Light hanging rope type tunnel inspection device

Abstract

The invention relates to a light hanging rope type tunnel inspection device which comprises an unmanned aerial vehicle body, a steel rope, a cantilever and an image collecting mechanism, the steel rope is arranged in a tunnel in a penetrating mode, and the unmanned aerial vehicle body is hung on the steel rope through the cantilever and can move along the steel rope under the action of power of the unmanned aerial vehicle body; and the bottom of the unmanned aerial vehicle body is connected with an image acquisition mechanism through a rotary holder. According to the light hanging rope type tunnel inspection device, no rail needs to be deployed, only one steel rope needs to be installed, the light hanging rope type tunnel inspection device does not need wheels, the unmanned aerial vehicle is combined with the cantilever, the unmanned aerial vehicle can move along the steel rope, the steel rope can limit movement of the unmanned aerial vehicle in other directions, and the unmanned aerial vehicle can only move along the steel rope; and the problem that the unmanned aerial vehicle moves disorderly without signals in the tunnel is avoided, the structure is light, and the deployment cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel inspection, and particularly relates to a light rope-hanging type tunnel inspection device. BACKGROUND

[0002] The existing tunnel inspection device generally needs to walk on a track, so a track needs to be laid in the tunnel, and laying the track needs to consume a large amount of manpower and material resources, and the tunnel inspection device walking on the track is generally large in size and weight, and is inconvenient to maintain and install. SUMMARY

[0003] In order to solve one or several technical problems existing in the prior art, the present application provides a light rope-hanging type tunnel inspection device.

[0004] The technical scheme for solving the above technical problems is as follows: the present application provides a light rope-hanging type tunnel inspection device, which comprises a UAV body, a steel rope, a cantilever and an image acquisition mechanism, the steel rope is arranged in a tunnel, the UAV body is hung on the steel rope through the cantilever and can move along the steel rope under the action of its own power, and the bottom of the UAV body is connected with the image acquisition mechanism through a rotating holder.

[0005] The light rope-hanging type tunnel inspection device of the present application does not need to deploy any track, only needs to install a steel rope, does not need wheels, combines the UAV with the cantilever, the UAV can move along the steel rope, the steel rope can limit the movement of the UAV in other directions, can only move along the steel rope, avoids the problem of disordered movement of the UAV in the tunnel without signals, is light in structure, and saves deployment cost.

[0006] On the basis of the above technical scheme, the present application can also be improved as follows.

[0007] Further, the cantilever comprises a first connecting arm, a second connecting arm and a driving motor, the upper end of the first connecting arm is sleeved on the steel rope, the driving motor is fixed at the lower end of the first connecting arm, the motor shaft of the driving motor is fixedly connected with the upper end of the second connecting arm, and the lower end of the second connecting arm is fixedly connected with the top of the UAV body.

[0008] The beneficial effects of the above further scheme are that by arranging the driving motor, the first connecting arm and the second connecting arm, the position, angle and height of the UAV body can be adjusted by driving the UAV body to swing left and right by the driving motor, so that the image information in different angles and directions can be conveniently acquired.

[0009] Further, the top of the UAV body is provided with a power supply, and the power supply is electrically connected with the UAV body and the driving motor respectively.

[0010] The beneficial effect of adopting the above-mentioned further solution is that the power supply can be integrated on the drone body to provide power to the drone body and drive motor.

[0011] Furthermore, the motor shaft of the drive motor extends along the length of the steel rope.

[0012] Furthermore, the upper end of the second connecting arm is rotatably connected to the main structure of the drive motor via a bearing.

[0013] Furthermore, the upper end of the first connecting arm is connected to the hanging sleeve via a connecting block. The hanging sleeve is movably sleeved on the steel rope. The connecting block is fixed to one side of the lower end of the hanging sleeve. The lower side of the connecting block away from the hanging sleeve is fixedly connected to the upper end of the first connecting arm.

[0014] The beneficial effect of adopting the above-mentioned further solution is that it makes the installation between the first connecting arm and the hanging sleeve more stable and reliable.

[0015] Furthermore, two spaced ear plates are fixed to the lower side of the connecting block, and the upper end of the first connecting arm is inserted between the two ear plates and fixedly connected to the two ear plates by bolts.

[0016] The beneficial effect of adopting the above-mentioned further solution is that by setting the ear plate, the assembly between the connecting block and the first connecting arm is more stable and reliable.

[0017] Furthermore, the mounting sleeve is equipped with multiple balls or multiple rollers, and the balls or rollers can roll on the surface of the steel rope as the mounting sleeve moves along the steel rope.

[0018] The beneficial effect of adopting the above-mentioned further solution is that by setting ball bearings and rollers, the relative movement between the coupling sleeve and the steel rope is smoother.

[0019] Furthermore, the first connecting arm is inclined to one side of the steel rope, the second connecting arm is inclined to the other side of the steel rope, and the drone body is located directly below the steel rope.

[0020] The beneficial effect of adopting the above-mentioned further solution is that by arranging both the first connecting arm and the second connecting arm at an angle, it is easier to place the drone body directly under the steel cable and also easier to adjust the position of the drone body.

[0021] Furthermore, the image acquisition end of the image acquisition mechanism is arranged horizontally. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the main structure of the lightweight rope-type tunnel inspection device of the present invention. Figure 2 This is a three-dimensional structural diagram of the lightweight rope-type tunnel inspection device of the present invention.

[0023] The attached diagram lists the components represented by each number as follows: 1. UAV body; 11. Rotor; 12. Image acquisition mechanism; 13. Gimbal; 2. Steel rope; 3. First connecting arm; 31. Second connecting arm; 32. Drive motor; 33. Cable; 34. Connecting block; 35. Hanging sleeve; 36. Ear plate. Detailed Implementation

[0024] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0025] Example 1 like Figure 1 and Figure 2 As shown, this embodiment of a lightweight tethered tunnel inspection device includes a drone body 1, a steel cable 2, a cantilever, and an image acquisition mechanism 12. The steel cable 2 is threaded through the tunnel. The drone body 1 is suspended from the steel cable 2 by the cantilever and can move along the steel cable 2 under its own power. The bottom of the drone body 1 is connected to the image acquisition mechanism 12 via a rotating gimbal 13. The drone body 1 is powered by its own rotor. Since drones are generally controlled manually, but there is no signal after entering the tunnel, this embodiment, referencing the rotor structure and control method of drones, adjusts the rotor speed to change the total thrust and torque, thus enabling the drone to move. The overall design is still a tunnel robot, requiring the deployment of a wireless base station inside the tunnel to achieve autonomous driving. This structural approach only requires a single steel cable to meet the needs, eliminating the need for costly track deployment. This embodiment solves the problem of expensive track deployment and significantly reduces the robot's size and weight, making its operation in tunnels safer.

[0026] Furthermore, the image acquisition end of the image acquisition mechanism 12 is arranged horizontally, so it can rotate at any angle in the horizontal direction under the action of the rotating gimbal 13.

[0027] The drone body 1 in this embodiment can adopt a commonly used drone structure with multiple rotors 11, without requiring functional modifications. The image acquisition mechanism 12 in this embodiment can use existing image acquisition equipment commonly used in tunnel inspection, such as cameras. The rotating gimbal 13 also uses a mounting gimbal commonly used in cameras, enabling 360° rotation of the camera on it. The steel cable 2 in this embodiment uses a steel cable with a diameter of 5-10mm, with diameters of 5mm, 6mm, 7mm, 8mm, 9mm, and 10mm being optional. The cantilever in this embodiment uses a material that meets the usage requirements and has sufficient structural strength to mount the drone body 1.

[0028] In this embodiment, the steel cable 2 can be passed through the tunnel, and then the drone body 1 can be attached to the steel cable 2. The drone body 1 is constrained by the steel cable 2 and will not move randomly; it can only move along the steel cable 2 in the tunnel to perform inspections. The motion control of the drone body 1 can use common drone control functions.

[0029] This embodiment of a lightweight rope-mounted tunnel inspection device requires no track deployment and only the installation of a steel rope. The lightweight rope-mounted tunnel inspection device does not require wheels and combines a drone with a cantilever. The drone can move along the steel rope, which restricts the drone's movement in other directions, allowing it to move only along the steel rope. This also avoids the problem of the drone moving erratically without a signal in the tunnel. The structure is lightweight and saves deployment costs.

[0030] Example 2 Based on Embodiment 1, this embodiment provides a preferred structure for the cantilever. For example... Figure 1 and Figure 2 As shown, the cantilever in this embodiment includes a first connecting arm 3, a second connecting arm 31, and a drive motor 32. The upper end of the first connecting arm 3 is sleeved on the steel cable 2. The drive motor 32 is fixed to the lower end of the first connecting arm 3. The motor shaft of the drive motor 32 is fixedly connected to the upper end of the second connecting arm 31, and the lower end of the second connecting arm 31 is fixedly connected to the top of the UAV body 1. By setting up the drive motor, the first connecting arm, and the second connecting arm, the position, angle, and height of the UAV body can be adjusted by using the drive motor to drive the UAV body to swing left and right, which facilitates the acquisition of image information from different angles and orientations.

[0031] An optional integration scheme in this embodiment is that a power supply is installed on the top of the drone body 1, and the power supply is electrically connected to the drone body 1 and the drive motor 32 via cables 33. Integrating the power supply on the drone body allows for power supply to both the drone body and the drive motor.

[0032] like Figure 1 and Figure 2As shown, specifically, the motor shaft of the drive motor 32 extends along the length of the steel rope 2.

[0033] Furthermore, in this embodiment, the upper end of the second connecting arm 31 is rotatably connected to the main structure of the drive motor 32 via a bearing.

[0034] Example 3 Based on Embodiment 2, this embodiment provides a preferred assembly structure for the first connecting arm 3 and the hanging sleeve 35. For example... Figure 1 and Figure 2 As shown, in this embodiment, the upper end of the first connecting arm 3 is connected to the hanging sleeve 35 via a connecting block 34. The hanging sleeve 35 is movably sleeved on the steel rope 2. The connecting block 34 is fixed to one side of the lower end of the hanging sleeve 35, and the lower side of the connecting block 34 away from the hanging sleeve 35 is fixedly connected to the upper end of the first connecting arm 3. This makes the installation between the first connecting arm and the hanging sleeve more stable and reliable.

[0035] Preferred, such as Figure 1 and Figure 2 As shown, in this embodiment, two spaced-apart ear plates 36 are fixed to the lower side of the connecting block 34. The upper end of the first connecting arm 3 is inserted between the two ear plates 36 and fixedly connected to the two ear plates 36 by bolts. By setting the ear plates, the assembly between the connecting block and the first connecting arm is more stable and reliable.

[0036] In a further preferred embodiment, the coupling sleeve 35 of this embodiment is equipped with multiple balls or multiple rollers. As the coupling sleeve 35 moves along the steel rope 2, the balls or rollers can roll on the surface of the steel rope 2. By providing balls and rollers, the relative movement between the coupling sleeve and the steel rope becomes smoother.

[0037] Example 3 Based on Embodiment 2 or Embodiment 3, a preferred arrangement of the first connecting arm 3 and the second connecting arm 31 in this embodiment is as follows: Figure 2 As shown, the first connecting arm 3 is inclined to one side of the steel rope 2, and the second connecting arm 31 is inclined to the other side of the steel rope 2. The UAV body 1 is located directly below the steel rope 2. By arranging both the first and second connecting arms at an angle, it is easier to place the UAV body directly below the steel rope, and it is also easier to adjust the position of the UAV body and fine-tune the angle, thus making the overall structure more stable.

[0038] In the description of this invention, it should be understood that the terms "length", "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A lightweight rope-mounted tunnel inspection device, characterized in that, The system includes a drone body, a steel cable, a cantilever, and an image acquisition mechanism. The steel cable is run through a tunnel. The drone body is suspended from the steel cable by the cantilever and can move along the steel cable under its own power. The bottom of the drone body is connected to the image acquisition mechanism via a rotating gimbal.

2. The lightweight rope-mounted tunnel inspection device according to claim 1, characterized in that, The cantilever includes a first connecting arm, a second connecting arm, and a drive motor. The upper end of the first connecting arm is sleeved on the steel cable, the drive motor is fixed to the lower end of the first connecting arm, the motor shaft of the drive motor is fixedly connected to the upper end of the second connecting arm, and the lower end of the second connecting arm is fixedly connected to the top of the UAV body.

3. The lightweight rope-mounted tunnel inspection device according to claim 2, characterized in that, A power supply is installed on the top of the drone body, and the power supply is electrically connected to both the drone body and the drive motor.

4. The lightweight rope-mounted tunnel inspection device according to claim 2, characterized in that, The motor shaft of the drive motor extends along the length of the steel rope.

5. The lightweight rope-mounted tunnel inspection device according to claim 2, characterized in that, The upper end of the second connecting arm is rotatably connected to the main structure of the drive motor via a bearing.

6. The lightweight rope-mounted tunnel inspection device according to claim 2, characterized in that, The upper end of the first connecting arm is connected to the hanging sleeve via a connecting block. The hanging sleeve is movably sleeved on the steel rope. The connecting block is fixed to one side of the lower end of the hanging sleeve. The lower side of the connecting block away from the hanging sleeve is fixedly connected to the upper end of the first connecting arm.

7. The lightweight rope-mounted tunnel inspection device according to claim 6, characterized in that, Two spaced ear plates are fixed to the lower side of the connecting block. The upper end of the first connecting arm is inserted between the two ear plates and fixedly connected to the two ear plates by bolts.

8. The lightweight rope-mounted tunnel inspection device according to claim 6, characterized in that, The mounting sleeve is equipped with multiple balls or rollers, and the balls or rollers can roll on the surface of the steel rope as the mounting sleeve moves along the steel rope.

9. The lightweight rope-mounted tunnel inspection device according to claim 2, characterized in that, The first connecting arm is inclined to one side of the steel rope, the second connecting arm is inclined to the other side of the steel rope, and the drone body is located directly below the steel rope.

10. A lightweight rope-mounted tunnel inspection device according to any one of claims 1 to 9, characterized in that, The image acquisition end of the image acquisition mechanism is arranged horizontally.

Images