Sealed dedusting and safe charging integrated nest system for underground unmanned aerial vehicle

Abstract

The invention, which relates to the technical field of unmanned aerial vehicle intelligent charging, discloses an underground unmanned aerial vehicle sealed dedusting and safe charging integrated nest system comprising an unmanned aerial vehicle nest, a main lifting mechanism, an auxiliary positioning sliding table, a negative pressure purging device, a wireless charging assembly and a main control unit. The unmanned aerial vehicle nest realizes automatic opening, closing and sealing of a cover plate through a connecting rod transmission mechanism, and a purging nozzle and various environment sensors are arranged in the unmanned aerial vehicle nest; the main lifting mechanism adopts a multi-connecting-rod-guide-column structure to achieve lifting of the negative-pressure blowing device and the wireless charging assembly. The auxiliary positioning sliding table is responsible for horizontal switching between a dust removal station and a charging station; the negative-pressure purging device utilizes a high-speed centrifugal impeller to form a negative-pressure closed cavity at the bottom of the unmanned aerial vehicle, and magnetic particles are efficiently removed. The main control unit coordinates all the mechanisms, and full-process automatic operation of blowing dust removal of the unmanned aerial vehicle is achieved. The charging short circuit risk caused by conductive magnetic dust in the underground environment is effectively solved, and the operation safety and the continuous attendance capability of the unmanned aerial vehicle are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent charging technology for unmanned aerial vehicles (UAVs), and more specifically, to an integrated system for sealing, dust removal, and safe charging of underground UAVs. Background Technology

[0002] Currently, with the rapid development of drone technology, its application in industrial inspection is becoming increasingly widespread, especially in complex and high-risk environments such as underground mines and tunnels. Drones, with their flexibility, maneuverability, and lack of terrain limitations, have become important tools for performing daily inspections, safety monitoring, and data collection. To ensure continuous operation, drones typically return to pre-deployed dedicated recharge stations after completing their missions, thus forming a closed-loop operation mode of "inspection-charging-re-inspection".

[0003] However, in special mining environments with strong magnetic properties, such as those containing magnetite and hematite, drones performing low-altitude inspections, obstacle avoidance, or contact testing are highly susceptible to contamination of their fuselages, rotors, and especially their bottom structures with mud-water mixtures rich in magnetic particles (such as micron-sized iron powder and magnetite powder). These magnetic particles are not only tiny and highly adhesive, making them difficult to remove with conventional airflow or simple wiping, but more importantly, they possess excellent electrical conductivity. If not thoroughly removed before charging, residual magnetic particles may accumulate on the drone's charging contacts, battery compartment gaps, circuit board interfaces, or sensor surfaces. During charging, this can easily lead to localized current leakage, short circuits between electrodes, contact erosion, or even permanent damage to the control circuitry, seriously threatening the electrical safety and operational reliability of the equipment, while also significantly increasing maintenance costs and the risk of operational interruptions.

[0004] Faced with this unique operating condition, existing drone automatic charging station technologies have significant shortcomings. Most commercial or research-oriented charging stations focus only on autonomous landing, precise positioning, and wireless charging, without integrating effective cleaning modules, making them unable to cope with the environmental challenges of high dust and magnetic pollution. The few solutions that attempt to integrate cleaning functions mostly employ methods such as ordinary fan blowing, fixed brush wiping, or non-directional airflow cleaning, which lack sufficient cleaning power and targeting, failing to effectively break the magnetic particles adhering to the drone's surface, and unable to achieve precise cleaning of critical components such as charging ports and sensors. Furthermore, these solutions generally lack a sealed environment to ensure the cleaning process, easily causing secondary dust pollution during cleaning, and lack a closed-loop verification mechanism between cleaning effectiveness and charging safety.

[0005] Therefore, in special industrial scenarios where magnetic pollution is prominent, there is an urgent need for an integrated drone nesting system that can deeply integrate efficient sealed dust removal with safe charging. This system must not only have the ability to effectively remove magnetic particles, but also achieve a sealed, automated, and monitorable cleaning process. This will completely eliminate the safety hazards posed by conductive contaminants before charging, ensuring the long-term reliable operation and operational continuity of drones in harsh environments.

[0006] Chinese Patent Publication No. CN120423087A discloses an adaptive charging device for drone nests with dynamically adjustable charging power. The device includes a nest body, a display control panel on the front side of the nest body, a groove on the top surface of the nest body, and a landing platform installed inside the groove. Limiting rods and springs are fixedly installed on the inner top surface of the groove. The top surface of the landing platform has a first sliding groove and a second sliding groove. In this invention, after the drone lands on the landing platform, its own weight causes the landing platform to move downwards. At this time, four springs are compressed, and an infrared sensor detects that the distance to the landing platform is decreasing. Once the distance stabilizes, it can be confirmed that the drone has come to a stop on the top surface of the landing platform. Simultaneously, the four limiting blocks effectively restrict the position of the landing platform during movement, ensuring that it does not shift horizontally. This patent only supports contact charging in ground scenarios and lacks sealing and dust removal functions. Chinese Patent Publication No. CN120003765A discloses a structurally safe drone charging box. This safe charging box, through the setting of a support plate, allows the bottom of the drone to contact the top of the wireless charging unit when placed on the support plate. As the wireless charging unit contacts the drone, it moves downward under pressure, compressing the support spring. This ensures that the wireless charging unit remains in close contact with the bottom of the drone, guaranteeing the charging process during transportation. Simultaneously, the support plate cushions the forces experienced by the drone during transport, effectively improving the drone's portability and safety. This patent is only for portable charging boxes in static, clean environments. The above structure lacks dust removal capabilities, and contact charging is prone to dust accumulation and short circuits. Using spring-pressed contact / insertion charging can lead to poor contact, overheating, or arcing due to magnetic particle inclusion.

[0007] Therefore, there is an urgent need for an integrated drone nest system that combines sealing, negative pressure dust removal, and wireless charging functions to solve problems such as circuit failure, secondary dust generation, and manual intervention, thereby improving the reliability and service life of drones in complex underground environments. Summary of the Invention

[0008] To address the aforementioned technical problems, an integrated system for sealing, dust removal, and safe charging of downhole drones is provided. This system, through the coordinated control of a multi-link lifting platform and an auxiliary slide, achieves fully automated operation of the entire process, including automatic drone homing, comprehensive sealing and dust removal, and safe charging. This effectively solves the technical challenges of difficult drone maintenance and high charging risks in high-dust, strongly magnetic environments underground.

[0009] To achieve the above objectives, the present invention provides an integrated system for sealing, dust removal, and safe charging of downhole drones, comprising: a drone nest, a main lifting mechanism, an auxiliary positioning slide, a negative pressure blowing device, a wireless charging component, and a main control unit;

[0010] The drone nest includes a drone nest body, a drone nest cover, and a cover hinge; the drone nest body is equipped with a linkage transmission mechanism for driving the drone nest cover to open and close, and the drone nest cover is equipped with a proximity switch for detecting its open / closed state; the drone nest body is equipped with a frame, and the frame has square holes for the passage of lifting and cleaning mechanisms; the inner wall of the drone nest is equipped with a clean PM2.5 sensor, a temperature and humidity sensor, and a barometric pressure sensor for monitoring the internal air quality. The main lifting mechanism includes a main lifting mechanism motor, a main lifting screw, a main lifting screw slider, and a multi-link-guide column lifting platform; the multi-link-guide column lifting platform is composed of a first moving link, a first slide plate, a first supporting link, a first fixed link, a second slide plate, a second moving link, a second supporting link, a second fixed link, and a guide column, and is used to realize the smooth lifting and precise positioning of the negative pressure blowing device and the wireless charging component; The auxiliary positioning slide includes an auxiliary positioning slide motor, an auxiliary positioning lead screw, an auxiliary positioning lead screw slider, and an auxiliary positioning plate; the negative pressure blowing device and the wireless charging component are installed above the auxiliary positioning plate to realize automatic switching between dust removal and charging positions. The negative pressure purging device includes a negative pressure purging motor, a centrifugal impeller seat, a centrifugal impeller, a baffle, and a negative pressure purging box with a rubber ring on the top; the rubber ring is used to form a near-sealed cavity together with the bottom of the UAV. The main control unit is used to control the coordinated operation of various mechanisms to complete the fully automated operation of drone homing, cover opening and closing, lifting and positioning, sealing and dust removal, workstation switching and wireless charging in sequence.

[0011] Furthermore, the linkage transmission mechanism includes a motor, a motor output shaft, a cover plate connecting rod one, a cover plate connecting rod two, and a cover plate connecting seat; the motor output shaft is fixedly connected to the cover plate connecting rod one, the cover plate connecting rod one is rotatably connected to the cover plate connecting rod two, and the cover plate connecting rod two is rotatably connected to the cover plate connecting seat fixedly disposed inside the drone nest cover plate.

[0012] Furthermore, in the multi-link-guide column lifting platform, both ends of the first moving link and the second moving link roll within the waist-shaped grooves of the first slide plate and the second slide plate respectively through miniature radial ball bearings on the outer ring of the flange.

[0013] Furthermore, the inner wall and frame of the drone nest are equipped with multiple blow-blowing nozzles for cleaning the drones parked on the frame from all angles.

[0014] Furthermore, the number of the purging nozzles is 10, of which 6 are located on the inner wall of the UAV nest and 4 are located in the middle of the four sides of the frame.

[0015] Furthermore, the drone nest is also connected to an air intake pipe and an exhaust pipe, which are used in conjunction with the air pressure sensor to create and maintain a negative pressure blowing and cleaning environment inside the drone nest.

[0016] Furthermore, the main control unit is configured to perform the following steps: S1. Before the drone returns to its nest, the blower is activated to pre-clean the inside of the nest, and the air quality is monitored by the sensor. Once the air quality meets the standard, the cover is opened to guide the drone to land and the cover is closed. S2. Control the main lifting mechanism to rise, so that the rubber ring of the negative pressure blowing device contacts the bottom of the drone to form a sealed cavity, start the negative pressure blowing motor to remove dust from the bottom of the drone in a directional manner, and start the blowing nozzle to blow the drone in all directions, and monitor the cleaning effect in real time. S3. After cleaning is completed, control the auxiliary positioning slide to move and switch the wireless charging component to the bottom of the drone battery for non-contact charging. S4. After charging is complete, control all mechanisms to reset to their initial state.

[0017] The present invention also provides an underground drone, comprising a body, several carbon fiber tube arms, several propeller motors, several propellers, a camera, a battery, and a tripod; The plurality of carbon fiber tube arms are evenly arranged around the outer perimeter of the machine body; the plurality of propeller motors are fixedly installed at the ends of the plurality of carbon fiber tube arms; the plurality of propellers are installed on the output shafts of the propeller motors; the camera is installed on the top surface of the machine body; the battery is installed on the bottom surface of the machine body; the tripod is set at the bottom of the machine body, and its support height is higher than the height of the battery.

[0018] Furthermore, it also includes a visual sensor and an infrared sensor; both the visual sensor and the infrared sensor are fixedly installed on the bottom surface of the machine body.

[0019] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. The present invention provides an integrated nesting system for sealing, dust removal and safe charging of underground drones, which realizes fully automated intelligent operation and maintenance. The system automatically coordinates the entire process of drone homing, sealing, cleaning and charging through the main control unit. Combined with PM2.5, temperature and humidity and air pressure sensors, it realizes closed-loop control, which significantly reduces manual intervention and improves the operation and maintenance efficiency and system reliability in the harsh underground environment.

[0020] 2. The present invention provides an integrated sealing, dust removal, and safe charging system for underground drones, which efficiently removes magnetic dust and eliminates safety hazards. Targeting the conductive magnetic particles unique to underground magnetite environments, it employs a negative pressure blowing device and omnidirectional blowing to selectively remove magnetic contaminants from key parts of the drone's bottom, effectively preventing short circuits and contact erosion, and significantly improving the operational safety and service life of drones in strong magnetic and dusty environments.

[0021] 3. The present invention provides an integrated sealing, dust removal, and safe charging system for downhole UAVs, featuring high-precision sealing positioning and a reliable structural design. The UAV nest uses a linkage-driven cover plate mechanism to ensure sealing; the lifting mechanism achieves smooth and precise lifting through the cooperation of multi-link guide columns and slide grooves; and the auxiliary slide completes the precise positioning and switching between dust removal and charging positions. The overall structure takes into account sealing, precision, and reliability.

[0022] 4. The present invention provides an integrated nesting system for sealing, dust removal, and safe charging of underground drones, which improves the drone's attendance rate and scene adaptability. The integrated design enables the drone to quickly complete cleaning and charging after returning to the nest, shortening maintenance time. The modular architecture and adjustable parameters make it adaptable to various high-dust industrial scenarios such as tunnels and construction sites, significantly improving the continuous operation capability and application range of the drone fleet. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the integrated sealing, dust removal, and safe charging system for underground drones as described in this invention, when the cover is opened; Figure 2 This is a top view of the overall structure of the well-drilled UAV integrated sealing, dust removal, and safe charging nest system when the cover is opened, as described in this invention. Figure 3 This is a schematic diagram of the main lifting mechanism, auxiliary positioning slide, bottom battery compartment and sensor negative pressure blowing device and wireless charging component of an integrated well-sealed dust removal and safe charging system for downhole drones according to the present invention; Figure 4 This is a schematic diagram (II) of the main lifting mechanism, auxiliary positioning slide, bottom battery compartment and sensor negative pressure blowing device and wireless charging component of an integrated well-sealed dust removal and safe charging system for downhole drones, as described in this invention. Figure 5 This is a cross-sectional structural diagram of the auxiliary positioning slide, the bottom battery compartment and sensor negative pressure blowing device of the well-drilling UAV sealing dust removal and safe charging integrated nest system, and the wireless charging component described in this invention. Figure 6 This is an isometric view of the auxiliary positioning slide, the negative pressure blowing device for the bottom battery compartment and sensors of the drone, and the wireless charging component of the integrated sealing, dust removal and safe charging system for downhole drones described in this invention. Figure 7 This is a schematic diagram of the overall structure of an underground unmanned aerial vehicle (UAV) with an integrated sealing, dust removal, and safe charging system as described in this invention; Figure 8 This is a schematic diagram (II) of the overall structure of an underground unmanned aerial vehicle (UAV) nesting system integrating sealing, dust removal, and safe charging, as described in this invention.

[0025] In the diagram: 1. Drone nest body; 2. Drone nest cover plate; 3. Cover plate pivot; 4. Motor; 5. Motor output shaft; 6. Cover plate connecting rod one; 7. Cover plate connecting rod two; 8. Cover plate connecting seat; 9. Proximity switch; 10. Frame; 11. Clean-type PM2.5 sensor; 12. Temperature and humidity sensor; 13. Barometric pressure sensor; 14. Main lifting mechanism motor; 15. Main lifting screw slider; 16. Main lifting screw; 17. First moving connecting rod; 18. Flange outer ring miniature radial ball bearing; 19. First slide plate; 20. First support connecting rod; 21. First fixed connecting rod; 22. Second slide plate; 23. Second moving connecting rod; 24. Second support connecting rod; 25. Second fixed connecting rod; 26. Rotating pin; 27. Lower support plate; 28. Upper support plate; 29. ​​Guide column; 30. Auxiliary positioning slide motor; 31. 31. Auxiliary positioning lead screw slider; 32. Auxiliary positioning lead screw; 33. Wireless charging component; 34. Negative pressure purging motor; 35. Centrifugal impeller seat; 36. Centrifugal impeller; 37. Baffle; 38. Air inlet pipe; 39. Exhaust pipe; 40. Purging nozzle; 41. Machine body; 42. Carbon fiber tube arm; 43. Propeller motor; 44. Propeller; 45. Electronic control device; 46. Camera; 47. Battery; 48. Vision sensor; 49. Infrared sensor; 50. Leg; 51. Main control unit. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0030] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] like Figures 1 to 8As shown, the present invention provides an integrated system for sealing, dust removal and safe charging of downhole drones, comprising a drone nest, a main lifting mechanism, an auxiliary positioning slide, a negative pressure blowing device, a wireless charging component 33 and a main control unit 51; The drone nest includes a drone nest body 1, a drone nest cover 2, and a cover shaft 3. A motor 4 is installed inside the drone nest. The motor output shaft 5 is fixedly connected to a first cover rod 6, which is rotatably connected to a second cover rod 7. The second cover rod 7 is rotatably connected to a cover connecting seat 8, which is fixedly located inside the drone nest cover 2. Rotation of the motor output shaft 5 drives the first cover rod 6 to rotate around the motor output shaft 5. The first cover rod 6 drives the second cover rod 7 to move, which in turn drives the cover connecting seat 8 and the drone nest cover 2 to move, thus opening and closing the cover. A proximity switch 9 is provided on the drone nest cover 2 to confirm the open / closed state of the cover in real time.

[0034] like Figure 1 and Figure 2 As shown, the drone nest 1 has an internal frame 10 with square holes serving as physical channels for the lower lifting and cleaning mechanisms, facilitating dust removal and charging operations. The inner wall of the drone nest 1 is equipped with a clean-type PM2.5 sensor 11, a temperature and humidity sensor 12, and a barometric pressure sensor 13 to monitor the air quality and pressure fluctuations within the nest in real time. The nest is also connected to an air inlet pipe 38 and an exhaust pipe 39, which, in conjunction with the adjustment of the main control unit 5151, can create and maintain a specific pressure for purging within the nest. This design provides a protected parking space for the drone and achieves smooth opening and closing of the cover through a linkage mechanism, ensuring the nest's airtightness and providing a stable environment for subsequent cleaning and charging operations. A proximity switch 9 reliably monitors the cover's status, while the square holes provide channels for the lifting and cleaning mechanisms.

[0035] To address the dust on the surface of the drone, a total of 10 cleaning nozzles 40 are arranged on the inner wall of the drone nest 1 and on the frame 10. Six of them are located on the inner wall of the drone nest 1, and four are located in the middle of the four sides of the frame 10, ensuring 360° all-round cleaning of the drone without any blind spots.

[0036] Furthermore, the main lifting mechanism includes a main lifting mechanism motor 14, a main lifting screw slider 15, a main lifting screw 16, and a multi-link-guide column 29 lifting platform. The multi-link-guide column 29 lifting platform is composed of a first moving link 17, a first slide plate 19, a first support link 20, a first fixed link 21, a second slide plate 22, a second moving link 23, a second support link 24, a second fixed link 25, and a guide column 29. The main lifting mechanism motor 14 is fixedly installed on one side of the lower support plate 27, and its output end is connected to the main lifting screw 16. The main lifting screw 16 is horizontally arranged above the lower support plate 27 and supported on the lower support plate 27 by bearing seats. The main lifting screw slider 15 is fitted with... Mounted on the main lifting screw 16, the slider is driven to reciprocate horizontally along the screw axis by the rotation of the screw. The first support link 20 and the second support link 24 form a cross-hinged structure through the rotating pin 26. The two ends of the first moving link 17 and the second moving link 23 roll in the waist-shaped grooves of the first slide plate 19 and the second slide plate 22 respectively through the flange outer ring miniature radial ball bearings 18. The lower support plate 27 serves as the base of the entire mechanism, and the upper support plate 28 is located above the linkage assembly, used to support the auxiliary positioning slide and the subsequent dust removal and charging components. Guide posts 29 are vertically provided at the four corners of the lower support plate 27, and the guide posts 29 pass through the guide holes or guide bushings on the upper support plate 28. Under the push of the linkage assembly, the upper support plate 28 moves smoothly up and down in the vertical direction along the guide posts 29, realizing the smooth lifting and precise positioning of the negative pressure blowing device and the wireless charging component 33.

[0037] Furthermore, the linkage transmission mechanism includes a motor 4, a motor output shaft 5, a cover plate connecting rod one 6, a cover plate connecting rod two 7, and a cover plate connecting seat 8; the motor output shaft 5 is fixedly connected to the cover plate connecting rod one 6, the cover plate connecting rod one 6 is rotatably connected to the cover plate connecting rod two 7, and the cover plate connecting rod two 7 is rotatably connected to the cover plate connecting seat 8, which is fixedly installed inside the drone nest cover plate 2.

[0038] Furthermore, the auxiliary positioning slide includes an auxiliary positioning slide motor 30, an auxiliary positioning lead screw slider 31, an auxiliary positioning lead screw 32, and an auxiliary positioning plate. The auxiliary positioning slide motor 30 drives the auxiliary positioning lead screw 32, which in turn drives the auxiliary positioning lead screw slider 31 and the auxiliary positioning plate to reciprocate. A negative pressure blowing device and a wireless charging component 33 are installed above the auxiliary positioning plate. This design allows the system to accurately position the dust removal station or the charging station through horizontal displacement at the same lifting height, thereby realizing automatic switching between the dust removal and charging stations.

[0039] Furthermore, the negative pressure purging device includes a negative pressure purging motor 34, a centrifugal impeller seat 35, a centrifugal impeller 36, a baffle 37, and a negative pressure purging box with a rubber ring on the top. The rubber ring and the bottom of the drone together form a nearly sealed cavity, and the high-speed centrifugal impeller 36 generates negative pressure airflow to remove magnetic particles attached to the bottom of the drone.

[0040] The main control unit 51 is used to control the coordinated work of various mechanisms to complete the fully automated operation of drone homing, cover opening and closing, lifting and positioning, sealing and dust removal, workstation switching and wireless charging in sequence.

[0041] Furthermore, the main control unit 51 is configured to perform the following steps: S1. Before the drone returns to its nest, start the 40-purge nozzle to pre-clean the inside of the nest and monitor the air quality through sensors. Once the air quality meets the standard, control the cover to open, guide the drone to land and close the cover. S2. Control the main lifting mechanism to rise, so that the rubber ring of the negative pressure blowing device contacts the bottom of the drone to form a sealed cavity, start the negative pressure blowing motor 34 to perform directional dust removal on the bottom of the drone, and at the same time start the blowing nozzle 40 to perform all-round blowing on the drone, and monitor the cleaning effect in real time. S3. After cleaning is completed, control the auxiliary positioning slide to move and switch the wireless charging component 33 to the bottom of the drone battery 47 for non-contact charging. S4. After charging is complete, control all mechanisms to reset to their initial state.

[0042] Through the above-mentioned synergistic control, the present invention effectively solves the risk of short circuit during charging caused by magnetic dust in strong magnetic environments such as magnetite.

[0043] The present invention also provides an underground drone, including a body 41, a plurality of carbon fiber tube arms 42, a plurality of propeller motors 43, a plurality of propellers 44, an electronic control device 45, a camera 46, a battery 47 and a tripod 50. The plurality of carbon fiber tube arms 42 are evenly arranged around the outer periphery of the body 41; the plurality of propeller motors 43 are fixedly installed at the ends of the plurality of carbon fiber tube arms 42 in a corresponding manner; the plurality of propellers 44 are installed on the output shafts of the propeller motors 43 in a corresponding manner; the camera 46 is installed on the top surface of the body 41; the battery 47 is installed on the bottom surface of the body 41; the tripod 50 is set at the bottom of the body 41, and its support height is higher than the height of the battery 47.

[0044] Furthermore, it also includes a vision sensor 48 and an infrared sensor 49; both the vision sensor 48 and the infrared sensor 49 are fixedly installed on the bottom surface of the body 41.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sealed dust removal and safe charging integrated system for underground unmanned aerial vehicles (UAVs), characterized in that, include: The drone nest, main lifting mechanism, auxiliary positioning slide, negative pressure purging device, wireless charging components and main control unit; The drone nest includes a drone nest body (1), a drone nest cover plate (2), and a cover plate pivot (3); the drone nest body (1) is provided with a linkage transmission mechanism for driving the drone nest cover plate (2) to open and close, and the drone nest cover plate (2) is provided with a proximity switch (9) for detecting its opening and closing state; the drone nest body (1) is provided with a frame (10), and the frame (10) is provided with a square hole for the lifting and cleaning mechanism to pass through; the inner wall of the drone nest body (1) is provided with a clean PM2.5 sensor (11), a temperature and humidity sensor (12), and a barometric pressure sensor (13) for monitoring the internal air quality. The main lifting mechanism includes a main lifting mechanism motor (14), a main lifting screw (16), a main lifting screw slider (15), and a multi-link-guide column lifting platform; the multi-link-guide column lifting platform is composed of a first moving link (17), a first slide plate (19), a first supporting link (20), a first fixed link (21), a second slide plate (22), a second moving link (23), a second supporting link (24), a second fixed link (25), and a guide column (29), used to realize the smooth lifting and precise positioning of the negative pressure blowing device and the wireless charging component; The auxiliary positioning slide includes an auxiliary positioning slide motor (30), an auxiliary positioning lead screw (32), an auxiliary positioning lead screw slider (31), and an auxiliary positioning plate; the negative pressure blowing device and the wireless charging component are installed on the top of the auxiliary positioning plate to realize the automatic switching between dust removal and charging positions; The negative pressure purging device includes a negative pressure purging motor (34), a centrifugal impeller seat (35), a centrifugal impeller (36), a baffle (37), and a negative pressure purging box with a rubber ring on the top; the rubber ring is used to form an approximately sealed cavity together with the bottom of the UAV. The main control unit (51) is used to control the collaborative work of each mechanism to complete the entire process of automated operation, including drone homing, cover opening and closing, lifting and positioning, sealing and dust removal, workstation switching and wireless charging.

2. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to claim 1, characterized in that, The linkage transmission mechanism includes a motor (4), a motor output shaft (5), a cover plate connecting rod one (6), a cover plate connecting rod two (7), and a cover plate connecting seat (8); the motor output shaft (5) is fixedly connected to the cover plate connecting rod one (6), the cover plate connecting rod one (6) is rotatably connected to the cover plate connecting rod two (7), and the cover plate connecting rod two (7) is rotatably connected to the cover plate connecting seat (8) which is fixedly installed inside the drone nest cover plate (2).

3. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to claim 1, characterized in that, In the multi-link-guide column lifting platform, both ends of the first moving link (17) and the second moving link (23) roll in the waist-shaped grooves of the first slide plate (19) and the second slide plate (22) respectively through the flange outer ring miniature radial ball bearing (18).

4. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to claim 1, characterized in that, The inner wall of the drone nest (1) and the frame (10) are provided with multiple blow-blowing nozzles (40) for cleaning the drones parked on the frame (10) in all directions.

5. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to claim 4, characterized in that, The number of the purge nozzles (40) is 10, of which 6 are located on the inner wall of the UAV nest (1) and 4 are located in the middle of the four sides of the frame (10).

6. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to claim 1, characterized in that, The drone nest (1) is also connected to an air inlet pipe (38) and an exhaust pipe (39), which are used to cooperate with the air pressure sensor (13) to form and maintain a negative pressure blowing and cleaning environment inside the drone nest (1).

7. The integrated sealing, dust removal, and safe charging system for downhole UAVs according to any one of claims 1 to 6, characterized in that, The main control unit (51) is configured to perform the following steps: S1. Before the drone returns to its nest, start the blow nozzle (40) to pre-clean the inside of the nest, and monitor the air quality through the sensor. Once the air quality meets the standard, control the cover to open, guide the drone to land and close the cover. S2. Control the main lifting mechanism to rise, so that the rubber ring of the negative pressure blowing device contacts the bottom of the drone to form a sealed cavity, start the negative pressure blowing motor (34) to perform directional dust removal on the bottom of the drone, and at the same time start the blowing nozzle (40) to perform all-round blowing on the drone, and monitor the cleaning effect in real time. S3. After cleaning is completed, control the auxiliary positioning slide to move and switch the wireless charging component to the bottom of the drone battery for non-contact charging. S4. After charging is complete, control all mechanisms to reset to their initial state.

8. A downhole unmanned aerial vehicle (UAV) for use in an integrated nesting system as described in any one of claims 1 to 7, characterized in that, Includes the fuselage (41), several carbon fiber tube arms (42), several propeller motors (43), several propellers (44), camera (46), battery (47) and tripod (50). The plurality of carbon fiber tube arms (42) are evenly arranged around the outer periphery of the body (41); the plurality of propeller motors (43) are fixedly installed at the ends of the plurality of carbon fiber tube arms (42) in a corresponding manner; the plurality of propellers (44) are installed on the output shaft of the propeller motors (43) in a corresponding manner; the camera (46) is installed on the top surface of the body (41); the battery (47) is installed on the bottom surface of the body (41); the tripod (50) is set at the bottom of the body (41), and its support height is higher than the height of the battery (47).

9. The downhole drone according to claim 8, characterized in that, It also includes a vision sensor (48) and an infrared sensor (49), both of which are fixedly mounted on the bottom surface of the body (41).

Images