Indoor autonomous inspection coaxial dual-rotor unmanned aerial vehicle

Abstract

The application discloses an indoor autonomous inspection coaxial dual-rotor unmanned aerial vehicle, which comprises an anti-collision outer frame, an upper equipment cabin body, an actuating mechanism cabin body, a battery cabin, a coaxial dual-rotor power system, a lighting and camera module and a pluggable battery module. The anti-collision outer frame is a frame-skin split type spherical cage structure, which is in a whole spherical cage structure and completely wraps the rotor and the machine body. The coaxial dual-rotor power system adopts a non-total pitch period variable pitch coaxial dual-rotor three-blade propeller layout. The upper equipment cabin body, the actuating mechanism cabin body and the battery cabin are sequentially connected from top to bottom through quick release structures. The pluggable battery module is quickly plugged and installed from the bottom of the battery cabin. The indoor autonomous inspection coaxial dual-rotor unmanned aerial vehicle solves the problems of short endurance, loud noise, obvious vibration and inconvenient maintenance of the existing indoor unmanned aerial vehicle, and is suitable for long-time stable autonomous inspection operation in various limited spaces such as machine rooms, pipe corridors and workshops.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an indoor autonomous inspection coaxial dual-rotor UAV. Background Technology

[0002] Currently, most indoor inspection drones adopt a quadcopter layout, which has problems such as low aerodynamic efficiency, short endurance, high noise, and weak anti-interference ability.

[0003] The existing coaxial dual-rotor UAVs generally have the following defects: (1) The anti-collision frame is mostly a single plastic integral structure, which is not rigid enough and the vibration transmission is obvious, affecting the sensor and imaging quality; (2) The power system is mostly a two-bladed fixed pitch design, which has limited control accuracy and load capacity. The periodic variable pitch mechanism with collective pitch is complex and heavy, and is not suitable for small indoor platforms; (3) The batteries are mostly plugged in from the top or side, which is inconvenient to replace. The cell arrangement has low energy density and poor heat dissipation. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a coaxial dual-rotor autonomous inspection drone with high strength, low vibration, high efficiency, low noise and easy maintenance, which can effectively solve the problems in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an indoor autonomous inspection coaxial dual-rotor drone, comprising a collision-resistant outer frame, an upper equipment cabin, an actuator cabin, a battery compartment, a coaxial dual-rotor power system, a lighting and camera module, and a pluggable battery module;

[0006] The anti-collision frame is a frame-skin split spherical cage structure, which is spherical cage structure as a whole and completely wraps the rotor and fuselage;

[0007] The coaxial dual-rotor power system adopts a coaxial dual-rotor three-bladed propeller layout with zero collective pitch and periodic variable pitch.

[0008] The upper equipment compartment, the actuator compartment, and the battery compartment are connected sequentially from top to bottom via a quick-release structure;

[0009] The pluggable battery module can be quickly plugged in and installed from the bottom of the battery compartment.

[0010] As a preferred embodiment of the present invention, the anti-collision outer frame includes a carbon fiber PMI sandwich oblique outer frame, a front and rear connecting outer frame, an upward connecting frame, a top connector, a downward connecting frame, and an anti-collision frame skin.

[0011] The root of the carbon fiber PMI sandwich slanted outer frame is provided with a slanted outer frame root connection mechanism and forms three connectors. The upper connector is connected to the slanted outer frame connecting ear I of the upper equipment compartment, and the two lower connectors are connected to the slanted outer frame connecting ear II and slanted outer frame connecting ear III of the battery compartment, respectively, forming a three-point connection structure.

[0012] The front end of the front and rear connecting outer frame is connected to the front and rear connecting ear I of the upper equipment compartment, and the rear end is connected to the front and rear connecting ear II of the battery compartment.

[0013] The upward-connecting frame and the downward-connecting frame respectively connect the top and bottom of all carbon fiber PMI sandwich oblique outer frames and front and rear connecting outer frames;

[0014] The top connector secures the carbon fiber PMI sandwich core diagonally to the top of the outer frame;

[0015] The anti-collision frame skin is a thin carbon fiber plate with hexagonal perforations, fixed to the middle of the carbon fiber PMI sandwich oblique outer frame and the front and rear connecting outer frame and located on the outer ring of the propeller.

[0016] As a preferred technical solution of the present invention, the upper equipment compartment includes an upper equipment compartment cover, a carbon fiber connecting shell, and a lower equipment compartment cover;

[0017] The equipment bay upper cover is equipped with heat dissipation holes and a lidar cover. Inside, the lidar, airborne computing board, and flight control board are fixedly installed via a connecting frame.

[0018] As a preferred technical solution of the present invention, the actuator cabin includes an actuator cabin shell, which houses a coaxial dual-rotor power system, a periodic variable-pitch upper actuator, and a periodic variable-pitch lower actuator.

[0019] The coaxial dual rotor power system includes an upper hollow shaft brushless drive motor, a lower hollow shaft brushless drive motor, a hollow central fixed main shaft, and a periodic pitch control mechanism.

[0020] The upper periodic pitch-changing actuator includes an upper rotor blade clamp and pitch-changing rocker arm assembly, a blade root bushing, a rotor blade clamp, and a carbon fiber rotor blade, used to realize the periodic pitch-changing drive of the upper rotor.

[0021] The cyclic pitch lower actuator includes a lower rotor blade clamp and pitch rocker arm assembly, a blade root bushing, a rotor blade clamp, and a carbon fiber rotor blade, used to realize the cyclic pitch drive of the lower rotor.

[0022] The upper hollow shaft brushless drive motor is fixed to the lower cover of the equipment compartment via an upper motor mount.

[0023] The lower hollow shaft brushless drive motor is fixed to the bottom of the actuator compartment housing via the lower motor connecting plate;

[0024] The hollow center fixed main shaft passes through the upper hollow shaft brushless drive motor and the lower hollow shaft brushless drive motor, and its two ends are fixedly connected to the lower cover of the equipment compartment and the battery compartment, respectively.

[0025] The rotor blade clamp is integrated into the upper rotor blade clamp and variable pitch rocker arm assembly and the lower rotor blade clamp and variable pitch rocker arm assembly, and is used to cooperate with the blade root bushing to achieve the fixed installation of carbon fiber rotor blades.

[0026] As a preferred embodiment of the present invention, the cyclic pitch control mechanism includes an upper swashplate assembly, a lower swashplate assembly, a cyclic pitch servo, a linkage mechanism, and a pitch control rod.

[0027] The number of the periodic variable pitch servos is two, which are fixed to the inner wall of the actuator housing at a 90° angle;

[0028] The lower swashplate assembly is mounted on the hollow central fixed spindle and located above the brushless drive motor of the lower hollow shaft;

[0029] The upper swash plate assembly is mounted on the hollow central fixed main shaft and located below the upper hollow shaft brushless drive motor. The non-rotating parts of the two are rigidly connected to achieve synchronous movement.

[0030] The rotating part of the upper swashplate assembly is connected to the upper rotor blade clamp and the variable pitch rocker arm assembly via a variable pitch tie rod, and the rotating part of the lower swashplate assembly is connected to the lower rotor blade clamp and the variable pitch rocker arm assembly via a variable pitch tie rod.

[0031] As a preferred embodiment of the present invention, it further includes a swashplate limiter, which is fixedly installed on the hollow central fixed spindle and located between the upper swashplate assembly and the lower swashplate assembly, and is used to limit the axial displacement and tilting range of the upper swashplate assembly and the lower swashplate assembly.

[0032] As a preferred technical solution of the present invention, the propeller root bushing is an integrated damping structure, which is formed by vulcanizing an inner metal sleeve, an outer metal sleeve and an intermediate polyurethane elastomer, and applying a torsional preload of 0.3 to 0.8 N·m during assembly.

[0033] Each upper rotor blade clamp and pitch control arm assembly, and each lower rotor blade clamp and pitch control arm assembly, are connected to three carbon fiber rotor blades via three blade root bushings.

[0034] As a preferred technical solution of the present invention, the battery compartment includes an upper battery compartment cover, a carbon fiber outer frame for the battery compartment, and a bottom cover plate;

[0035] The upper cover of the battery compartment is used to fix the lower end of the hollow center fixed main shaft. The upper cover of the battery compartment is provided with a battery upper cover connection hole and a battery compartment heat dissipation hole. The battery compartment integrates and installs an ESC, a power management module, a battery compartment power connector female head, and a battery compartment limiting structure.

[0036] As a preferred embodiment of the present invention, the pluggable battery module adopts a 21700 all-tab cylindrical lithium battery, with the cells arranged in a ring along the central axis of the module.

[0037] The top of the pluggable battery module is provided with a male power connector, which is plugged into the female power connector of the battery compartment.

[0038] The battery compartment limiting structure includes a guide groove and an elastic buckle, which realizes the positioning, locking and quick insertion and removal of the pluggable battery module from the bottom.

[0039] As a preferred embodiment of the present invention, the lighting and camera module is fixed to the front-to-back connecting frame at the center of the front of the anti-collision frame, and includes a lighting and camera module housing, a tilting gimbal with an axis, a camera, and an LED light.

[0040] Compared with the prior art, the beneficial effects of the present invention are: (1) The carbon fiber PMI sandwich three-point connection anti-collision frame is adopted, which improves the stiffness, reduces the weight, and significantly reduces the vibration transmission. The hollow skin does not affect the aerodynamic efficiency; (2) The coaxial three-bladed propeller power system with no collective pitch and periodic variable pitch, combined with the integrated damping propeller root bushing, has high aerodynamic efficiency, low noise, fast control response, and outstanding vibration suppression effect; (3) The cylindrical battery with all tabs arranged in a ring and the bottom quick-connect structure has high energy density, good heat dissipation, and quick replacement. It supports automatic charging. At the same time, the three-chamber modular design allows for quick disassembly and assembly without tools, resulting in low maintenance costs and high deployment efficiency. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the outer frame structure of the present invention;

[0043] Figure 3 This is an exploded view of the outer frame structure of the present invention;

[0044] Figure 4 This is a schematic diagram of the upper equipment compartment of the present invention;

[0045] Figure 5 This is an exploded view of the upper equipment compartment;

[0046] Figure 6 This is a schematic diagram of the structure of the actuator housing of the present invention;

[0047] Figure 7 Exploded view of the actuator compartment;

[0048] Figure 8 This is a schematic diagram of the battery compartment structure of the present invention;

[0049] Figure 9 This is an exploded view of the battery compartment structure;

[0050] Figure 10 This is a schematic diagram of the battery compartment assembly.

[0051] Figure 11 This is a structural diagram of the lighting and camera module.

[0052] In the diagram: 1. Anti-collision frame; 2. Upper equipment compartment; 3. Actuator compartment; 4. Battery compartment; 5. Cyclic variable pitch upper actuator; 6. Cyclic variable pitch lower actuator; 7. Lighting and camera module; 8. LiDAR; 9. Equipment compartment upper canopy; 10. Slanted outer frame connecting lug I; 11. Forward and backward outer frame connecting lug I; 12. Carbon fiber connecting shell; 13. Equipment compartment lower canopy; 14. Equipment compartment upper canopy heat dissipation vents; 15. Onboard computing board; 16. Flight control board; 17. Connecting frame; 18. Upper motor mount; 19. Upper hollow shaft brushless drive motor; 20. Actuator compartment shell; 21. Lower hollow shaft brushless drive motor; 22. Lower rotor clip and variable pitch rocker arm assembly; 23. Hollow center fixed main shaft; 24. Upper rotor clip and variable pitch rocker arm assembly; 25. Rotor root bushing. 26. Rotor clip; 27. Carbon fiber rotor blade; 28. Swashplate limiter; 29. ​​Upper swashplate assembly; 30. Lower swashplate assembly; 31. Cyclic variable pitch servo; 32. Battery compartment upper cover; 33. Front and rear outboard frame connecting lug II; 34. Battery compartment heat dissipation hole; 35. Swashplate outboard frame connecting lug II; 36. Battery compartment carbon fiber outer frame; 37. Swashplate outboard frame connecting lug III; 38. Battery upper cover connecting hole; 39. Battery compartment power connector female head; 40. Lower motor connecting plate; 41. Battery compartment limiting structure; 42. Plug-in battery module; 43. Anti-collision frame skin; 44. Carbon fiber PMI sandwich swashplate outboard frame; 45. Swashplate outboard frame root connecting mechanism; 46. Front and rear connecting outer frame; 47. Top connector; 48. Ring upward connecting frame; 49. Ring downward connecting frame; 50. LED lighting; 51. Camera; 52. Lighting and camera module housing. Detailed Implementation

[0053] 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 (for ease of description and understanding, the following refers to...). Figure 1 The top of is the top. Figure 1(The preceding part is described as the preceding part). Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0054] Please see Figure 1-11 The present invention provides a technical solution: an indoor autonomous inspection coaxial dual-rotor drone, including a collision-proof outer frame 1, an upper equipment cabin 2, an actuator cabin 3, a battery compartment 4, a coaxial dual-rotor power system, a lighting and camera module 7, and a pluggable battery module 42.

[0055] The outer frame 1 is a frame-skin split spherical cage structure with a maximum overall diameter of Φ550mm. It completely encloses the rotor and fuselage, improving collision safety and suppressing vibration transmission.

[0056] The coaxial dual-rotor power system adopts a coaxial dual-rotor three-bladed propeller layout with no collective pitch and cyclic variable pitch, which has fast control response, high efficiency and low noise.

[0057] The upper equipment compartment 2, the actuator compartment 3, and the battery compartment 4 are connected sequentially from top to bottom via a quick-release structure, facilitating maintenance and component replacement.

[0058] The pluggable battery module 42 can be quickly plugged in and installed from the bottom of the battery compartment 4. The entire replacement process can be completed within 10 seconds, supporting continuous inspection of large indoor areas.

[0059] Specifically, the anti-collision outer frame 1 includes a carbon fiber PMI sandwich oblique outer frame 44, a front and rear connecting outer frame 46, an upward circumferential connecting frame 48, a top connector 47, a downward circumferential connecting frame 49, and an anti-collision frame skin 43.

[0060] The carbon fiber PMI sandwich oblique outer frame 44 is formed by hot pressing two layers of 0.5mm thick carbon fiber skin on the left and right sides with a 9mm thick PMI foam core in the middle. Its specific strength is more than three times that of aluminum alloy, and it has both high strength and lightweight characteristics. The root of the oblique outer frame is provided with an oblique outer frame root connection mechanism 45, which forms three connectors. The upper connector is connected to the oblique outer frame connecting ear I 10 of the upper equipment compartment 2 by M3 bolts. The two lower connectors are connected to the oblique outer frame connecting ear II 35 and oblique outer frame connecting ear III 37 of the battery compartment 4 by M3 bolts, forming a three-point connection structure. The overall stiffness is increased by more than 50%, the weight is reduced by 30%, and the vibration transmission is reduced by more than 40%. It effectively disperses the impact force of collision and significantly reduces the vibration transmission of the anti-collision outer frame, reducing the impact of vibration on internal electronic equipment and sensors.

[0061] The front and rear connecting outer frame 46 uses the same materials and processes as the carbon fiber PMI sandwich oblique outer frame 44. The front end is connected to the front and rear connecting ear I11 of the upper equipment compartment 2 by M3 bolts, and the rear end is connected to the front and rear connecting ear II33 of the battery compartment 4 by M2.5 bolts. This strengthens the rigidity of the camera 51 installation area, reduces imaging vibration, and improves the clarity and stability of the inspection images.

[0062] The upward-facing ring connecting frame 48 and the downward-facing ring connecting frame 49 respectively connect the top and bottom of all carbon fiber PMI sandwich core oblique outer frames 44 and front-to-back connecting outer frames 46, forming a stable cage frame.

[0063] Top connector 47 secures the carbon fiber PMI sandwich core to the top of the outer frame 44 at an angle;

[0064] The anti-collision frame skin 43 is made of 0.3mm thick high-strength carbon fiber sheet with hexagonal perforations evenly distributed on the surface. The hexagonal side length is 20mm and the hole spacing is 5mm. It is fixed to the middle of the carbon fiber PMI sandwich oblique outer frame 44 and the front-to-back connecting outer frame 46 by epoxy resin bonding and rivets, and is located on the outer ring of the propeller. The hexagonal honeycomb structure has excellent mechanical properties and can effectively absorb collision energy, playing a shock absorption and buffering role. The large-area perforation design provides ample air intake channels to ensure motor heat dissipation and rotor airflow, avoiding the impact of the outer frame on aerodynamic performance. At the same time, the thin skin design significantly reduces the overall weight of the outer frame and improves the payload of the UAV.

[0065] Specifically, the upper equipment compartment 2 includes an upper equipment compartment cover 9, a carbon fiber connecting shell 12, and a lower equipment compartment cover 13, and the components are fastened together by M3 bolts.

[0066] The equipment bay upper cover 9 is equipped with a heat dissipation hole 14 and a lidar cover. Inside, the lidar 8, the airborne computing board 15 and the flight control board 16 are fixedly installed through the connecting frame 17. The lidar 8 is installed in the center of the equipment bay upper cover 9 and is isolated from the outside world through a blue transparent protective cover, which ensures both laser emission and reception and provides protection.

[0067] A tightly coupled fusion algorithm of lidar and IMU is used to achieve centimeter-level positioning and dense 3D point cloud mapping in GPS-free environments;

[0068] Specifically, the actuator compartment 3 includes the actuator compartment shell 20, which houses the coaxial dual rotor power system, the cyclic pitch upper actuator 5, and the cyclic pitch lower actuator 6. The upper end of the actuator compartment shell 20 is fastened to the equipment compartment lower cover 13 by M4 bolts, and the lower end is fastened to the battery compartment upper cover 32 by M4 bolts.

[0069] The coaxial dual rotor power system includes an upper hollow shaft brushless drive motor 19, a lower hollow shaft brushless drive motor 21, a hollow center fixed main shaft 23, and a periodic pitch control mechanism.

[0070] The upper cyclic pitch-changing actuator 5 includes an upper rotor blade clamp and pitch-changing rocker arm assembly 24, a blade root bushing 25, a rotor blade clamp 26, and a carbon fiber rotor blade 27, which is used to realize the cyclic pitch-changing drive of the upper rotor.

[0071] The cyclic pitch lower actuator 6 includes a lower rotor blade clamp and pitch rocker arm assembly 22, a blade root bushing 25, a rotor blade clamp 26, and a carbon fiber rotor blade 27, which is used to realize the cyclic pitch drive of the lower rotor.

[0072] The upper hollow shaft brushless drive motor 19 is fixed to the lower cover 13 of the equipment compartment via the upper motor mount 18. The upper motor mount 18 is connected to the lower cover 13 of the equipment compartment via four M3 bolts. Its output shaft is connected to the upper rotor blade clamp and the variable pitch rocker arm assembly 24 via M3 bolts and fixed with a self-locking nut, driving the upper rotor to rotate clockwise.

[0073] The lower hollow shaft brushless drive motor 21 is fixed to the bottom of the actuator housing 20 via the lower motor connecting plate 40. The lower motor connecting plate 40 is connected to the actuator housing 20 via four M3 bolts. Its output shaft is connected to the lower rotor blade clamp and the variable pitch rocker arm assembly 22 via M3 bolts and fixed with a self-locking nut, driving the lower rotor to rotate counterclockwise.

[0074] The hollow center fixed main shaft 23 passes through the upper hollow shaft brushless drive motor 19 and the lower hollow shaft brushless drive motor 21. The upper end is fixedly connected to the lower cover 13 of the equipment compartment through a flange and M3 bolts, and the lower end is fixedly connected to the upper cover 32 of the battery compartment through a flange and bolts. It serves as the support shaft for the entire power system and provides a channel for internal cables.

[0075] The rotor clip 26 is integrated on the upper rotor clip and pitch control arm assembly 24 and the lower rotor clip and pitch control arm assembly 22, and cooperates with the rotor root bushing 25 to fix the carbon fiber rotor blade 27. The upper rotor clip and pitch control arm assembly 24 and the lower rotor clip and pitch control arm assembly 22 are both carbon fiber three-bladed rotors with a diameter of 550mm, symmetrically arranged on the same rotation axis. The lift and heading are independently controlled by the upper and lower hollow shaft motors.

[0076] The cyclic pitch control mechanism is used to control the pitch and roll of the entire aircraft, including the upper swashplate assembly 29, the lower swashplate assembly 30, the cyclic pitch servo 31, the linkage mechanism, and the pitch control rod.

[0077] There are two cyclic variable pitch servos 31, which are at a 90° angle and are evenly fixed to the inner wall of the actuator housing 20 by M3 bolts. Each servo has a servo rocker arm installed on its output shaft.

[0078] The lower swashplate assembly 30 is mounted on the hollow center fixed spindle 23 and located above the lower hollow shaft brushless drive motor 21. The upper swashplate assembly 29 is mounted on the hollow center fixed spindle 23 and located below the upper hollow shaft brushless drive motor 19. The non-rotating parts of the two are rigidly connected by three connecting rods to achieve synchronous movement.

[0079] The rotating part of the upper swashplate assembly 29 is connected to the upper rotor blade clamp and the variable pitch rocker arm assembly 24 via three variable pitch rods. The rotating part of the lower swashplate assembly 30 is connected to the lower rotor blade clamp and the variable pitch rocker arm assembly 22 via three variable pitch rods. Both ends of the variable pitch rods are connected by ball joint bearings to ensure flexible movement without jamming.

[0080] The swashplate limiter 28 is fixedly installed on the hollow center fixed spindle 23 and located between the upper swashplate assembly 29 and the lower swashplate assembly 30. It is used to limit the axial displacement and tilting range of the upper swashplate assembly 29 and the lower swashplate assembly 30, thereby improving the safety and stability of the system.

[0081] Specifically, the rotor root bushing 25 is an integrated damping structure, which is integrally vulcanized from an inner metal sleeve, an outer metal sleeve, and a high-damping polyurethane elastomer with a Shore hardness of 30°. The polyurethane elastomer has a loss factor tanδ≥0.3 in the core frequency range of 20-50Hz, which can absorb and attenuate more than 60% of the rotor vibration energy. During assembly, a torsional preload of 0.3-0.8 N·m is applied, preferably 0.5 N·m, to completely eliminate all mechanical clearances in the rotor root connection. Each upper rotor blade clamp and pitch rocker arm assembly 24 and lower rotor blade clamp and pitch rocker arm assembly 22 are connected to the three carbon fiber rotor blades 27 by bolts through three rotor root bushings 25.

[0082] When the rotor rotates, the flapping motion of the blades caused by the asymmetry of the airflow is adaptively adjusted by the elastic deformation of the blade root bushing. The high damping characteristics of the polyurethane elastomer convert the flapping vibration energy into heat energy and dissipates it. Compared with the traditional rigid blade root connection, the rotor system vibration level of the present invention is reduced by 45%, and the fuselage vibration acceleration is reduced from ±15g to below ±8g, which significantly improves the stability of the flight control system and the measurement accuracy of sensors such as lidar 8 and camera 51.

[0083] Specifically, the battery compartment 4 includes an upper battery compartment cover 32, a carbon fiber outer frame 36 for the battery compartment, and a bottom cover plate, with each component connected by M3 bolts.

[0084] The upper cover 32 of the battery compartment is used to fix the lower end of the hollow center fixed main shaft 23. It is provided with a battery upper cover connection hole 38 and a battery compartment heat dissipation hole 34. The battery upper cover connection hole 38 is used to pass through M3 / M4 bolts to achieve a fixed connection with the actuator compartment 3.

[0085] The battery compartment 4 integrates and installs two ESCs, a power management module, a battery compartment power connector female 39, and a battery compartment limiting structure 41.

[0086] Specifically, the pluggable battery module 42 uses 12 21700 full-tab cylindrical lithium batteries, arranged in a three-ring, four-column ring along the central axis of the module. The ring arrangement makes the internal structure of the battery more compact and increases the energy density by more than 20%. At the same time, the gap between the cells is larger, the heat dissipation effect is better, and the battery life is extended.

[0087] All battery cells adopt a parallel-series hybrid connection method, with an output voltage of 22.2V, a capacity of 10000mAh, and an energy density increase of more than 20%;

[0088] The top of the pluggable battery module 42 is equipped with a male power connector, which is inserted and mated with the female power connector 39 of the battery compartment. The connector uses gold-plated contacts to ensure reliable contact.

[0089] The battery compartment limiting structure 41 includes a guide groove and an elastic buckle. When the battery module is inserted into the battery compartment 4 from the bottom, the guide groove guides the battery module to be accurately aligned, and the elastic buckle automatically locks the battery module. When disassembling, press the release button at the bottom of the battery module, the elastic buckle will release, and the battery module can be pulled out from the bottom. The entire replacement process can be completed within 10 seconds.

[0090] The bottom of the battery compartment 4 is equipped with a wireless charging receiving coil and a point-contact charging interface, which can be adapted to a funnel-shaped smart charging base station to achieve automatic charging in both wireless and point-contact modes.

[0091] Specifically, the lighting and camera module 7 is fixed to the front-to-back connecting frame 46 at the center of the front of the anti-collision frame 1 by M3 bolts, including the lighting and camera module housing 52, the tilting head with axis, the camera 51 and the LED light 50;

[0092] The gimbal has a rotation range of -90° to +90° and a rotation accuracy of ±0.1°. The camera 51 uses a 13-megapixel CMOS sensor, supports 4K / 30fps and 1080p / 60fps shooting, has a lens angle of 120°, and is equipped with eight LED lights 50 with a total power of 32W, a brightness of 40,000 lumens, an illumination distance of ten meters, and a color rendering index Ra≥80, realizing indoor inspection lighting and high-definition image acquisition.

[0093] The parts of the invention not described in detail are prior art. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An indoor autonomous inspection coaxial dual-rotor unmanned aerial vehicle, characterized in that: It includes a crash-resistant outer frame (1), an upper equipment cabin (2), an actuator cabin (3), a battery compartment (4), a coaxial dual-rotor power system, a lighting and camera module (7), and a pluggable battery module (42). The anti-collision outer frame (1) is a frame-skin split spherical cage structure, which is a spherical cage structure and completely wraps the rotor and the fuselage; The coaxial dual-rotor power system adopts a coaxial dual-rotor three-bladed propeller layout with zero collective pitch and periodic variable pitch. The upper equipment compartment (2), the actuator compartment (3), and the battery compartment (4) are connected sequentially from top to bottom via a quick-release structure; The pluggable battery module (42) can be quickly plugged in and installed from the bottom of the battery compartment (4).

2. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 1, characterized in that: The anti-collision outer frame (1) includes a carbon fiber PMI sandwich oblique outer frame (44), a front and rear connecting outer frame (46), an upward circumferential connecting frame (48), a top connector (47), a downward circumferential connecting frame (49), and an anti-collision frame skin (43). The root of the carbon fiber PMI sandwich oblique outer frame (44) is provided with an oblique outer frame root connection mechanism (45) and forms three connectors. The upper connector is connected to the oblique outer frame connecting ear I (10) of the upper equipment compartment (2), and the two lower connectors are connected to the oblique outer frame connecting ear II (35) and oblique outer frame connecting ear III (37) of the battery compartment (4) respectively, forming a three-point connection structure. The front end of the front and rear connecting outer frame (46) is connected to the front and rear connecting ear I (11) of the upper equipment compartment (2), and the rear end is connected to the front and rear connecting ear II (33) of the battery compartment (4). The upward-connecting frame (48) and the downward-connecting frame (49) of the ring respectively connect the top and bottom of all carbon fiber PMI sandwich oblique outer frames (44) and front and rear connecting outer frames (46); The top connector (47) secures the carbon fiber PMI sandwich to the top of the outer frame (44) at an angle; The anti-collision frame skin (43) is a carbon fiber sheet with hexagonal perforations, fixed in the middle of the carbon fiber PMI sandwich oblique outer frame (44) and the front and rear connecting outer frame (46) and located on the outer ring of the propeller.

3. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 1, characterized in that: The upper equipment compartment (2) includes an upper equipment compartment cover (9), a carbon fiber connecting shell (12), and a lower equipment compartment cover (13). The equipment compartment upper cover (9) is provided with equipment compartment upper cover heat dissipation holes (14) and lidar cover. The lidar (8), airborne computing board (15) and flight control board (16) are fixedly installed inside by connecting frame (17).

4. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 3, characterized in that: The actuator cabin (3) includes an actuator cabin shell (20), which houses a coaxial dual-rotor power system, a periodic variable pitch upper actuator (5), and a periodic variable pitch lower actuator (6). The coaxial dual rotor power system includes an upper hollow shaft brushless drive motor (19), a lower hollow shaft brushless drive motor (21), a hollow center fixed main shaft (23), and a periodic pitch control mechanism; The upper periodic pitch-changing upper actuator (5) includes an upper rotor blade clamp and pitch-changing rocker arm assembly (24), a blade root bushing (25), a rotor blade clamp (26), and a carbon fiber rotor blade (27), which are used to realize the periodic pitch-changing drive of the upper rotor. The cyclic pitch lower actuator (6) includes a lower rotor blade clamp and pitch rocker arm assembly (22), a blade root bushing (25), a rotor blade clamp (26), and a carbon fiber rotor blade (27), which are used to realize the cyclic pitch drive of the lower rotor. The upper hollow shaft brushless drive motor (19) is fixed to the lower cover (13) of the equipment compartment via the upper motor mount (18). The lower hollow shaft brushless drive motor (21) is fixed to the bottom of the actuator housing (20) via the lower motor connecting plate (40); The hollow center fixed main shaft (23) passes through the upper hollow shaft brushless drive motor (19) and the lower hollow shaft brushless drive motor (21), and its two ends are fixedly connected to the lower cover of the equipment compartment (13) and the battery compartment (4), respectively. The rotor blade clamp (26) is integrated on the upper rotor blade clamp and variable pitch rocker arm assembly (24) and the lower rotor blade clamp and variable pitch rocker arm assembly (22) and is used to cooperate with the blade root bushing (25) to achieve the fixed installation of the carbon fiber rotor blade (27).

5. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 4, characterized in that: The cyclic pitch control mechanism includes an upper swashplate assembly (29), a lower swashplate assembly (30), a cyclic pitch servo (31), a linkage mechanism, and a pitch control rod; The number of the periodic variable pitch servo motors (31) is two, which are fixed at a 90° angle to the inner wall of the actuator housing (20); The lower swash plate assembly (30) is sleeved on the hollow central fixed spindle (23) and located above the lower hollow shaft brushless drive motor (21); The upper swash plate assembly (29) is sleeved on the hollow central fixed spindle (23) and located below the upper hollow shaft brushless drive motor (19). The non-rotating parts of the two are rigidly connected to achieve synchronous movement. The rotating part of the upper swashplate assembly (29) is connected to the upper rotor blade clamp and the variable pitch rocker arm assembly (24) via a variable pitch tie rod, and the rotating part of the lower swashplate assembly (30) is connected to the lower rotor blade clamp and the variable pitch rocker arm assembly (22) via a variable pitch tie rod.

6. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 5, characterized in that: It also includes a swashplate limiter (28), which is fixedly installed on the hollow center fixed spindle (23) and located between the upper swashplate assembly (29) and the lower swashplate assembly (30) to limit the axial displacement and tilting range of the upper swashplate assembly (29) and the lower swashplate assembly (30).

7. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 4, characterized in that: The paddle root bushing (25) is an integrated damping structure, which is formed by vulcanizing an inner metal sleeve, an outer metal sleeve and a middle polyurethane elastomer. During assembly, a torsional preload of 0.3 to 0.8 N·m is applied. Each upper rotor clip and pitch control arm assembly (24) and lower rotor clip and pitch control arm assembly (22) are connected to three carbon fiber rotor blades (27) via three root bushings (25).

8. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 4, characterized in that... It lies in: The battery compartment (4) includes a battery compartment upper cover (32), a battery compartment carbon fiber outer frame (36), and a bottom cover plate; The upper cover (32) of the battery compartment is used to fix the lower end of the hollow center fixed spindle (23). The upper cover (32) of the battery compartment is provided with a battery upper cover connection hole (38) and a battery compartment heat dissipation hole (34). The battery compartment (4) integrates and installs an ESC, a power management module, a battery compartment power connector female head (39) and a battery compartment limiting structure (41).

9. The indoor autonomous inspection coaxial dual-rotor UAV according to claim 8, characterized in that: The pluggable battery module (42) uses a 21700 full-tab cylindrical lithium battery, with the cells arranged in a ring along the central axis of the module. The top of the pluggable battery module (42) is provided with a male power connector, which is plugged into the female power connector (39) of the battery compartment. The battery compartment limiting structure (41) includes a guide groove and an elastic buckle to realize the positioning, locking and quick insertion and removal of the pluggable battery module (42) from the bottom.

10. An indoor autonomous inspection coaxial dual-rotor UAV according to claim 2, characterized in that: The lighting and camera module (7) is fixed to the front and rear connecting frame (46) in the middle of the front of the anti-collision frame (1), including the lighting and camera module housing (52), the tilting gimbal with axis, the camera (51) and the LED lighting (50).

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