the lighting requirements of each area, marks the key lighting areas, plans the specific coordinates and expected illuminance standards for the supplementary light to be delivered, with an error within ±0.3 meters; S2. Perform initial parameter settings for the supplementary light on the ground control terminal, including the default brightness and initial angle, with the maximum brightness of 30%-50%, and bind the control instruction channel; S3. The ground control terminal plans a path for the drone, considering obstacles and maintaining a safety distance of more than 0.5 meters, and guides the drone to move in combination with ultra-wideband and inertial navigation; S4. During flight, the position is real-time feedback, and the path is corrected when the deviation exceeds the limit. When approaching the target position, the position of the supplementary light is fine-tuned through the mechanical structure, with an accuracy of ±0.05 meters and ±1°, ensuring alignment with the target area, with a deviation within ±0.1 meters; S5. The ground control terminal generates supplementary light turn-on and parameter adjustment instructions according to the ambient light intensity, area size, and illuminance standard; S6. Transmit the instructions to the supplementary light control system through wireless communication within a delay of less than 0.5 seconds. After decoding and verification, use pulse width modulation technology to adjust the duty cycle with an accuracy of ±1% to adjust the brightness, and the response time of the control motor to drive the pan-tilt to adjust the angle is within 1 second to achieve precise lighting.

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