Unmanned aerial vehicle charging system suitable for tunnel monitoring

Abstract

The invention relates to the technical field of tunnel inspection, in particular to a structural design for efficiency optimization of a tunnel monitoring unmanned aerial vehicle. According to the technical scheme, the unmanned aerial vehicle charging system suitable for tunnel monitoring comprises an unmanned aerial vehicle and a charging base station, and a battery is arranged in the unmanned aerial vehicle; the charging base station comprises a station bin, a replacement battery arranged in the station bin and a battery replacing device used for replacing the replacement battery and the battery. According to the device, automatic battery replacement of the unmanned aerial vehicle can be achieved, and the operation efficiency and operation continuity of the unmanned aerial vehicle in tunnel inspection 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 design for optimizing the efficiency of a tunnel monitoring drone. Background Art

[0002] Regular inspections are crucial for tunnel construction to ensure structural safety. Traditional inspection methods are inefficient and risky, making them inadequate for the inspection needs of modern, long tunnels. In recent years, drones, with their flexibility and efficiency, have been increasingly adopted in tunnel inspections, significantly improving efficiency.

[0003] However, due to current battery technology limitations, the flight time of most industrial drones remains relatively limited, typically between 30 and 50 minutes. In tunnels several kilometers long or even longer, drones often struggle to complete a single, full-length inspection, impacting both the continuity and efficiency of inspections. Currently, there are two common methods for charging drones in tunnels: one in which drones automatically return to a pre-installed fixed charging station within the tunnel for autonomous recharging upon low battery; the other relies on manual on-site battery replacement.

[0004] The two existing charging methods each have certain defects: for the first charging method, the drone takes a long time to charge, which causes long interruptions during the inspection process, thereby extending the time of the entire inspection process and reducing work efficiency; and the second method of manual battery replacement requires staff to be on standby at all times, which increases human resource costs and has certain operational delays. In particular, when the drone runs out of power, it may cause the inspection to be suspended, further affecting the inspection efficiency and schedule. Summary of the Invention

[0005] In view of the above-mentioned defects of the prior art, the present invention provides a drone charging system suitable for tunnel monitoring. The device can realize automatic battery replacement of the drone, which can significantly improve the operating efficiency and operation continuity of the drone in tunnel inspection.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: A drone charging system suitable for tunnel monitoring includes a drone and a charging base station. The drone is provided with a battery. The charging base station includes a station compartment, a replacement battery arranged in the station compartment, and a battery exchange device for replacing the replacement battery with the battery.

[0007] The charging base stations can be reasonably set up as one or more groups according to the length of the tunnel to meet the endurance requirements in different scenarios. When the UAV is running low on power during an inspection mission, it will automatically return to the nearest charging base station for battery replacement. At this time, the battery replacement device installed in the charging base station compartment is activated. First, the low-power battery is removed from the bottom of the UAV, and the pre-charged replacement battery is installed on the UAV, thus completing the entire automatic battery replacement process. After the battery replacement is completed, the UAV can quickly restore its endurance and continue to perform subsequent inspection tasks. Among them, the battery replacement device can adopt a multi-degree-of-freedom robotic arm, a magnetic battery replacement system, or a lifting platform with a clamping mechanism.

[0008] This invention uses a battery replacement device installed in a charging base station to automatically replace the drone's batteries. This allows for quick replacement of low-power batteries, allowing the drone to quickly restore its endurance. This approach effectively ensures the drone's ability to operate continuously during inspections, significantly improving inspection efficiency and mission reliability.

[0009] Preferably, the battery and the replacement battery adopt the same structure, both comprising a battery body and a protective base installed at the bottom of the battery body and cooperating with the battery exchange device.

[0010] The protective base acts as an isolation device during the battery replacement process, so that the battery replacement device does not directly contact the battery body when grabbing, placing or replacing the battery, thereby avoiding battery damage caused by excessive clamping force or improper contact, and reducing safety hazards such as short circuit, leakage and even fire.

[0011] Preferably, a clamping block is provided on both sides of the protective base, a clamping groove cooperating with the clamping block is provided on the bottom of the drone, and an elastic member is arranged horizontally between the clamping block and the protective base; the battery exchange device includes a moving component and a clamping component arranged above the moving component, the clamping component includes a supporting part and a clamping resistance member cooperating with the clamping block, and the clamping resistance member is slidably connected to the supporting part in the horizontal direction.

[0012] When the drone's battery is low, it automatically returns to the charging base station for a battery replacement. At this point, the battery-changing device's mobile assembly moves to the bottom of the drone, driving the clamping assembly to move synchronously. When the support portion contacts the bottom of the protective base of the drone's battery, the clamping contact slides inward horizontally and presses against the snap-in blocks on both sides of the protective base. At this point, the elastic member is compressed and deformed, causing the snap-in blocks to contract inward and disengage from the corresponding snap-in slots on the bottom of the drone, thereby releasing the connection between the battery and the drone and placing it back into the station compartment of the charging base station. The battery-changing device then removes a set of fully charged replacement batteries from the station compartment and moves them again to the bottom of the drone. When the battery reaches the installation position, the clamping contact slides to both sides and releases the snap-in blocks. The elastic member then regains its deformation, pushing the snap-in blocks outward and re-engaging them in the snap-in slots on the bottom of the drone, firmly securing the replacement battery to the drone and completing the entire battery replacement process.

[0013] Preferably, a slide rail extending in a horizontal direction is provided in the station warehouse, and the moving component includes a sliding platform moving along the slide rail and a lifting platform provided above the sliding platform.

[0014] When the drone returns to the charging base station for a battery swap, the sliding platform first moves horizontally along the slide rail to the designated position below the drone. The lifting platform then starts and rises, driving the clamping assembly above it to move upward synchronously, contacting and clamping the battery in the drone. The lifting platform then descends, removes the battery from the drone, and returns to the station. The clamping assembly then grabs the replacement battery from the station and, through the coordinated action of the sliding and lifting platforms, installs it into the drone, completing the battery swap process. Compared to battery swaps that use complex structures like robotic arms, this mobile assembly offers advantages such as simple structure, stable operation, and a low failure rate. It also has lower maintenance costs and is more suitable for standardized, high-frequency automatic battery swaps.

[0015] Preferably, a charging unit for charging the battery and the replacement battery is provided in the station compartment.

[0016] A charging station located inside the station compartment allows for simultaneous recharging of old batteries during battery replacement, ensuring efficient battery recycling and reducing redundant backup batteries. Batteries automatically recharge between missions, eliminating the need for dedicated personnel to collect, replace, and manually recharge them, significantly reducing the operational and maintenance burden.

[0017] Preferably, at least two groups of battery exchange devices are provided.

[0018] During operation, one set of battery-changing devices is used to remove low-power batteries from the bottom of the drone, while another set of battery-changing devices simultaneously removes fully charged replacement batteries from inside the station compartment, realizing parallel execution of battery-changing operations, significantly shortening the overall battery-changing process time and improving the operating efficiency of the drone.

[0019] Preferably, the charging base station further includes a lighting device arranged outside the station compartment.

[0020] When a drone approaches or passes by a charging station, a lighting device installed on the outside of the station automatically activates to illuminate the surrounding area. In low-light environments such as tunnels, underground spaces, or during nighttime operations, the automatic activation of the lighting device significantly improves the visibility of the drone's inspection area, ensuring clear and accurate image information during inspections, thereby ensuring the safety and reliability of operations.

[0021] Preferably, the UAV is a walking UAV, comprising a main body, a connecting component arranged on the periphery of the main body, and a plurality of supporting legs installed on the connecting component; a driving device is provided inside the connecting component, and the supporting legs can rise or fall in a vertical direction under the drive of the driving device.

[0022] When the drone reaches a step, some of its support legs are first raised by the drive mechanism. Subsequently, the remaining legs, which remain in place, propel the drone horizontally toward the step, positioning the raised legs directly above it. Once the raised legs are above the step, the drone pauses its horizontal movement, allowing those legs to descend and eventually land stably on the step. The remaining legs are then moved in the same manner. Once all legs are firmly planted on the step, the drone is lifted and moved above the step, enabling smooth navigation across the staircase. This arrangement effectively enhances the drone's adaptability in complex environments, enabling it to not only navigate flat surfaces but also autonomously traverse obstacles such as steps, significantly enhancing its environmental adaptability and mission range. The drive mechanism can drive the legs to achieve this lifting and lowering motion through various mechanisms, such as gear transmission or cable traction. The specific transmission method can be selected based on specific needs, ensuring excellent adaptability and scalability.

[0023] Preferably, the connecting assembly further includes a transmission shaft, one end of which is connected to the driving device and the other end is connected to a transmission gear, and the supporting leg includes a rack arranged in a vertical direction and meshing with the transmission gear.

[0024] When the drive mechanism is operating, power is transmitted through the transmission shaft to the transmission gear, which rotates and engages with the rack on the support leg, thereby achieving vertical movement of the support leg. This structure achieves smooth and reliable linear motion output through rack and pinion transmission, effectively ensuring the stability and control accuracy of the drone's operation.

[0025] Preferably, a positioning groove is provided at the bottom of the main body, and a positioning plate embedded in the positioning groove is provided on the upper part of the charging base station, the positioning groove includes a first inclined surface, and the positioning plate includes a second inclined surface that interferes with the first inclined surface.

[0026] When the drone returns to the charging station to recharge, all support legs rise simultaneously, lowering the main body. As the main body descends, the positioning plate on the charging station's top gradually engages the positioning slot at the bottom of the main body. The second inclined surface on the base plate contacts and abuts the first inclined surface in the slot, automatically guiding the drone toward the center position for precise alignment and positioning. Furthermore, the positioning plate, once embedded in the slot, acts as a stop and stabilizer during the battery swap process, ensuring the drone's stability.

[0027] Compared with the prior art, the beneficial effects of the present invention are embodied in: 1. In this case, the charging base station is equipped with a battery replacement device and replacement batteries. When the drone returns to the charging base station, it can automatically replace the battery, significantly improving the drone's operating efficiency and operational continuity in tunnel inspections.

[0028] 2. A protective base is provided at the bottom of the battery body to prevent damage to the battery body during the battery replacement process.

[0029] 3. A charging unit is set up in the station warehouse, which can charge the replaced batteries in time. There is no need for staff to collect, replace and charge them manually, which significantly reduces the burden of operation and maintenance.

[0030] 4. Installing lighting devices outside the station warehouse can improve the visibility of the drone inspection area and ensure that it obtains clearer and more accurate image information during the inspection process.

[0031] 5. The support legs of the walking drone can rise or fall, allowing it to not only move on a flat surface, but also autonomously cross obstacles such as steps, further enhancing its environmental adaptability and mission execution range.

[0032] 6. Use the guiding and limiting functions of the positioning groove and positioning plate to improve the stability of the drone's battery replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of Example 1; Figure 2 This is a cross-sectional view of the battery replacement process of the drone in Example 1; Figure 3 yes Figure 2 Exploded diagram; Figure 4 yes Figure 2 A magnified diagram of the details in the middle; Figure 5 yes Figure 4 A magnified diagram of the details at point B in the middle; Figure 6 1 is a schematic diagram of the overall structure of the UAV of Example 1; Figure 7 yes Figure 6 Cross-section of the UAV; Figure 8 yes Figure 7 Enlarged diagram of the details at point C in the middle.

[0034] in: 1-UAV; 11-clamping slot; 12-main body; 121-positioning slot; 1211-first oblique section; 13-connecting assembly; 131-driving device; 132-transmission shaft; 133-transmission gear; 14-support leg; 141-support column; 1411-rack; 142-pulley; 15-inspection camera; 16-navigation camera; 2; charging base station; 21-station warehouse; 22-battery exchange device; 221-clamping assembly; 2211-supporting part; 2212-clamping resistance member; 222-moving assembly; 2221-sliding table; 2222-lifting platform; 23-slide rail; 24-charging part; 25-lighting device; 26-positioning plate; 261-second oblique section; 3-battery; 31-battery body; 32-protective base; 33 clamping block; 34-elastic member; 4-replaceable battery. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] Example 1: like Figure 1As shown in the figure, a UAV charging system suitable for tunnel monitoring mainly includes a UAV 1 for inspection and a charging base station 2. The charging base stations 2 can be reasonably arranged in one or more groups according to the length of the tunnel to meet the endurance requirements in different scenarios.

[0038] like Figure 6 and Figure 7 The drone 1 shown in this embodiment is a walking drone, which includes a main body 12, an inspection camera 15 installed above the main body 12, and a connecting component 13 arranged on the periphery of the main body 12. The connecting component 13 is arranged in a ring around the periphery of the main body 12, and a plurality of support legs 14 are evenly distributed on the connecting component 13. Each support leg 14 includes a support column 141 and a pulley 142 installed below the support column 141.

[0039] Among them, Figure 8 As shown, the connecting assembly 13 is equipped with a drive device 131 and a transmission shaft 132 connected at one end to the drive device 131 and at the other end to a transmission gear 133. A rack 1411 is vertically disposed on the support column 141 and meshes with the transmission gear 133. When the drive device 131 is in operation, the power generated by the drive device 131 is transmitted through the transmission shaft 132 to the transmission gear 133, causing the transmission gear 133 to rotate. This, in turn, meshes with the rack 1411 on the support column 141 to vertically raise and lower the support leg 14. Furthermore, in some embodiments, cable traction or other methods may be used to raise and lower the support leg 14.

[0040] Specifically, during the inspection process, the navigation camera 16 located outside the connecting component 13 can monitor the position and surrounding environment of the drone in real time. When the drone 1 moves in front of the steps, part of the support legs 14 will first be lifted under the action of the drive device 131. Then, the remaining support legs 14 that have not been raised will guide the drone as a whole to move horizontally in the direction of the steps until the raised support legs are just above the steps. At this time, the drone stops moving horizontally, and the previously raised support legs begin to descend and stably rest on the surface of the steps. Then, the same method is used to move the remaining support legs in turn to the top of the steps and drop them down until all the support legs are stably placed on the surface of the steps. The entire drone then successfully crosses the steps, achieving smooth movement on uneven terrain. In some embodiments, tactile sensors, lidars and other devices can also be used to identify steps.

[0041] The drone 1 is provided with a battery 3. When the battery is low during the inspection process, the drone 1 will automatically return to the nearest charging base station 2 for battery replacement. Figures 2 to 4As shown, when the drone returns to the top of the charging base station 2 and reaches the appropriate position, the support legs 14 rise synchronously, causing the main body 12 to drop relatively to the set height. As the main body 12 descends, the positioning plate 26 provided on the top of the charging base station 2 will gradually be inserted into the positioning groove 121 at the bottom of the main body. The second inclined surface 261 on the positioning plate 26 and the first inclined surface 1211 in the positioning groove 121 are in contact with and abut against each other. Under the guiding action, the drone is automatically guided to the center position for fine-tuning and alignment, thereby ensuring its precise positioning. At the same time, during the battery replacement process, the positioning plate 26, after being embedded in the positioning groove 121, also plays a good limiting and stabilizing role, effectively ensuring the safety and reliability of the battery replacement process.

[0042] After the drone 1 has completed accurate positioning and has docked stably, the system will automatically start the battery replacement process to complete the battery replacement operation. Figures 2 to 5 As shown, the charging base station 2 includes a station compartment 21, in which a replacement battery 4 and a battery exchange device 22 for replacing the replacement battery 4 with the battery 3 are provided. In some embodiments, the battery exchange device 22 can be implemented using a variety of existing technologies, such as a multi-degree-of-freedom robotic arm, a magnetic battery exchange system, or a lifting platform with a clamping mechanism.

[0043] In this embodiment, the battery replacement device 22 is specifically composed of a moving component 222 and a clamping component 221 installed above it. The moving component 222 is further divided into a sliding platform 2221 installed on the slide rail 23 in the station warehouse 21 at the bottom and a lifting platform 2222 located thereon. This design enables the clamping component to move flexibly in the horizontal and vertical directions. The clamping component 221 includes a supporting portion 2211 and a clamping abutment 2212 connected to the top of the supporting portion 2211 in a horizontal sliding direction, ensuring that the battery can be firmly and accurately grasped and placed. In order to prevent the battery from being damaged during the replacement process, both the existing battery 3 and the replacement battery 4 adopt a unified design structure, including a battery body 31 and a protective base 32 installed at the bottom of the battery body. Snap-in blocks 33 are provided on both sides of the protective base 32. The snap-in blocks 33 match the snap-in slots 11 opened at the bottom of the drone 1 to ensure that the battery 3 can be firmly installed on the drone 1. In addition, an elastic member 34 is laterally arranged between the snap-in block 33 and the protective base 32.

[0044] The specific battery replacement process is as follows: The sliding platform 2221 first moves horizontally along the slide rail 23 to the designated position below the drone; then, the lifting platform 2222 starts and rises, driving the clamping assembly 221 above it to move upward synchronously. When the supporting portion 2211 contacts the bottom of the protective base 32 of the battery 3 on the drone 1, the clamping resistance member 2212 slides inward in the horizontal direction and presses against the clamping blocks 33 on both sides of the protective base 32. At this time, the elastic member 34 is deformed under pressure, causing the snap-in block 33 to shrink inward and disengage from the corresponding snap-in slot 11 at the bottom of the drone 1, thereby releasing the connection between the battery 3 and the drone 1. Then, the lifting platform 2222 descends, takes the battery 3 out of the drone and returns it to the station warehouse 21. After that, the clamping assembly 221 grabs the replacement battery 4 from the station warehouse 21 and transports the replacement battery 4 to the corresponding installation position of the drone 1 through the coordinated action of the sliding platform 2221 and the lifting platform 2222. The clamping resistance member 2212 slides to both sides and releases the snap-in block 33. At this time, the elastic member 34 recovers its deformation, pushing the snap-in block 33 to move outward and re-engage in the snap-in slot 11 at the bottom of the drone 1, thereby firmly fixing the replacement battery 4 on the drone 1 and completing the entire battery replacement process.

[0045] Preferably, a charging unit 24 is also provided within the station compartment 21 to charge the battery 3 and the replacement battery 4. This allows the old battery to be charged simultaneously during the battery replacement process, ensuring efficient recycling of battery resources and reducing redundant backup battery configurations. The battery 3 can be automatically recharged between missions, eliminating the need for staff to collect, replace, and manually charge the battery, significantly reducing the operational and maintenance burden.

[0046] Furthermore, in this embodiment, in order to improve the battery replacement efficiency, two groups of battery replacement devices 22 are provided. During operation, one group of battery replacement devices 22 is used to remove the low-power battery 3 from the bottom of the drone 1, while the other group of battery replacement devices 22 synchronously removes the fully charged replacement battery 4 from the inside of the station compartment 21, thereby realizing the parallel execution of the battery replacement operation.

[0047] like Figure 1 and Figure 2 As shown, the charging base station 2 also includes a lighting device 25 above it. When the drone 1 approaches or passes by the charging base station 2, the lighting device 25 installed on the outside of its station compartment can automatically sense and activate, providing lighting for the surrounding environment. In low-light scenarios, such as tunnels, underground spaces, or nighttime working environments, the automatic activation of the lighting device 25 can significantly improve the visibility of the drone 1 in the inspection area, ensuring that it can obtain clear and accurate image information during the inspection process, thereby ensuring the safety and reliability of the operation.

[0048] In some embodiments, the drone 1 can also be a flying drone. When the battery 3 is low on power during the inspection process, it can fly back to the charging base station 2 to perform the above-mentioned battery replacement operation.

[0049] 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 UAV charging system suitable for tunnel monitoring, comprising a UAV (1) and a charging base station (2), wherein the UAV (1) is provided with a battery (3), and characterized in that: The charging base station (2) comprises a station compartment (21), a replacement battery (4) arranged in the station compartment (21), and a battery replacement device (22) for replacing the replacement battery (4) with the battery (3).

2. The UAV charging system for tunnel monitoring according to claim 1, characterized in that: The battery (3) and the replacement battery (4) have the same structure, both comprising a battery body (31) and a protective base (32) mounted on the bottom of the battery body (31) and cooperating with the battery replacement device (22).

3. The UAV charging system for tunnel monitoring according to claim 2, characterized in that: Snap-on blocks (33) are respectively provided on both sides of the protective base (32); a snap-on groove (11) corresponding to the snap-on block (33) is correspondingly provided at the bottom of the drone (1); an elastic member (34) is laterally provided between the snap-on block (33) and the protective base (32); the battery exchange device (22) comprises a moving component (222) and a clamping component (221) arranged above the moving component (222); the clamping component (221) comprises a supporting portion (2211) and a clamping resisting member (2212) respectively cooperating with the snap-on block (33); the clamping resisting member (2212) is slidably connected to the supporting portion (2211) in a horizontal direction.

4. The UAV charging system for tunnel monitoring according to claim 3 is characterized in that: A slide rail (23) extending in a horizontal direction is provided in the station warehouse (21), and the moving component (222) includes a sliding platform (2221) moving along the slide rail (23) and a lifting platform (2222) provided above the sliding platform (2221).

5. The UAV charging system for tunnel monitoring according to claim 1 is characterized in that: A charging unit (24) for charging the battery (3) and the replacement battery (4) is provided in the station compartment (21).

6. The UAV charging system for tunnel monitoring according to claim 1, characterized in that: The power exchange device (22) is provided with at least two groups.

7. The UAV charging system for tunnel monitoring according to claim 1, characterized in that: The charging base station (2) further comprises a lighting device (25) arranged outside the station compartment (21).

8. The UAV charging system for tunnel monitoring according to claim 1, characterized in that: The unmanned aerial vehicle (1) is a walking type unmanned aerial vehicle, comprising a main body (12), a connecting assembly (13) arranged on the periphery of the main body (12), and a plurality of supporting legs (14) mounted on the connecting assembly (13); a driving device (131) is arranged inside the connecting assembly (13), and the supporting legs (14) can rise or fall in a vertical direction under the drive of the driving device (131).

9. The UAV charging system for tunnel monitoring according to claim 8, characterized in that: The connecting assembly (13) further comprises a transmission shaft (132), one end of the transmission shaft (132) being connected to the driving device (131) and the other end being connected to a transmission gear (133), and the supporting leg (14) comprising a rack (1411) arranged in a vertical direction and meshing with the transmission gear (133).

10. The UAV charging system for tunnel monitoring according to claim 8, characterized in that: A positioning groove (121) is provided at the bottom of the main body (12); a positioning plate (26) embedded in the positioning groove (121) is provided on the upper portion of the charging base station (2); the positioning groove (121) includes a first inclined surface (1211); and the positioning plate (26) includes a second inclined surface (261) that contacts and cooperates with the first inclined surface (1211).

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