Unmanned aerial vehicle tunnel lining apparent disease monitoring device

Abstract

The invention relates to the technical field of tunnel inspection, in particular to structural optimization design of an unmanned aerial vehicle inspection device. According to the technical scheme, the unmanned aerial vehicle tunnel lining apparent disease monitoring device comprises an unmanned aerial vehicle and a fixed charging base station, the unmanned aerial vehicle comprises a shell inserted into a charging cavity, a charging head is arranged at the bottom of the charging cavity, and a charging slot is formed in the bottom of the shell in a matched mode; a pressure contact fixing assembly is arranged in the fixed charging base station, the pressure contact fixing assembly comprises a driving device and a pressure contact block which is driven by the driving device to be far away from or close to the shell, the shell comprises a fixing groove for the pressure contact block to be clamped in and abut against, and the pressure contact block is configured to be clamped in the fixing groove to drive the shell to move downwards. According to the device, the unmanned aerial vehicle can be effectively guided to land to a proper position, it is ensured that the charging plug is inserted into the charging slot, and the insertion stability of the unmanned aerial vehicle in the charging process can be remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel inspection, and in particular to a structural optimization design of an unmanned aerial vehicle inspection device. Background Art

[0002] In tunnel engineering, regular inspections are crucial for ensuring structural safety, operational stability, and preventing potential accidents. The health of the tunnel lining, a critical structure for maintaining surrounding rock stability and preventing water damage, directly impacts the safety and service life of the entire tunnel system. Therefore, detecting defects in the lining (such as cracks, hollows, and spalling) has become a key component of routine maintenance. Currently, traditional tunnel inspections rely heavily on manual labor, requiring inspectors to carry inspection equipment and conduct inspections section by section along the tunnel interior. However, manual inspections are labor-intensive and inefficient, making them difficult to adapt to long-distance or high-frequency inspections. Furthermore, because the equipment requires close proximity to the surface being inspected, inspection accuracy is often difficult to maintain in high-rise areas like the tunnel roof or sidewalls, leading to blind spots and impacting the reliability of overall assessment results.

[0003] To address these issues, Chinese patent publication CN 117566139A discloses a drone-based tunnel lining inspection device and method. By equipping a rotorcraft drone with an inspection radar antenna, the drone can carry the inspection radar antenna while flying within a tunnel, inspecting the tunnel lining. Furthermore, to prevent drones from being unable to return home in time due to insufficient power, which could impact operational safety, Chinese patent publication CN116241329A discloses a drone-based tunnel abnormality monitoring method and system. This system, through the interaction of a battery life module and a charging platform, effectively ensures the safety of the entire drone during navigation. The number of charging platforms can be set based on the length of the tunnel, effectively facilitating the drone's timely landing and preventing the drone from being unable to return home in time due to power shortages, which could affect normal operation.

[0004] However, existing technologies still have certain flaws. When a drone returns to the charging platform for charging, the charging plug at the bottom of the charging platform often fails to fully insert into the drone's charging slot due to insufficient landing depth. This means the vertical contact distance between the charging plug and the charging slot is insufficient, affecting the normal start of charging. Furthermore, after the charging plug and the slot are docked, they may be affected by factors such as environmental disturbances in the tunnel or vibrations from external traffic, resulting in unstable contact and subsequent charging failure. These flaws seriously affect the continuity of drone inspection operations and pose potential risks to the stability and safety of inspection missions. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides a UAV tunnel lining surface disease monitoring device, which can not only effectively guide the UAV to land at a suitable position, ensure that the charging plug is inserted into the charging slot, ensure that the charging plug and the charging slot maintain a sufficient contact distance in the vertical direction, and ensure the normal start of the charging process, but also significantly improve the plug-in stability of the UAV during the charging process, effectively improve the charging success rate, and thereby enhance the continuity of the UAV inspection operation, the stability of task execution and the safety of the overall system.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: A device for monitoring apparent defects of tunnel linings using a drone comprises a drone and a fixed charging base station. The fixed charging base station is provided with a charging cavity. The drone comprises a shell that is inserted into the charging cavity. A charging head is provided at the bottom of the charging cavity. A charging slot is provided at the bottom of the shell. A pressure-touch fixing assembly is provided inside the fixed charging base station. The pressure-touch fixing assembly comprises a driving device and a pressure-touch block that moves away from or close to the shell under the drive of the driving device. The shell comprises a fixing groove for the pressure-touch block to be inserted into and abutted against. The pressure-touch block is configured to drive the shell to move downward after being inserted into the fixing groove.

[0007] A fixed charging station is installed inside the tunnel lining. Once the drone completes its tunnel lining inspection, it automatically flies above the station, aligns its housing with the station's charging chamber, and then slowly descends. As the drone descends, its housing gradually enters the chamber until the charging head at the bottom of the chamber is inserted into the charging slot at the bottom of the housing.

[0008] When the drone is unable to continue descending, the drive device inside the charging base station will be triggered, driving the pressure contact block downward and moving toward the shell. This action can be completed collaboratively through a transmission mechanism such as a drive rod group, a chain or a slider. As the pressure contact block continues to move, it will be stuck in the fixed groove on the shell. If the charging head is not fully inserted into the charging slot at this time, the lower surface of the pressure contact block stuck in the fixed groove will hit the lower inner wall of the fixed groove. As the pressure contact block descends, the pressure exerted by it will push the shell as a whole downward until the charging head is fully inserted into the interior of the charging slot. When the drone completes charging and is ready to perform a mission again, the drive device will drive the pressure contact block to reset upward to its initial position, thereby releasing the lock on the shell, allowing the drone to smoothly detach from the charging base station and resume normal flight operations.

[0009] The present invention arranges a pressure-touch fixing component in a fixed charging base station and makes the component cooperate with the fixing groove on the drone shell. Under the pushing and locking action of the pressure-touch fixing component on the shell, it ensures that the charging head can be stably and reliably inserted into the charging slot at the bottom of the shell, thereby significantly improving the charging success rate and connection stability of the drone.

[0010] Preferably, the drone includes a main body and a rotatable camera installed below the main body, the rotatable camera is fixedly connected to the inner wall of the shell, the shell is also provided with a monitoring port that cooperates with the rotatable camera, and the shell is rotatably connected to the main body.

[0011] A rotatable camera (such as a fully automatic, high-precision, medium-focus monocular camera or a gimbal camera) is fixedly mounted inside the housing, which is equipped with a corresponding monitoring port for the camera to monitor and capture the external environment. During the drone inspection process, the rotatable camera can flexibly adjust its rotation angle to achieve continuous monitoring and image acquisition from multiple directions and angles. Because the housing's rotating connection is installed below the main body (for example, using roller bearings), and the rotatable camera maintains a fixed connection to the housing, the housing rotates synchronously with the rotatable camera, ensuring that the monitoring port is always aligned with the camera's monitoring angle of view. This effectively avoids the problem of line of sight obstruction caused by the fixed housing in traditional structures, significantly improving the drone's visual coverage in complex environments and the reliability and stability of inspection operations.

[0012] Preferably, both side walls of the shell are inclined, with the inclination direction gradually moving inward in a downward direction, and the charging cavity matches the shape of the shell.

[0013] The two side walls of the housing are tilted inward from top to bottom, forming a tapered plug-in structure with the charging cavity. This design provides excellent guidance and centering when the housing is inserted into the charging cavity, effectively guiding the housing into the charging cavity and improving the stability and reliability of the plug-in process. In addition, the inward narrowing structure of the two side walls of the housing helps to improve the fit between it and the charging cavity, ensuring the precise docking of the charging head and the charging socket, thereby enhancing the stability of the charging connection and further ensuring the reliability and safety of the drone during the charging process.

[0014] Preferably, the pressure-touch fixing assembly further includes a fixing block and a transmission assembly connected to the driving device and moving in the vertical direction, the pressure-touch block is slidably connected to the transmission assembly in the horizontal direction, the pressure-touch block includes a first oblique surface and a first vertical surface, and the fixing block includes a second oblique surface that interferes with the first oblique surface and a second vertical surface that interferes with the first vertical surface.

[0015] When the drone returns to the fixed charging base station for charging, its shell is inserted into the charging cavity. When the drone stops descending, the drive device starts, driving the transmission assembly to move downward, and driving the pressure contact block connected to it to move downward synchronously. During the descent of the pressure contact block, the first bevel on it contacts and interacts with the second bevel on the fixed block provided on the outside, thereby causing the pressure contact block to produce a horizontal displacement toward the shell while moving vertically, so that it can be smoothly inserted into the fixed groove of the shell. Subsequently, the drive component continues to work, driving the pressure contact block to move further downward. At this time, the first vertical surface of the pressure contact block abuts the second vertical surface of the fixed block, pushing the shell to continue to move downward in the vertical direction until the shell completely stops descending. At this time, the charging head can be accurately inserted into the charging slot on the shell and reach the required insertion depth, achieving a stable and reliable charging connection. Compared with the direct horizontal drive method, this structure does not require an additional lateral drive device, which effectively improves the integration and compactness of the system.

[0016] Preferably, the pressure-touch fixing assembly further comprises an elastic reset member, which extends in a horizontal direction, with one end abutting against the transmission assembly and the other end abutting against the pressure-touch block.

[0017] During operation, when the pressure contact block moves downward and toward the shell under the drive of the transmission assembly, it contacts and interacts with the fixed block, thereby compressing the elastic reset member that abuts against it. As the pressure contact block continues to descend, it smoothly fits into the fixed groove on the shell, thereby achieving stable locking of the drone shell. When the drone completes charging and is ready to take off again to perform the mission, the drive device drives the transmission assembly to reset upward. At this time, the compressed elastic reset member releases its elastic potential energy, driving the pressure contact block to move in the opposite direction, causing it to disengage from the fixed groove, thereby releasing the locked state of the shell, allowing the drone to smoothly leave the charging base station and resume normal flight operations.

[0018] Preferably, the transmission assembly includes a first transmission member extending in the horizontal direction and connected to the driving device, and a second transmission member extending in the vertical direction and connected to the first transmission member, and the pressure contact block is slidably connected to the second transmission member along the horizontal direction.

[0019] Given that the vertical space within a fixed charging base station is required for components such as the power supply, a compact vertical layout is highly desirable. By installing a horizontally extending first transmission member, the drive device can be positioned horizontally in a suitable location within the overall structure, eliminating the need for placement within the vertical motion path of the second transmission member. This effectively conserves limited vertical space, improves space utilization, and enhances system integration and structural layout rationality.

[0020] Preferably, the fixing grooves are respectively provided on the two side walls of the housing, and two groups of the pressure-touch fixing components are provided in cooperation with the fixing grooves.

[0021] By respectively setting fixing grooves on the two side walls of the shell and correspondingly setting two sets of pressure-touch fixing components, the two sets of pressure-touch blocks can be respectively engaged with the fixing grooves on both sides. When the shell is driven to move downward, the two sides can be subjected to force synchronously, effectively improving the stability and guidance during the movement, and avoiding tilting or jamming caused by uneven force on one side.

[0022] Preferably, the drone further comprises a windproof adsorption device installed on the top, wherein the windproof adsorption device comprises an adsorption portion and a negative pressure forming device for generating negative pressure in the adsorption portion.

[0023] When conducting tunnel lining monitoring operations, the strong airflow caused by the activation of the tunnel ventilation system is often disturbed, affecting the stable hovering of the drone, and even causing flight loss of control or falling. This structure can effectively improve the operational stability of the drone in a complex airflow environment by providing a windproof adsorption device. Specifically, when the airflow disturbance affects the flight stability, the drone flies upward to the position where the adsorption part fits the inner wall of the tunnel top, and then the negative pressure forming device is activated to form a negative pressure area in the internal space of the adsorption part connected to it, thereby firmly adsorbing the drone on the surface of the tunnel structure, avoiding displacement or falling due to airflow impact, and ensuring the safe operation of the drone in a high wind speed environment. Among them, the negative pressure forming device can be set as a vacuum pump, a piston exhaust mechanism, etc.

[0024] Preferably, the negative pressure forming device includes a pulling drive component, a sealing head that moves under the drive of the pulling drive component, and a channel for the sealing head to be embedded and move in contact with its inner wall, and the adsorption part is connected to the channel.

[0025] When the drone flies upward until the suction section contacts the tunnel's ceiling, the pull-out drive activates, driving the sealing head downward along the tunnel. As the sealing head descends, a negative pressure zone forms within the suction section, securing the drone against the tunnel's ceiling. To release the suction, the sealing head is simply reversed and reset upward, restoring pressure inside and outside the suction section. The drone then releases suction and resumes normal flight and operation.

[0026] Preferably, the windproof adsorption device also includes a slow-lift seat, the pulling and pulling drive component is a motor, and is connected to a third transmission assembly, the slow-lift seat is configured to be raised and lowered under the drive of the pulling and pulling drive component and the transmission of the third transmission assembly, the adsorption part is connected to the slow-lift seat, and the third transmission assembly includes a first screw, a sleeve threadedly connected to the first screw and fixedly connected to the slow-lift seat, and a conveyor belt connecting the first screw and the output end of the pulling and pulling drive component.

[0027] When the drone rises to a certain distance from the inner wall of the tunnel top (for example, about 5 cm), the pull-out drive component is activated, driving the first screw to rotate via the conveyor belt. At this time, the shaft sleeve, which is threadedly connected to the first screw and fixedly connected to the slow-lift seat, moves upward, thereby driving the slow-lift seat to rise. Driven by the rising slow-lift seat, the adsorption part also rises synchronously until it fits tightly against the inner wall of the tunnel top. At this time, the continuously descending sealing head creates a negative pressure area inside the adsorption part, thereby stably adsorbing the drone to the inner wall of the tunnel top. This structural design allows the adsorption part to rise smoothly and controllably and fit against the inner wall of the tunnel, effectively avoiding the risks of collision, imbalance, and even falling caused by direct proximity to the inner wall, and improving the safety and reliability of the adsorption process.

[0028] Specifically, the structure also includes a transmission shaft connected to the pull-out drive component and a square shaft installed above the transmission shaft. A second screw is tightly sleeved on the outside of the square shaft, one end of which is connected to the sealing head and forms a threaded fit with the slow-lift seat. When the pull-out drive component is started, the transmission shaft drives the square shaft to rotate synchronously. Since the square shaft is embedded in the second threaded rod, it can drive it to rotate together. Under the threaded fit with the slow-lift seat, the second threaded rod moves axially downward, thereby driving the sealing head to move downward synchronously, realizing negative pressure adsorption action.

[0029] To prevent the slow-lift seat from rotating when driven by the second threaded rod, a limit guide is fixedly connected to one side of it. The limit guide comprises a vertical limit rod and a limit sleeve that fits over the limit rod. The slow-lift seat is fixedly connected to the limit sleeve, thus limiting its rotational freedom. The slow-lift seat can only move in a vertical linear direction along the limit rod, avoiding rotational interference.

[0030] A third transmission assembly is connected to the other side of the slow-lift seat to achieve its upward movement. The third transmission assembly includes a first screw, a sleeve, and a conveyor belt. The conveyor belt drives the screw to rotate, causing the sleeve, which is threadedly connected to the screw and fixedly connected to the slow-lift seat, to move upward. At the same time, the limit sleeve slides synchronously along the limit rod during the slow-lift seat's ascent, ensuring a smooth and unbiased ascent of the slow-lift seat. The upward movement of the slow-lift seat pushes the suction unit above it upward until it fits tightly against the inner wall of the tunnel top.

[0031] Compared with the prior art, the beneficial effects of the present invention are embodied in: 1. A pressure-touch fixing component is set in the fixed charging base station. Through the cooperation between the pressure-touch fixing component and the fixing groove on the shell, the charging head can be stably and reliably inserted into the charging slot, significantly improving the charging success rate and stability of the drone.

[0032] 2. The shell is rotatably connected to the bottom of the main body and fixedly connected to the rotatable camera, which can ensure that the monitoring port is always aligned with the camera's monitoring angle of view, effectively avoiding the problem of the shell blocking the camera's monitoring and improving the drone's visual coverage.

[0033] 3. The two side walls of the shell are tilted inward from top to bottom to ensure good guidance and centering when the shell is inserted into the charging cavity.

[0034] 4. A windproof adsorption device is installed on the top of the drone, which can firmly adsorb the drone to the surface of the tunnel structure to prevent displacement or falling due to airflow impact.

[0035] 5. By incorporating a third transmission assembly, the pull-out drive unit simultaneously raises the slow-lift seat and suction unit, and lowers the sealing head, eliminating the need for additional drive components. This design enables the suction unit to maintain a stable and controllable contact with the tunnel's inner wall, effectively avoiding the risks of collision, imbalance, or even a fall that could occur if the drone were to approach the tunnel directly. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the overall structure of Example 1; Figure 2 yes Figure 1 Cross-sectional diagram of the UAV and the fixed charging base station; Figure 3 yes Figure 2 A magnified schematic diagram of the internal details of the fixed charging base station at point A in the middle; Figure 4 yes Figure 3 A magnified diagram of the details of the pressure-touch fixing component at point B in the middle; Figure 5 yes Figure 4 A magnified diagram of the details at point C in the middle; Figure 6 is a schematic cross-sectional view of the windproof adsorption device of Example 1; Figure 7 yes Figure 6 A magnified diagram of the details at point D in the middle.

[0038] in: 1-UAV; 11-housing; 111-charging slot; 112-fixing slot; 113-monitoring port; 12-main body; 13-rotatable camera; 14-windproof adsorption device; 141-adsorption part; 142-negative pressure forming device; 1421-pulling drive component; 1422-sealing head; 1423-channel; 143-slow-lift seat; 144-third transmission assembly; 1441-first screw; 1442-sleeve; 1443-conveyor belt; 145-transmission shaft; 146-direction shaft; 14 7-second screw; 148-limiting guide; 1481-limiting rod; 1482-limiting sleeve; 2-fixed charging base station; 21-charging chamber; 22-charging head; 23-pressure touch fixing assembly; 231-driving device; 232-pressure touch block; 2321-first oblique section; 2322-first vertical surface; 233-transmission assembly; 2331-first transmission member; 2332-second transmission member; 234-fixed block; 2341-second oblique section; 2342-second vertical surface; 235-elastic reset member. DETAILED DESCRIPTION

[0039] In order to make the technical means, creative features, objectives and effects of the invention easier to understand, the present invention is further described with reference to specific figures. However, the present invention is not limited to the following implementation cases.

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the efficacy and purpose that can be achieved by the present invention. Example

[0041] like Figure 1 Figure 1 shows a device for monitoring tunnel lining surface defects using a drone, comprising a drone 1 and its associated fixed charging station 2. In practical applications, multiple fixed charging stations 2 can be installed along the tunnel's inner wall, allowing the drone 1 to automatically return to the nearest charging station for recharging after completing its inspection mission, improving operational efficiency and endurance.

[0042] In this embodiment, the drone 1 includes a main body 12 and a rotatable camera 13 mounted below the main body 12. The housing 11 is mounted below the main body 12 via a rotating connection structure (e.g., a roller bearing), and the rotatable camera 13 (e.g., a fully automatic, high-precision, medium-focus monocular camera or a pan-tilt camera) is fixedly mounted within the housing 11. The housing 11 is provided with a monitoring port 113 corresponding to the camera's viewing angle, ensuring a clear external field of view. During inspections, the rotatable camera 13 can flexibly adjust its angle, enabling continuous, multi-directional, and multi-angle monitoring and image capture of the tunnel's inner wall. Because the housing 11 and main body 12 are rotatably connected, and the camera 13 is fixedly linked to the housing 11, the housing 11 rotates synchronously with the camera, ensuring that the monitoring port 113 always remains aligned with the camera's viewing angle. This effectively avoids the visual obstruction problem present in traditional fixed housing structures, significantly improving monitoring flexibility and imaging quality.

[0043] like Figures 2 to 4 As shown, after the inspection mission is completed, the drone 1 will return to the fixed charging base station 2 for charging. As the drone 1 descends, its shell 11 will gradually enter the charging chamber 21 of the charging base station 2 until the charging slot 111 at the bottom of the shell docks with the charging head 22 located at the bottom of the charging chamber 21. A pressure-touch fixing assembly 23 is provided inside the fixed charging base station 2. When the drone 1 has completely landed and cannot continue to descend, the drive device 231 in this assembly is activated, causing the pressure contact block 232 to move downward and toward the shell 11. This process is achieved through a transmission mechanism such as a drive rod group, chain or slider. As the pressure contact block 232 moves, it will be embedded in the fixing groove 112 on the shell 11. If the charging head 22 is not fully inserted into the charging slot 111 at this time, after the lower surface of the pressure contact block 232 contacts the bottom of the fixing groove 112, it will continue to apply pressure, pushing the shell 11 slightly downward to ensure that the charging head 22 is accurately and completely inserted into the charging slot 111, ensuring a stable and reliable charging connection. When the drone 1 completes charging and is ready to resume its mission, the driving device 231 drives the pressure contact block 232 to reset upward, causing it to disengage from the fixing slot 112 , thereby releasing the lock on the housing 11 .

[0044] Preferably, in this embodiment, Figure 4 and Figure 5 As shown, the pressure-touch fixing assembly 23 further includes a fixing block 234 and a transmission assembly 233 connected to the driving device 231. The pressure-touch block 232 is horizontally slidably connected to the transmission assembly 233 and has a first beveled surface 2321 and a first vertical surface 2322; while the fixing block 234 is equipped with a second beveled surface 2341 and a second vertical surface 2342.

[0045] When the drone 1 returns to the fixed charging base station 2 for charging, the drive device 231 activates and drives the transmission assembly 233 downward, simultaneously causing the pressure contact block 232 to descend synchronously. As the pressure contact block 232 moves downward, its first beveled surface 2321 interacts with the second beveled surface 2341 on the fixed block 234. This not only causes the pressure contact block 232 to move vertically, but also causes it to move horizontally toward the housing 11, thereby smoothly engaging the fixed slot 112 of the housing 11. As the drive device 231 continues to operate, the pressure contact block 232 moves further downward, at which point the first vertical surface 2322 of the pressure contact block 232 contacts the second vertical surface 2342 of the fixed block 234. This contact exerts vertical pressure, pushing the housing 11 to continue to move slightly downward until the housing stops completely. This process ensures that the charging head 22 can be accurately inserted into the charging slot 111 on the housing 11 to the required insertion depth, forming a stable and reliable charging connection.

[0046] Furthermore, the pressure contact fixing assembly 23 also includes an elastic reset member 235, which is arranged in the horizontal direction, with one end thereof abutting against the transmission assembly 233 and the other end abutting against the pressure contact block 232. During operation, when the pressure contact block 232 moves downward and approaches the shell 11 under the drive of the transmission assembly 233, it contacts and interacts with the fixing block 234, thereby pushing the pressure contact block 232 to slide toward the shell and compressing the elastic reset member 235 in the process. As the pressure contact block 232 continues to descend, it is eventually stuck in the fixing groove 112 on the shell 11, achieving stable locking of the drone shell 11 and ensuring structural stability and connection reliability during the charging process. When the drone 1 completes charging and is ready to take off again to perform the mission, the drive device 231 drives the transmission assembly 233 to reset upward. At this time, the compressed elastic reset member 235 releases its elastic potential energy, pushing the pressure contact block 232 to slide in the opposite direction, causing it to disengage from the fixing groove 112, thereby releasing the locking state of the shell 11, allowing the drone 1 to smoothly detach from the fixed charging base station 2 and resume normal flight operations.

[0047] Specifically, the transmission assembly 233 includes a first transmission member 2331 connected to the drive device 231 and a second transmission member 2332 connected thereto. The first transmission member 2331 extends horizontally and is linked to the drive device 231; the second transmission member 2332 is arranged vertically to drive the pressure contact block 232 in vertical motion. This structural design allows the drive device 231 to be positioned horizontally in a suitable position within the overall structure, eliminating the need for the second transmission member 2332 to move vertically. This effectively saves vertical space and improves the compactness and space utilization of the internal layout.

[0048] Preferably, the two side walls of the shell 11 are arranged to be inclined inward from top to bottom, so that a cone-shaped plug-in structure is formed between the shell 11 and the charging cavity 21. This design has a good guiding effect and centering performance during the descent of the drone, and can guide the shell 11 to be smoothly and accurately inserted into the charging cavity 21, significantly improving the stability and reliability of the plug-in process. At the same time, the narrowing structure of the two side walls of the shell 11 helps to improve the matching accuracy between it and the charging cavity 21, ensuring the precise docking between the charging head 22 and the charging slot 111, thereby enhancing the stability and safety of the charging connection, and further ensuring the smooth charging process of the drone. Furthermore, in this embodiment, a fixing groove 112 is respectively provided on the two side walls of the shell 11, and two sets of pressure-touch fixing components 23 are correspondingly configured. When the pressure contact blocks 232 are inserted into their respective corresponding fixing grooves 112, synchronous force can be applied to both sides of the shell 11, and the force can be kept balanced in the process of pushing the shell 11 downward, effectively improving the stability and guidance of the movement, avoiding tilting, offset or jamming caused by uneven force on one side, and further enhancing the reliability of the locking mechanism and the smoothness of operation.

[0049] like Figure 2 and Figure 6As shown, the top of the drone 1 is also equipped with a windproof adsorption device 14, which includes an adsorption portion 141 and a negative pressure generating device 142 for generating negative pressure. During tunnel lining surface defect monitoring operations, the operation of the tunnel ventilation system often generates strong airflow disturbances, which affect the drone's hovering stability and, in severe cases, may even cause it to lose control or crash. By providing this windproof adsorption device 14, the present structure can significantly improve the drone's operational stability and safety in complex airflow environments. Specifically, when airflow disturbances affecting flight status are detected, the drone 1 can fly upward to a position where the adsorption portion 141 contacts the inner wall of the tunnel top. The negative pressure generating device 142 is then activated, creating a negative pressure area within the adsorption portion 141 connected thereto. This securely attaches the drone to the tunnel structure surface, effectively preventing displacement or detachment caused by strong winds and ensuring its safe operation in high wind speed environments. The negative pressure generating device 142 can be implemented using a vacuum pump, piston exhaust mechanism, or other structure. In this embodiment, the negative pressure forming device 142 includes a pulling drive component 1421 and a sealing head 1422 that moves under the action of the driving component. The sealing head 1422 is embedded in the channel 1423 and slides in close contact with its inner wall, and is connected to the adsorption part 141. When the drone 1 rises to the adsorption part 141 and fits the inner wall of the tunnel top, the pulling drive component 1421 is started, driving the sealing head 1422 to move downward along the channel 1423. As the sealing head 1422 descends, the air inside the adsorption part 141 is discharged and a negative pressure area is formed, thereby achieving stable adsorption of the drone. When the adsorption state needs to be released, it is only necessary to reversely drive the sealing head 1422 upward and reset it to restore the pressure inside and outside the adsorption part 141 to balance, and then the adsorption state can be released, and the drone will then resume normal flight and monitoring functions.

[0050] Preferably, if Figure 6 and Figure 7 As shown, the windproof adsorption device 14 also includes a slow-lift seat 143. The pull-out drive component 1421 adopts a motor and realizes power transmission through the third transmission assembly 144, so that the slow-lift seat 143 can be driven by the motor to move up and down. The adsorption part 141 is fixed on the slow-lift seat 143 so that it can move up and down with it.

[0051] Specifically, it also includes a transmission shaft 145 connected to the pulling drive component 1421, and a square shaft 146 installed above the transmission shaft 145. The outside of the square shaft 145 is tightly sleeved with a second screw rod 147, one end of which is connected to the sealing head 1422 and forms a threaded fit with the slow-lift seat 143. When the pulling drive component 1421 is started, the transmission shaft 145 drives the square shaft 146 to rotate synchronously. Since the square shaft 146 is embedded in the second threaded rod 147, it can drive it to rotate together. Under the threaded fit with the slow-lift seat 143, the second threaded rod 147 moves downward in the axial direction, thereby driving the sealing head 1422 to move downward synchronously, realizing negative pressure adsorption action. In order to prevent the slow-lift seat 143 from rotating under the drive of the second threaded rod 147, a limited guide 148 is fixedly connected to one side thereof. The limiting guide 148 includes a vertically arranged limiting rod 1481 and a limiting sleeve 1482 mounted on the limiting rod. The slow-lift seat 143 is fixedly connected to the limiting sleeve 1482, thereby limiting its rotational freedom, so that the slow-lift seat 143 can only move linearly in the vertical direction along the limiting rod 1481, avoiding rotational interference. A third transmission assembly 144 is connected to the other side of the slow-lift seat 143 to realize its rising action. The third transmission assembly 144 includes a first screw 1441, a sleeve 1442 and a conveyor belt 1443. The screw 1441 is driven to rotate by the conveyor belt 1443. At this time, the sleeve 1442, which is threadedly connected to the screw 1441 and fixedly connected to the slow-lift seat 143, moves upward. At the same time, the limit sleeve 1482 slides synchronously along the limit rod 1481 during the rising process of the slow-lift seat 143, ensuring that the slow-lift seat 143 rises smoothly and without deviation. The upward movement of the slow-lift seat 143 pushes the adsorption part 141 above it to move upward until the adsorption part 141 is tightly fitted against the inner wall of the tunnel top.

[0052] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art will understand that the present invention includes, but is not limited to, the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are intended to be included within the scope of the claims.

Claims

1. A device for monitoring tunnel lining surface defects using an unmanned aerial vehicle (UAV), comprising an unmanned aerial vehicle (UAV) (1) and a fixed charging base station (2), wherein the fixed charging base station (2) is provided with a charging cavity (21), the UAV (1) comprises a housing (11) inserted into the charging cavity (21), a charging head (22) is provided at the bottom of the charging cavity (21), and a charging slot (111) is provided at the bottom of the housing (11), characterized in that: A pressure-touch fixing component (23) is provided inside the fixed charging base station (2), and the pressure-touch fixing component (23) includes a driving device (231) and a pressure-touch block (232) that moves away from or close to the shell (11) under the drive of the driving device (231), and the shell (11) includes a fixing groove (112) for the pressure-touch block (232) to be inserted into and abutted against, and the pressure-touch block (232) is configured to drive the shell (11) to move downward after being inserted into the fixing groove (112).

2. The drone tunnel lining surface disease monitoring device according to claim 1 is characterized by: The drone (1) includes a main body (12) and a rotatable camera (13) installed below the main body (12); the rotatable camera (13) is fixedly connected to the inner wall of the shell (11); the shell (11) is also provided with a monitoring port (113) that cooperates with the rotatable camera (13); and the shell (11) is rotatably connected to the main body (12).

3. The UAV tunnel lining surface disease monitoring device according to claim 1 is characterized by: Both side walls of the shell (11) are arranged to be inclined, with the inclination direction being gradually inward in a downward direction, and the charging cavity (21) matches the shape of the shell (11).

4. The drone tunnel lining surface disease monitoring device according to claim 1 is characterized by: The pressure-touch fixing assembly (23) further comprises a fixing block (234) and a transmission assembly (233) connected to the driving device (231) and moving in the vertical direction; the pressure-touch block (232) is slidably connected to the transmission assembly (233) in the horizontal direction; the pressure-touch block (232) comprises a first oblique surface (2321) and a first vertical surface (2322); the fixing block (234) comprises a second oblique surface (2341) that contacts with the first oblique surface (2321) and a second vertical surface (2342) that contacts with the first vertical surface (2322).

5. The UAV tunnel lining surface disease monitoring device according to claim 4 is characterized by: The pressure-touch fixing assembly (23) further comprises an elastic reset member (235), which extends in a horizontal direction, with one end in contact with the transmission assembly (233) and the other end in contact with the pressure-touch block (232).

6. The drone tunnel lining surface disease monitoring device according to claim 4 is characterized by: The transmission assembly (233) comprises a first transmission member (2331) connected to the driving device (231) and extending in the horizontal direction, and a second transmission member (2332) connected to the first transmission member (2331) and extending in the vertical direction, and the pressure contact block (232) is connected to the second transmission member (2332) in a sliding manner in the horizontal direction.

7. The UAV tunnel lining surface disease monitoring device according to claim 1 is characterized by: The fixing grooves (112) are respectively provided on the two side walls of the housing (11), and two groups of the pressure-touch fixing components (23) are provided in cooperation with the fixing grooves (112).

8. The UAV tunnel lining surface disease monitoring device according to claim 1 or 2 is characterized by: The drone (1) further comprises a windproof adsorption device (14) installed on the top, wherein the windproof adsorption device (14) comprises an adsorption portion (141) and a negative pressure forming device (142) for generating negative pressure in the adsorption portion (141).

9. The drone tunnel lining surface disease monitoring device according to claim 8 is characterized by: The negative pressure forming device (142) comprises a pulling drive component (1421), a sealing head (1422) that moves under the drive of the pulling drive component (1421), and a channel (1423) for the sealing head (1422) to be embedded and move in contact with the inner wall thereof, and the adsorption portion (141) is connected to the channel (1423).

10. The drone tunnel lining surface disease monitoring device according to claim 9 is characterized by: The windproof adsorption device (14) further includes a slow-lift seat (143), the pulling and pulling driving component (1421) is a motor and is connected to a third transmission component (144), the slow-lift seat (143) is configured to be raised and lowered under the drive of the pulling and pulling driving component (1421) and the transmission of the third transmission component (144), the adsorption part (141) is connected to the slow-lift seat (143), the third transmission component (144) includes a first screw (1441), a shaft sleeve (1442) threadedly connected to the first screw (1441) and fixedly connected to the slow-lift seat (143), and a conveyor belt (1443) connecting the first screw (1441) and the output end of the pulling and pulling driving component (1421).

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