Device and method for recovering rotor tunnel unmanned aerial vehicle in narrow channel

Abstract

The invention discloses a device and method for recovering a rotor wing tunnel unmanned aerial vehicle in a narrow channel, and relates to the technical field of unmanned aerial vehicle power inspection, and the device comprises a double-layer nested shell, a wing folding and unfolding driving mechanism and a recovery lifting hook; the double-layer nested type shell comprises an upper-layer shell and a lower-layer shell, the lower-layer shell is nested in the upper-layer shell to form a relative linear sliding connection relation, and the unmanned aerial vehicle support arms are driven to be unfolded and folded through stretching and retracting movement of the lower-layer shell relative to the upper-layer shell; the wing folding and unfolding driving mechanism is arranged in the double-layer nested type shell and used for providing power for movement of the double-layer nested type shell. One end of the recovery lifting hook is connected with the double-layer nested shell, and the other end of the recovery lifting hook is connected with the lifting equipment, so that locking and separation between the unmanned aerial vehicle and the lifting equipment are realized. The fuselage storage mechanism based on linear contraction motion is adopted, the radial size can be reduced to the maximum extent, and the requirement that the unmanned rotorcraft is stored and released through a narrow vertical shaft opening is met better.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle power inspection, in particular to a device and method for recovering a rotor tunnel unmanned aerial vehicle in a narrow channel. BACKGROUND

[0002] With the development of cities, ground space is becoming increasingly crowded, and a large number of power cables face the need to be buried, and underground cable tunnels are becoming more and more popular. Due to various factors, most underground cables are connected by multiple sections, and due to the influence of connection technology and operating environment, there is often a risk of discharge, heating, and even explosion and fire at the joint.

[0003] Existing cables mostly use manual inspection combined with remote online sensing monitoring, and in recent years, with the development of robot technology, high-voltage cable tunnel inspection has also introduced overhead robots and miniature unmanned aerial vehicles. However, the aforementioned inspection also has certain disadvantages, manual inspection is high-risk and low-efficiency, track inspection has poor applicability and high cost, and miniature unmanned aerial vehicles are difficult to mount more scanning devices and reinforce the body in harsh environments (such as temperature isolation), and are limited by the size of the maintenance well, medium and large fixed-wing unmanned aerial vehicles cannot be lowered into the well, and ordinary folding-wing unmanned aerial vehicles cannot achieve unmanned folding and unfolding wings at the bottom of the tunnel under conditions where personnel cannot enter the well (such as toxic smoke and no ventilation).

[0004] Prior art document 1 (CN112357056A) discloses a wing folding mechanism, a wing device, and an unmanned aerial vehicle, which can repeatedly perform unfolding and folding actions, and the unfolding and folding process is smooth and more stable and reliable. However, this mechanism is designed for fixed-wing unmanned aerial vehicles, and when used on rotor unmanned aerial vehicles, the mechanism needs to accommodate fixed shafts, multiple gears (half gears), worms, and other components, which will form a relatively large radial size, increasing the maximum diameter of the unmanned aerial vehicle body in the folded state, making it difficult to pass through the well mouth, or occupying the space for arranging batteries and task loads. In addition, the gear mechanism is sensitive to dust and impurities, and there may be a large amount of smoke and dust particles in the environment after a tunnel fire, which will accelerate wear and even cause jamming once it enters the gear meshing surface.

[0005] Prior art document 2 (CN218229391U) discloses a wing unfolding mechanism for an unmanned aerial vehicle, relating to the technical field of unmanned aerial vehicles, for driving the wings to fold or unfold along the unmanned aerial vehicle body. The components of the unfolding mechanism are not large in size, and the wing unfolding mechanism can be cleverly arranged outside the body, without the need to arrange related mechanisms in the body, saving space in the body. However, the gas spring used in this mechanism as the wing unfolding power is limited by the structural characteristics of the gas spring, which can actively unfold but cannot be automatically recovered, and the recovery operation requires human intervention.

[0006] In summary, the existing unmanned aerial vehicle wing folding technology mainly serves the aerodynamic optimization and space saving during air launching, recovery or storage, and a rotating folding scheme is mostly used. Such a scheme still has a large radial envelope size in the folded state, and generally lacks bidirectional, remote and controllable folding and unfolding capabilities without personnel assistance, and it is difficult to meet the urgent needs of physical access and unmanned operation of unmanned aerial vehicles in extreme narrow and high-risk environments such as high-voltage cable tunnels. Specifically, how to make the unmanned aerial vehicle stably pass through the narrow inspection channel containing a climbing nail while ensuring the necessary load capacity, and autonomously complete the unfolding operation and task in the well and then autonomously fold to be recovered, is the core problem faced by the present technology. SUMMARY

[0007] To solve the problems in the prior art, the present application provides a device and method for unmanned deployment and recovery of unmanned aerial vehicles in extreme narrow spaces.

[0008] The present application adopts the following technical solutions.

[0009] The first aspect of the present application discloses a device for recovering a rotary-wing tunnel unmanned aerial vehicle in a narrow channel, comprising a double-layer nested casing, a wing folding and unfolding driving mechanism and a recovery lifting hook. The double-layer nested casing comprises an upper casing and a lower casing, the lower casing is nested inside the upper casing, and the connection relationship of relative linear sliding is formed, the lower casing is used for fixing the arm and task load of the unmanned aerial vehicle, and the unfolding and folding of the unmanned aerial vehicle arm are driven by the extension and retraction movement of the lower casing relative to the upper casing. The wing folding and unfolding driving mechanism is arranged inside the double-layer nested casing and is used for providing power for the movement of the double-layer nested casing. One end of the recovery lifting hook is connected with the double-layer nested casing, and the other end is connected with a lifting device, which is used for realizing the locking and separation between the unmanned aerial vehicle and the lifting device.

[0010] Preferably, the wing folding and unfolding driving mechanism comprises a worm gear motor and a push rod, the worm gear motor is fixed inside the upper casing and connected with one end of the push rod, and the other end of the push rod is connected with the lower casing.

[0011] Preferably, the wing folding and unfolding driving mechanism further comprises an arm support frame, the other end of the push rod is connected with the unmanned aerial vehicle arm through the arm support frame, and the unmanned aerial vehicle arm is connected with the lower casing.

[0012] Preferably, the wing folding and unfolding driving mechanism converts the rotary motion into linear thrust through the push rod by the forward and reverse rotation of the worm gear motor, so as to drive the lower casing to drive the unmanned aerial vehicle arm to extend or retract.

[0013] Preferably, the device further comprises a locking mechanism arranged at the connecting position of the upper casing and the lower casing, which is activated when the lower casing moves to the preset position, so as to realize mechanical locking of the device.

[0014] Preferably, the locking mechanism is activated in such a way that the locking tongue of the locking mechanism pops out and is inserted into the corresponding lock hole of the lower casing, and the locking mechanism and the self-locking of the worm motor form double locking.

[0015] Preferably, the device further comprises a lifting ring and a magnetic sheet, wherein the lifting ring is fixedly installed on the top of the upper casing, and the magnetic sheet is fixedly installed on the top of the lifting ring.

[0016] Preferably, the recovery lifting hook comprises a counterweight cylinder, a battery, a remote control circuit and an electromagnet. The counterweight cylinder is internally fixed with the battery, the remote control circuit and the electromagnet, and is used to ensure that the recovery lifting hook always maintains a vertical posture during the lowering process.

[0017] Preferably, the recovery lifting hook further comprises a lifting hook fixed to the lower end of the counterweight cylinder, and when the unmanned aerial vehicle is lowered into the well, the electromagnet of the recovery lifting hook is powered on to pass through the lifting ring and adsorb the magnetic sheet, so as to firmly lock the unmanned aerial vehicle and the lifting hook together.

[0018] The second aspect of the present application discloses a method for recovering a rotary-wing tunnel unmanned aerial vehicle in a narrow channel, based on the device for recovering a rotary-wing tunnel unmanned aerial vehicle in a narrow channel according to the first aspect, comprising the following steps: When the unmanned aerial vehicle is in the folded state, the unmanned aerial vehicle is locked by the recovery lifting hook and is lowered to the working position; When the unmanned aerial vehicle reaches the working position, the recovery lifting hook releases the unmanned aerial vehicle, the double-layer nested casing is driven by the wing folding and unfolding driving mechanism to unfold the unmanned aerial vehicle support arm; When the unmanned aerial vehicle finishes work, the unmanned aerial vehicle lands below the recovery lifting hook, the double-layer nested casing is driven by the wing folding and unfolding driving mechanism to fold the unmanned aerial vehicle support arm, and the unmanned aerial vehicle is locked by the recovery lifting hook and then is recovered.

[0019] Compared with the prior art, the present application has at least the following beneficial effects: The application provides a fuselage storage mechanism based on linear contraction movement, which is different from the traditional rotating folding idea, can minimize the radial size, and is more suitable for the needs of the rotor unmanned aerial vehicle being retracted through the narrow vertical shaft opening. By designing the upper and lower layers of the nested casing which can slide relative to each other, and by driving the push rod by a remote control worm motor, the lower casing and the connected arm are driven to slide along the linear trajectory into the upper casing, so that the radial size of the whole machine is greatly reduced. Under the premise of ensuring the load and the internal space of the machine body, the efficiency of reducing the radial size is greatly improved; and through a small number of movable joints and matching surfaces, the mechanism jamming in the smoke environment is reduced; the task load (such as a fire extinguishing bomb thrower) is part of the lower layer structure, and the wing is retracted at the same time, which protects the task load and avoids the need to design a protective shell for the task device, thereby saving space and weight, and making the unmanned aerial vehicle design more compact and efficient.

[0020] Meanwhile, the application integrates a double locking mechanism composed of an electromagnetic control buckle lock and a worm self-locking feature, provides anti-reverse torque capability, and effectively prevents accidental unfolding or loosening of the wing due to vibration impact in the case of swinging and collision of the unmanned aerial vehicle being hung by a hook, ensures the safety of the hanging process, and increases the electromagnetic adsorption type recovery hook, which cooperates with the magnetic hook ring at the top of the fuselage to realize active locking and release of the unmanned aerial vehicle through electromagnetic force, ensures that the unmanned aerial vehicle will not fall off due to shaking during the hanging process in the long vertical shaft, and can be reliably released and locked for recovery by manual ground remote operation after reaching the bottom of the shaft, thereby ensuring the safety and stability of the whole process of hanging and recovery.

[0021] The device greatly improves the space passability, the overall radial size of the unmanned aerial vehicle after being folded is reduced by more than 40%, so that it can stably and reliably pass through the extremely narrow vertical maintenance channel, and the entering bottleneck in the deployment stage is solved. Secondly, the device realizes unmanned close-to-operation, relying on the forward and reverse driving force provided by the electric control worm motor, the ground operator can remotely instruct the unmanned aerial vehicle to autonomously complete the accurate unfolding and reliable folding of the arm in the shaft, completely avoiding the need for personnel to enter the high-risk environment, and improving the operation safety. Thirdly, the device shows better environmental adaptability and reliability, the linear contraction mechanism is relatively simple and easy to seal, the electromechanical driving mode is less affected by high temperature, smoke and other adverse factors than temperature-sensitive pneumatic elements or pollution-fearing gear mechanisms, and the double locking mechanism greatly enhances the impact resistance in the conditions of hoisting and shaking, ensuring the continuity and reliability of the operation process. Finally, the application directly fixes the task load (such as a fire extinguishing bomb thrower) to the lower movable casing, realizes the cooperative movement and protection of the folding mechanism and the task module, optimizes the overall layout and saves space and weight.

[0022] In summary, the present application provides an efficient, reliable and practical comprehensive technical solution to solve the problem of unmanned deployment and recovery of unmanned aerial vehicles in extreme narrow space. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is the unmanned aerial vehicle wing deployment state; Figure 2 is the device recovery hook schematic diagram of the present application; Figure 3 is the device recovery hook and unmanned aerial vehicle magnet ring locking state of the present application; Figure 4 is the unmanned aerial vehicle wing retraction state; Figure 5 is the schematic diagram of the unmanned aerial vehicle passing through the shaft under the wing retraction condition; In the figure: 1. upper casing; 2. lower casing; 3. worm motor; 4. push rod; 5. locking mechanism; 6. lifting ring; 7. magnetic sheet; 8. lifting hook; 9. electromagnet; 10. counterweight cylinder; 11. arm support frame. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The embodiments described in the present application are only a part of the embodiments of the present application, not all the embodiments. All other embodiments obtained by those skilled in the art without creative labor based on the spirit of the present application are within the protection scope of the present application.

[0025] As Figures 1-5 shown, embodiment 1 of the present application provides a device for recovering a rotary-wing unmanned aerial vehicle in a narrow channel, especially suitable for a high-voltage cable tunnel where early fire occurs, a narrow and high-risk environment where personnel are difficult to enter, and aims to solve the technical problem that existing unmanned aerial vehicles cannot realize unmanned deployment and recovery under extreme size constraints.

[0026] The device comprises a double-layer nested casing, a wing folding and unfolding driving mechanism, a locking mechanism 5, a lifting ring 6 and a magnetic sheet 7, and a recovery lifting hook 8.

[0027] The double-layer nested casing comprises an upper casing 1 and a lower casing 2. The lower casing 2 is nested inside the upper casing 1 through a slide rail or guide rail mechanism, and the two have a relative linear sliding connection relationship. The upper casing 1 serves as the main support structure and is fixedly connected with the unmanned aerial vehicle core flight control and power system; the lower casing 2 serves as a movable carrier and is used to fixedly install the arm and task load of the unmanned aerial vehicle.

[0028] The unmanned aerial vehicle arm is unfolded and folded by the extension and retraction movement of the lower casing 2 relative to the upper casing 1. Specifically, the lower casing 2 is fixed with an unmanned aerial vehicle arm support frame 11, and the unmanned aerial vehicle arm support frame 11 is driven to slide out or retract by the worm extension and retraction, and the unmanned aerial vehicle arm support frame 11 fixed to the lower casing 2 can push the unmanned aerial vehicle arm connection point to realize the unfolding or folding of the unmanned aerial vehicle arm, so as to realize the unfolding and folding of the wing. The design converts the traditional rotary folding movement into linear retraction movement, greatly reduces the radial envelope size of the unmanned aerial vehicle in the folded state, and enables it to smoothly pass through the maintenance shaft space with a diameter of less than 500mm.

[0029] In the specific implementation process, the lower casing 2 can be fixed with a delivery unit, such as a buckle type thrower, and the thrower can be fixed with a task load, such as aerogel fire extinguishing bomb.

[0030] The wing folding and unfolding drive mechanism includes a worm motor 3 and a push rod 4. The worm motor 3 is fixedly installed in the inside of the upper casing 1, the output shaft of the worm motor 3 is connected with one end of the push rod 4, and the other end of the push rod 4 is hingedly or fixedly connected with the lower casing 2.

[0031] The wing folding and unfolding drive mechanism receives remote instructions from the flight control system, converts the rotary motion into linear thrust through the forward and reverse rotation of the worm motor 3 through the push rod 4, thereby driving the lower casing 2 to extend or retract with the unmanned aerial vehicle arm, and realizing the unfolding and folding of the wing. The worm motor 3 is used as the driving source, which has self-locking characteristics, can be unlocked before the wing unfolds and folds through the energization of the electromagnetic valve, and can lock the position in the power-off state when reaching the working position or the wing folding position. It can also provide accurate and powerful bidirectional driving force, realizing the complete initiative and remote control of the unmanned aerial vehicle wing folding process.

[0032] The locking mechanism 5 is preferably an electromagnetic buckle locking mechanism, which is installed at the connection position of the upper casing 1 and the lower casing 2. When the lower casing 2 moves to the preset position of complete unfolding or complete folding, the locking mechanism 5 is mechanically locked and activated, the locking tongue of the locking mechanism 5 pops out and inserts into the corresponding lock hole of the lower casing 2, realizing mechanical locking. The locking mechanism 5 and the self-locking of the worm motor 3 form double locking protection, which greatly enhances the reliability in the working conditions of vibration and impact such as hoisting and transportation.

[0033] The lifting ring 6 is fixedly installed at the top center position of the upper casing 1, and the magnetic sheet 7 is fixedly installed at the top of the lifting ring 6. The lifting ring 6 is used for cooperating with the recovery lifting hook as a hoisting stress point, and the magnetic sheet 7 is made of magnetic material and is used for cooperating with the electromagnet 9 on the recovery lifting hook to realize adsorption locking. This provides a reliable hoisting interface for the unmanned aerial vehicle.

[0034] The recovery hook is an independent device connected with the hoisting equipment, and the recovery hook is composed of a counterweight cylinder 10, a battery, a remote control circuit, an electromagnet 9 and a hook 8.

[0035] During operation, the recovery hook can be deep into the maintenance channel through the cable or telescopic rod, when the unmanned aerial vehicle is lowered into the well, the electromagnet 9 of the recovery hook is energized, the hook 8 passes through the lifting ring 6 to adsorb the magnetic sheet 7 on the lifting ring 6, so that the unmanned aerial vehicle and the hook 8 are firmly locked as a whole, the locking is realized, the unmanned aerial vehicle is prevented from falling off, the unmanned aerial vehicle safely arrives in the underground tunnel, the unmanned aerial vehicle unfolds the wings to take off, the electromagnet 9 is de-energized, the unmanned aerial vehicle is released, and the unmanned aerial vehicle is transversely separated from the hook. When the unmanned aerial vehicle returns, the above steps are executed in reverse to lock the unmanned aerial vehicle, and the next step of recovery to the ground is facilitated. The design realizes the non-contact, remote electric control locking and separation between the unmanned aerial vehicle and the hoisting equipment.

[0036] Embodiment 2 of the present application provides a method for recovering a rotary-wing unmanned aerial vehicle in a narrow channel, based on the device for recovering a rotary-wing unmanned aerial vehicle in a narrow channel in embodiment 1, comprising the following steps: Step 1, performing unmanned aerial vehicle lowering operation; Specifically, when the unmanned aerial vehicle is in the arm folding state, it is lowered to the bottom of the well through the recovery hook, the operator remotely controls the electromagnet 9 to be energized, adsorbs the magnetic sheet 7 on the top of the unmanned aerial vehicle and locks it, and then lowers the unmanned aerial vehicle into the tunnel.

[0037] Step 2, performing unmanned aerial vehicle unfolding operation; Specifically, when the unmanned aerial vehicle is in place, the electromagnet 9 is de-energized to release the unmanned aerial vehicle, the remote control worm gear motor 3 is actuated to drive the lower shell 2 to retract to expose the launching unit, the support arm is unfolded to the working position, and the electromagnetic snap lock mechanism 5 is actuated to lock.

[0038] Step 3, performing unmanned aerial vehicle recovery operation; Specifically, after the task is completed, the unmanned aerial vehicle lands above the recovery hook, the remote control releases the locking mechanism 5, the worm gear motor 3 is reversely operated to drive the lower shell 2 to extend to cover the launching unit, the support arm is folded, the electromagnet of the recovery hook 8 is energized to adsorb and lock the unmanned aerial vehicle again, and finally the unmanned aerial vehicle is safely hoisted back to the ground.

[0039] The present application forms a complete solution through the cooperation of various components, successfully solves the technical problems of unmanned deployment and recovery of medium and large unmanned aerial vehicles in extremely narrow channels. Compared with the prior art, the present application has the advantages of strong passability, safe operation, high reliability, strong adaptability and the like.

[0040] Compared with the prior art, the present application has at least the following beneficial effects: The present application provides a body storage mechanism based on linear contraction motion, which is different from the traditional rotary folding idea, can minimize the radial size, and is more suitable for the needs of rotor unmanned aerial vehicle through narrow vertical shaft opening. By designing the upper and lower layers of the nested casing that can slide relative to each other, and by a remote control worm motor driving the push rod, the lower casing and the connected arm are driven along the linear trajectory to slide into the upper casing, thereby realizing the substantial reduction of the radial size of the whole machine. On the premise of ensuring the load and the internal space of the body, the efficiency of reducing the radial size is greatly improved; and through a small number of movable joints and matching surfaces, the mechanism jamming in the smoke environment is reduced; the task load (such as fire extinguishing bomb thrower) is part of the lower structure, and the wing folding also protects the task load, avoiding the need to design a protective shell for the task device, saving space and weight, and making the unmanned aerial vehicle design more compact and efficient.

[0041] At the same time, the present application integrates a double locking mechanism composed of an electromagnetic control buckle lock and a worm self-locking feature, providing anti-reverse torque capability. In the case of unmanned aerial vehicle being hoisted by a hook, possible swinging and collision, it can effectively prevent accidental unfolding or loosening of the wing due to vibration impact, ensure the safety of the hoisting process, and increase the electromagnetic adsorption type recovery hook. The top of the body is matched with the magnetic lifting ring to realize the active locking and release of the unmanned aerial vehicle through electromagnetic force, ensure that the unmanned aerial vehicle does not fall off due to shaking during the hoisting process in the long vertical shaft, and can be reliably released and locked for recovery by manual ground remote operation after reaching the bottom of the shaft, together ensuring the safety and stability of the whole process of hoisting and recovery.

[0042] The device greatly improves the space passability, the design can make the overall radial size of the unmanned aerial vehicle after folding reduced by more than 40%, so that it can stably and reliably pass through the extremely narrow vertical maintenance channel, and solve the bottleneck of entering the deployment stage. Secondly, the device realizes unmanned close operation, relying on the forward and reverse driving force provided by the electric control worm motor, the ground operator can remotely instruct the unmanned aerial vehicle to autonomously complete the accurate expansion and reliable folding of the arm in the well, completely avoiding the need for personnel to enter the high-risk environment, and improving the operation safety. Thirdly, the device shows better environmental adaptability and reliability, the linear contraction mechanism is relatively simple and easy to seal, its electromechanical driving mode is far less affected by high temperature, smoke and other adverse factors than temperature-sensitive pneumatic elements or pollution-fearing gear mechanisms, and the double locking mechanism greatly enhances the impact resistance in the working conditions such as hoisting and shaking, ensuring the continuity and reliability of the operation process. Finally, the invention directly fixes the task load (such as fire extinguishing bomb thrower) to the lower movable shell, realizes the cooperative movement and protection of the folding and unfolding mechanism and the task module, optimizes the overall machine layout, saves space and weight.

[0043] In summary, the present application provides an efficient, reliable and practical comprehensive technical solution to solve the problem of unmanned deployment and recovery of unmanned aerial vehicles in extremely narrow space.

[0044] Finally, it should be noted that the above examples are used to illustrate the technical solutions of the present application, but not to limit it. Although the present application has been described in detail with reference to the above examples, those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application. Any modification or equivalent replacement without departing from the spirit and scope of the present application should be covered within the protection scope of the claims of the present application.

Claims

1. A device for recovering a rotary-wing tunnel drone in a narrow passage, characterized in that, include: Double-layer nested fuselage, wing retraction and extension drive mechanism, and recovery hook; The double-layer nested shell includes an upper shell (1) and a lower shell (2). The lower shell (2) is nested inside the upper shell (1) to form a relatively linear sliding connection. The lower shell (2) is used to fix the UAV's arms and mission payload. The extension and retraction of the lower shell (2) relative to the upper shell (1) drives the UAV's arms to unfold and retract. The wing retraction and extension drive mechanism is located inside the double-layer nested fuselage and is used to provide power for the movement of the double-layer nested fuselage. One end of the recovery hook is connected to the double-layer nested housing, and the other end is connected to the hoisting equipment, which is used to lock and separate the UAV from the hoisting equipment.

2. The device for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 1, characterized in that, The wing retraction and extension drive mechanism includes a worm motor (3) and a push rod (4). The worm motor (3) is fixed inside the upper housing (1) and connected to one end of the push rod (4). The other end of the push rod (4) is connected to the lower housing (2).

3. The device for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 2, characterized in that, The wing retraction and extension drive mechanism also includes a support arm bracket (11), the other end of the push rod (4) is connected to the UAV support arm through the support arm bracket (11), and the UAV support arm is connected to the lower shell (2).

4. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 3, characterized in that, The wing extension and retraction drive mechanism converts the rotational motion into linear thrust through the forward and reverse rotation of the worm motor (3) and the push rod (4), thereby driving the lower shell (2) to extend or retract the UAV arm.

5. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 1, characterized in that, The device further includes a locking mechanism (5), which is located at the connection between the upper housing (1) and the lower housing (2). When the lower housing (2) moves to a preset position, the locking mechanism (5) is activated to achieve mechanical locking of the device.

6. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 5, characterized in that, When the locking mechanism (5) is activated, the locking tongue of the locking mechanism (5) pops out and inserts into the corresponding lock hole of the lower housing (2), and the locking mechanism (5) and the self-locking of the worm motor (3) form a double lock.

7. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 1, characterized in that, The device further includes a lifting ring (6) and a magnetic plate (7), wherein the lifting ring (6) is fixedly installed on the top of the upper housing (1) and the magnetic plate (7) is fixedly installed on the top of the lifting ring (6).

8. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 7, characterized in that, The recovery hook includes: a counterweight cylinder (10), a battery, a remote control circuit and an electromagnet (9). The counterweight cylinder (10) contains a battery, a remote control circuit, and an electromagnet (9). The counterweight cylinder (10) is used to ensure that the recovery hook remains vertical during the lowering process.

9. The apparatus for recovering a rotary-wing tunnel UAV in a narrow passage according to claim 8, characterized in that, The recovery hook also includes a hook (8), which is fixed to the lower end of the counterweight cylinder (10). When the drone goes down into the well, the electromagnet (9) of the recovery hook is energized, and the hook (8) passes through the lifting ring (6) to attract the magnetic plate (7), thus firmly locking the drone and the hook (8) together.

10. A method for recovering a rotor-wing tunnel drone in a narrow passage, based on the apparatus for recovering a rotor-wing tunnel drone in a narrow passage according to any one of claims 1-9, characterized in that, Includes the following steps: When the drone is in the retracted arm position, the drone is locked in place by the recovery hook and lowered to the working position; When the drone arrives at the working position, the recovery hook releases the drone, and the double-layer nested shell is driven by the wing extension and retraction drive mechanism to unfold the drone's arms. After the drone finishes its work, it lands under the recovery hook. The double-layered nested shell is driven by the wing extension and retraction mechanism to retract the drone's arms. The drone is then locked in place by the recovery hook and recovered.

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