A special warehouse fixed-point hovering inspection unmanned aerial vehicle

Abstract

The present application relates to the technical field of unmanned aerial vehicle, and particularly relates to a special fixed-point hovering inspection unmanned aerial vehicle for granary, which comprises a protection box arranged at the bottom end of an inspection unmanned aerial vehicle main body, a square opening is arranged at the bottom end of the protection box, a lifting seat is arranged in the protection box in a liftable manner, a camera is arranged at the bottom end of the lifting seat, a supporting leg assembly is arranged on the protection box, the supporting leg assembly is linked with the lifting seat to drive the lifting seat to move between a storage position in the protection box and an inspection position below the square opening when the supporting leg assembly is lifted or lowered relative to the protection box; when in use, the inspection unmanned aerial vehicle main body is parked on a supporting table through the supporting leg assembly, and the camera and the lifting seat are inside the protection box; when the inspection unmanned aerial vehicle main body is taken off the ground to make the camera inspect the granary, the inspection unmanned aerial vehicle main body is lifted, the supporting leg assembly drives the lifting seat to move through the square opening to the position below the protection box, so that the camera inspects the granary, and the safety of the camera is protected.

Description

Technical Field

[0001] This invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a UAV specifically designed for fixed-point hovering inspection of grain warehouses. Background Technology

[0002] As the scale of grain storage continues to expand, drones are increasingly being used for inspection operations inside grain warehouses. By carrying cameras to collect images of the internal structure, grain surface condition, and related facilities of the grain warehouse, the workload of manual inspection inside the grain warehouse can be reduced. During the use of inspection drones, it is necessary to take pictures of the target area through the camera. In order to expand the field of view of the camera, the camera is usually set on the outside or bottom of the drone body. However, the camera is exposed to the outside of the drone body for a long time. When the drone is parked, moved, or not in an inspection state, the camera still lacks effective shielding and storage protection. When it is hit by external objects or bumped during the movement of the drone, it is easy to damage the camera and its mounting structure, which will affect the subsequent use of the drone for inspection.

[0003] The aforementioned problems do indeed occur in existing technologies. For example, Chinese utility model patent CN214608046U discloses a vibration damping device for a drone camera used in land surveying. The device has a mounting plate at the lower end of the drone body, with the camera mounted on the lower end of the mounting plate. A structure consisting of a support rod, a moving block, a sliding groove, and a compression spring reduces camera vibration during shooting. Simultaneously, the device also reduces the impact on the drone during descent through a first buffer rod, a second buffer rod, a buffer seat, and a first and second spring. While this solution can improve the stability of the camera during shooting and the cushioning performance during drone landing to some extent, the camera body is still located and exposed below the drone body. It remains exposed after the drone completes its inspection and during parking and transportation, lacking a mechanical structure to store and protect the camera according to the drone's usage status. Therefore, when the drone is collided with or bumps into external objects during transportation, the exposed camera is still at risk of being damaged by impact.

[0004] Therefore, the cameras of existing inspection drones are still exposed when not in use, and are easily damaged by external collisions during drone parking or transportation. The protective performance of the cameras when not in use still needs to be improved. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a dedicated fixed-point hovering inspection drone for grain depots.

[0006] The present invention discloses a grain depot-specific fixed-point hovering inspection drone, comprising a protective box disposed at the bottom of the main body of the inspection drone, the bottom of the protective box having a square opening, a lifting seat disposed inside the protective box that can be raised and lowered, a camera disposed at the bottom of the lifting seat, and a leg assembly mounted on the protective box. The leg assembly is linked and cooperates with the lifting seat so that when the leg assembly is raised and lowered relative to the protective box, it drives the lifting seat to move between a storage position inside the protective box and an inspection position below the square opening.

[0007] Preferably, the outrigger assembly includes a lifting frame, which is slidably disposed inside the protective box. Multiple sets of No. 1 springs are installed at the top of the lifting frame and the bottom of the protective box. Multiple sets of optical bars are installed at the bottom of the lifting frame, and the optical bars are slidably connected to the protective box. A pressure plate is installed inside the lifting frame. When the inspection drone body is parked, the drone body relatively raises the lifting frame inside the protective box. The drone body's own weight compresses the multiple sets of No. 1 springs. There is a gap between the pressure plate and the top of the lifting seat. When the drone body takes off, the lifting frame and optical bars descend under the combined force of their own weight and the elasticity of the multiple sets of No. 1 springs. This causes the lifting frame to push the pressure plate down on the top of the lifting seat, causing the lifting seat and camera to descend synchronously with the pressure plate. This allows the camera to move through the square opening to the bottom of the protective box for inspection operations. When the drone body stops flying again, its own weight compresses the multiple sets of No. 1 springs again, causing the lifting frame to relatively rise inside the protective box, allowing the camera and lifting seat to re-enter the protective box.

[0008] Preferably, the top of the lifting seat is equipped with two sets of No. 1 telescopic rods, and each set of No. 1 telescopic rods is fitted with a set of tension springs on its outer side. The top of the No. 1 telescopic rods and the top of the tension springs are fixedly connected to the top of the inner side of the protective box. When the main body of the inspection drone is grounded, the No. 1 telescopic rods, under the action of the tension springs, allow the lifting seat and camera to enter the inner side of the protective box. A gap is left between the bottom of the lifting frame and the lifting seat. When the main body of the inspection drone takes off, the lifting frame, guided by the optical bar, first descends a short distance. When the bottom of the pressure plate contacts the top of the lifting seat, the lifting seat and the pressure plate descend synchronously. At this time, the lengths of the No. 1 telescopic rods and the tension springs are adjusted adaptively. When the main body of the inspection drone is grounded, the lifting frame and the pressure plate rise, and the lifting seat, under the action of the tension springs, drives the camera back into the inner side of the protective box for secondary protection.

[0009] Preferably, a positioning rod is provided at the bottom of the pressure plate and a positioning groove is provided at the top of the lifting seat; when the pressure plate descends, the positioning rod is first inserted into the inner side of the positioning groove, and then the pressure plate drives the lifting seat to descend synchronously, so as to avoid the lifting seat from swaying left and right and back and forth, and improve the stability of the lifting seat.

[0010] Preferably, the system also includes a movable block, with a set of sliders on each of its two sides. The bottom of the protective box has two sets of strip-shaped openings, with a square opening between them. Each set of strip-shaped openings has two sets of guide rods horizontally fixed inside, each set of guide rods slidably connected to a set of sliders. A second spring is fitted onto the outside of each guide rod, causing the two sets of movable blocks to move away from each other. A set of slots is provided on each of the two sides of the lifting seat, and a set of guide plates is provided on each of the two sides of the bottom of the lifting frame. The adjacent ends of the two sets of guide plates abut against the distant ends of the two sets of movable blocks. A locking component is provided on the adjacent ends of the two sets of movable blocks. Each set of strip-shaped openings is secured by inserting... The opening and the square opening are connected. When the main body of the inspection drone is in a grounded state, the two sets of moving blocks move away from each other under the elastic force of the second spring, so that the locking component moves away from the insertion port. When the main body of the inspection drone takes off, the lifting frame moves the pressure plate down under the elastic force of the first spring. The pressure plate moves the lifting seat and the camera down. The two sets of guide plates move down synchronously with the lifting frame. The two sets of guide plates overcome the elastic force of the second spring and move the two sets of moving blocks closer to each other, so that the locking component moves through the insertion port to the inside of the square opening. The lifting seat moves the camera down and the locking component locks into a set of slots. When the camera moves to the bottom of the protective box, the locking component ensures the stability of the camera's shooting.

[0011] Preferably, the locking assembly includes slots. Each of the two sets of moving blocks has a slot at one end where they are close to each other. A set of locking plates is slidably disposed inside each slot. A set of No. 3 telescopic rods and a set of No. 3 springs are respectively disposed between the locking plates and the slots. Each set of locking plates has a set of inclined ends at its top, with the two sets of inclined ends symmetrically arranged. A guide plate causes the two sets of moving blocks to mirror each other and approach each other, thereby allowing the two sets of locking plates to move through the slots and into the inner side of the square opening. When the lifting seat lowers the camera, the two bottom sides of the lifting seat respectively abut against the two sets of inclined ends, thereby allowing the two sets of locking plates to enter the inner side of the slots. When the bottom of the card plate is flush with the bottom of the card slot, the card plate is inserted into the inside of the card slot under the elastic force of the third spring, thus locking the lifting seat. When the main body of the inspection drone stops flying, the lifting frame rises inside the protective box, and the lifting frame drives the two sets of guide plates to rise synchronously. At this time, the card plate still remains locked to the card slot. As the guide plates rise, the two sets of moving blocks move away from each other under the elastic force of the second spring, thereby moving the card plate out of the square opening, thus releasing the card plate from the card slot. The camera and the lifting seat return to the inside of the protective box under the tension of the tension spring, improving the stability of the camera during inspection and shooting.

[0012] Preferably, a set of No. 1 grooves are provided at the top of the two sets of moving blocks at their far ends, and a set of No. 1 guide wheels are rotatably installed inside each set of No. 1 grooves. The outer wall of the No. 1 guide wheel abuts against the guide plate. When the lifting frame drives the guide plate to descend, the No. 1 guide wheel rotates adaptively, so that the two sets of moving blocks move closer to each other in a mirror image, reducing frictional wear between the guide plate and the moving blocks and improving service life.

[0013] Preferably, a buffer pad is provided at the top of the lifting seat; when the lifting frame is raised, the camera and the lifting seat will remain stable temporarily. When the card plate moves away from the card slot, the camera and the lifting seat will rise rapidly under the tension of the tension spring. The lifting seat impacts the bottom of the pressure plate through the buffer pad, thereby improving buffer protection.

[0014] Preferably, the bottom of the card plate is provided with a second groove, and a second guide wheel is rotatably arranged inside the second groove. The bottom of the second guide wheel is lower than the bottom of the card plate. When the card plate is inserted into the card groove to lock the lifting seat, the second guide wheel rolls in contact with the bottom of the card groove. When the guide plate rises and the two sets of moving blocks move away from each other with the help of the second spring, the second guide wheel rotates adaptively to avoid the influence of frictional resistance between the bottom of the card plate and the bottom of the card groove.

[0015] Preferably, the protective box is threaded with a set of wing bolts on both sides, and the lifting frame is provided with a set of insertion holes on both sides. When the inspection drone body is grounded and needs to be moved, the staff can rotate the wing bolts to insert them into the insertion holes, thereby locking the lifting frame and preventing the camera from being moved out of the protective box when the staff moves the inspection drone body, thus improving the flexibility of use.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: In use, the main body of the inspection drone is placed on the support platform via the outrigger assembly, while the camera and the lifting seat are inside the protective box. When the main body of the inspection drone needs to take off so that the camera can inspect the grain silo, multiple sets of wings rotate rapidly, the main body of the inspection drone takes off, and the outrigger assembly causes the lifting seat to move the camera through the square opening to the bottom of the protective box, thereby enabling the camera to inspect the grain silo. After the inspection is completed, when the main body of the inspection drone rests on the support platform again via the outrigger assembly, the camera and the lifting seat pass through the square opening into the inside of the protective box. This achieves the goal of removing the camera from the protective box when in use and placing it inside the protective box when parked, thus ensuring the safety of the camera. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the isometric structure of the present invention; Figure 2 This is an exploded structural diagram of the present invention; Figure 3 This is a front cross-sectional structural diagram of the protective box and other structures. Figure 4 yes Figure 3 A partially enlarged structural diagram of section A in the middle; Figure 5 This is an enlarged structural diagram of the lifting frame and light bar, etc. Figure 6 This is an enlarged structural diagram of components such as the buffer pad and camera. Figure 7 This is an enlarged structural diagram of the guide plate and positioning rod, etc. Figure 8 It is an enlarged structural diagram of structures such as moving blocks and sliders; Figure 9 yes Figure 8 A partially enlarged structural diagram of section B in the middle; Figure 10 This is an enlarged structural diagram of the No. 1 guide wheel and the clamping plate, etc. Figure 11 This is a front view structural diagram of the positioning rod and pressure plate, etc.

[0018] In the attached diagram, the following markings are used: 101. Main body of the inspection drone; 102. Wing; 103. Protective case; 104. Square opening; 105. Main body of the camera; 106. Lifting seat; 201. Optical bar; 202. Spring No. 1; 203. Lifting frame; 204. Support rod; 205. Support plate; 206. Pressure plate; 207. Positioning rod; 208. Positioning groove; 209. Buffer pad; 301. Telescopic rod No. 1; 302. 401. Tension spring; 402. Slider; 403. Guide rod; 404. Second spring; 405. Moving block; 406. Slot; 407. First groove; 408. Guide plate; 409. First guide wheel; 501. Groove; 502. Third telescopic rod; 503. Third spring; 504. Slot plate; 505. Beveled end; 506. Second groove; 507. Second guide wheel; 601. Insertion hole; 602. Wing bolt. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0020] like Figures 1 to 11As shown, the present invention discloses a grain depot-specific fixed-point hovering inspection drone, comprising an inspection drone body 101, multiple sets of wings 102 on the inspection drone body 101, and a protective box 103 installed at the bottom of the inspection drone body 101. The protective box 103 is preferably made of aluminum alloy, engineering plastic or carbon fiber composite material to ensure structural strength. The bottom of the protective box 103 is provided with a square opening 104 for a camera 105 to pass through. Inside the protective box 103 is a lifting seat 106 that can move in the vertical direction. The camera 105 is installed at the bottom of the lifting seat 106 and can move with the lifting seat 106 between a storage position inside the protective box 103 and an inspection position below the protective box 103. The protective box 103 is also equipped with a leg assembly for supporting the inspection drone body 101, thereby modularly integrating the protective structure of the camera 105 and the leg linkage structure within the protective box 103.

[0021] Furthermore, such as Figure 3 , Figure 5 and Figure 7 As shown, the outrigger assembly includes a lifting frame 203, which is slidably disposed inside the protective housing 103 in the vertical direction. Multiple sets of primary springs 202 are disposed between the top of the lifting frame 203 and corresponding positions inside the protective housing 103. These primary springs 202 apply a downward elastic restoring force to the lifting frame 203. Multiple sets of light bars 201 are fixedly disposed at the bottom of the lifting frame 203, passing through the bottom of the protective housing 103 and extending below it. The bottom ends of the light bars 201 are fixedly connected to the top of a support rod 204. A support plate 205 is disposed at the bottom of the support rod 204 for contact with the ground or parking platform. A pressure plate 206 is fixedly disposed inside the lifting frame 203, corresponding vertically to the lifting seat 106. The light bar 201 and the protective box 103 are in a sliding fit. To reduce the possibility of dust from the grain silo entering the sliding gap and causing the light bar 201 to be hindered in movement, a wear-resistant guide sleeve and a dustproof sealing ring are preferably provided at the position where the light bar 201 passes through the protective box 103. A small amount of solid lubricating material suitable for dusty environments can be provided on the inner wall of the guide sleeve. A rubber or polyurethane anti-slip layer is preferably provided on the bottom surface of the support plate 205 to increase parking stability and reduce the impact when the UAV lands. The number and stiffness of the first spring 202 are determined according to the weight of the inspection UAV body 101 and the required reset force of the lifting frame 203, so that multiple sets of first springs 202 can reliably push the lifting frame 203 downward to reset after the UAV takes off and overcome the resistance generated by the tension spring 302 and each sliding part.

[0022] Furthermore, such as Figure 3 , Figure 5 and Figure 6As shown, two sets of No. 1 telescopic rods 301 are provided at the top of the lifting seat 106. The two sets of No. 1 telescopic rods 301 are spaced apart along both sides of the lifting seat 106 to assist in guiding the up and down movement of the lifting seat 106. A set of tension springs 302 are respectively sleeved on the outer side of each set of No. 1 telescopic rods 301. The tops of the No. 1 telescopic rods 301 and tension springs 302 are fixedly connected to the top of the inner interior of the protective box 103. The tension springs 302 apply an elastic retraction force to the lifting seat 106 toward the interior of the protective box 103. The No. 1 telescopic rods 301 are used to limit the excessive lateral displacement of the lifting seat 106 during retraction and extension. A preset vertical gap is reserved between the pressure plate 206 and the lifting seat 106 in the retracted position. This gap forms the free travel of the support leg assembly relative to the camera 105, so that after the inspection drone body 101 leaves the ground, the lifting frame 203 can move downward a certain distance while the camera 105 remains inside the protective box 103. After the pressure plate 206 moves to the point of contact with the lifting seat 106, the camera 105 moves downward. To extend the camera 105 downwards, it is important to understand that the effective downward force exerted by the first spring 202 on the lifting seat 106 through the lifting frame 203 and the pressure plate 206 should be able to overcome the return force of the tension spring 302 and the frictional resistance during the movement of the lifting seat 106, thereby ensuring that the camera 105 can reliably extend. As an alternative, the first telescopic rod 301 can also adopt a guide sleeve or linear guide rail structure that slides together, as long as it allows the lifting seat 106 to rise and fall in a predetermined direction and constrains its lateral swing. It should be noted that during the process of the pressure plate 206 contacting the lifting seat 106 and driving the lifting seat 106 to move downwards, the total restoring force of the multiple sets of first springs 202 acting on the lifting frame 203 is greater than the total return force of the multiple sets of tension springs 302 acting on the lifting seat 106, and can overcome the frictional resistance during the movement of the lifting seat 106, thereby enabling the lifting frame 203 to drive the lifting seat 106 and the camera 105 downwards through the pressure plate 206.

[0023] Furthermore, such as Figure 5 , Figure 6 , Figure 7 and Figure 11As shown, a positioning rod 207 is provided at the bottom of the pressure plate 206, and a positioning groove 208 adapted to the positioning rod 207 is provided at the top of the lifting seat 106. The positioning rod 207 and the positioning groove 208 are preferably arranged in two or more sets and symmetrically around the center of the lifting seat 106. The positioning rod 207 can be inserted into the positioning groove 208 to limit the relative misalignment of the pressure plate 206 and the lifting seat 106 in the front-back or left-right directions. The insertion end of the positioning rod 207 is preferably a rounded end, a tapered guide end, or a guide end with a chamfer. A guide is provided at the entrance of the positioning groove 208. The chamfer is designed to prevent the positioning rod 207 from colliding with the orifice of the positioning groove 208 due to manufacturing errors or machine vibration during the descent of the pressure plate 206. The positioning rod 207 can be made of stainless steel or surface-hardened metal. A removable wear-resistant bushing can also be installed in the positioning groove 208 so that it can be replaced separately after wear occurs during long-term use without replacing the entire lifting seat 106. This positioning structure, together with the first telescopic rod 301, constitutes a multi-point guiding system for the lifting seat 106, thereby improving the consistency of the movement direction during the extension and retrieval of the camera 105.

[0024] Furthermore, such as Figure 3 , Figure 4 , Figure 7 and Figure 8As shown, the bottom of the protective box 103 has strip-shaped openings on both sides of the square opening 104. Two sets of guide rods 402 are horizontally fixed inside each set of strip-shaped openings. A slider 401 is slidably mounted on each set of guide rods 402. The slider 401 on the same side is fixedly connected to the corresponding moving block 404, allowing the two sets of moving blocks 404 to move laterally towards or away from each other. A second spring 403 is fitted onto the outside of each guide rod 402, and the second spring 403 moves towards the corresponding moving block. 404 applies an elastic force that moves away from each other. The lifting seat 106 has slots 405 on both sides. The bottom of the lifting frame 203 has guide plates 407 on both sides. The sides of the two sets of guide plates 407 that are close to each other correspond to the sides of the two sets of moving blocks 404 that are far apart. A locking component is provided at the end of the moving block 404 that is close to each other. The strip-shaped opening is connected to the square opening 104 through a corresponding insertion port, allowing the locking component to enter or exit the square opening 104 under the movement of the moving block 404. The guide rod 4... A wear-resistant sleeve or low-friction bushing is preferably provided between guide rod 402 and slider 401, and a flexible dustproof baffle or labyrinth dustproof structure is provided at the strip-shaped opening to reduce the entry of grain silo dust into the mating gap between guide rod 402 and slider 401. The area where guide plate 407 and moving block 404 are in long-term repeated contact is preferably made of wear-resistant metal material or equipped with replaceable wear-resistant plates to reduce wear on the contact surface caused by long-term linkage. It should be noted that guide plate 407 is arranged to extend vertically, and the lower part of guide plate 407 is provided with a... The guide section tilted towards the moving block 404 has a guide wheel 408 in contact with the guide section of the guide plate 407. When the guide plate 407 moves downward with the lifting frame 203, the tilted guide section pushes the moving block 404 towards the square opening 104 through the guide wheel 408. When the guide plate 407 moves upward with the lifting frame 203, the guide plate 407 gradually releases its pressure on the moving block 404, causing the moving block 404 to move away from the square opening 104 under the action of the second spring 403.

[0025] Furthermore, such as Figures 8 to 10As shown, the locking assembly includes slots 501 located at adjacent ends of two sets of movable blocks 404. Each slot 501 contains a set of locking plates 504. A third telescopic rod 502 and a third spring 503 are positioned between the locking plates 504 and their corresponding slots 501. The third telescopic rod 502 restricts the locking plates 504 from extending or retracting in a predetermined direction. The third spring 503 applies an elastic force to the locking plates 504 towards the square opening 104. Each set of locking plates 504 has a beveled end 505 at its top. The two sets of beveled ends 505 are positioned opposite each other, allowing the lifting seat 106 to convert the vertical force into a lateral force that pushes the locking plates 504 back into the slots 501 when it moves downwards and contacts the beveled ends 505. After the slot 405 on 106 moves to the position corresponding to the card plate 504, the card plate 504 enters the slot 405 under the action of the third spring 503, thereby mechanically locking the lifting seat 106. The inclined end 505 is preferably made of wear-resistant metal or has a wear-resistant coating, and its edge is rounded to avoid local stress concentration caused by repeated contact. It should be clear that there should be an assembly gap between the card plate 504 and the slot 405 to allow for smooth insertion and withdrawal. At the same time, the gap should not be too large to avoid significant up and down movement of the lifting seat 106 during inspection flights. As an alternative, the card plate 504 can also adopt an elastic locking pin structure or a wedge-shaped locking element with a guide slope to achieve the same automatic locking function.

[0026] Furthermore, such as Figure 4 , Figure 8 and Figure 10 As shown, each of the two sets of moving blocks 404 has a groove 406 at its top, which is located away from the other end. Each groove 406 has a guide wheel 408 rotatably mounted inside it. The outer wall of the guide wheel 408 abuts against the corresponding guide plate 407. The rolling contact between the guide wheel 408 and the guide plate 407 reduces friction and wear caused by direct sliding contact. It also reduces the resistance that the spring 202 needs to overcome when pushing the lifting frame 203. For use in environments with high dust levels in grain silos, the bearing of the guide wheel 408 is preferably a closed bearing with a sealing cover or a self-lubricating bushing to reduce the amount of dust entering the rotating parts and causing poor rotation.

[0027] Furthermore, such as Figure 3 , Figure 5 and Figure 6As shown, a buffer pad 209 is provided on the lifting seat 106. The buffer pad 209 is preferably made of rubber, polyurethane elastomer or silicone material and is fixed by detachable bonding, snap-fit ​​or screw plate method. In the embodiment of the present invention, the buffer pad 209 is used to withstand the small stroke rebound impact generated by the lifting seat 106 under the action of the tension spring 302 after the locking component releases the restriction on the lifting seat 106. It should be clear that after the locking component is released, it is not required that the lifting seat 106 complete the entire retraction stroke without constraint, but rather the lifting seat 106 is allowed to move a preset small distance in the retraction direction under the action of the tension spring 302. The camera 105 is separated from the pressure plate 206 by the buffer pad 209 and forms a flexible contact. After that, the lifting seat 106 maintains the contact relationship with the pressure plate 206 under the continuous tension of the tension spring 302. As the pressure plate 206 and the lifting frame 203 continue to move upward, the subsequent recycling is completed synchronously and in a controlled manner, thereby avoiding the impact caused by the camera 105 completing the entire recycling stroke at high speed at the moment of unlocking. The preset small distance only needs to ensure that the card plate 504 reliably exits the card slot 405 and forms a flexible support. Its specific value can be determined according to the mass of the camera 105, the elasticity of the tension spring 302 and the compression of the buffer pad 209.

[0028] Furthermore, such as Figure 9 and Figure 10 As shown, a second groove 506 is provided at the bottom of the clamping plate 504. A second guide wheel 507 is rotatably mounted inside the second groove 506. The bottom of the second guide wheel 507 is lower than the corresponding bottom surface of the clamping plate 504, so that after the clamping plate 504 enters the clamping slot 405, it first forms rolling contact with the bearing surface of the clamping slot 405 through the second guide wheel 507. Since the tension spring 302 always applies an upward pull force to the lifting seat 106 during flight, the clamping slot 405 will apply a certain load to the clamping plate 504. When the inspection drone body 101 lands and needs to be released from the clamping, The second guide wheel 507 can transform the sliding friction that may have formed between the card plate 504 and the card slot 405 under load into rolling friction, so that the second spring 403 can drive the moving block 404 and the card plate 504 out of the card slot 405 more smoothly. The second guide wheel 507 is preferably made of wear-resistant engineering plastic roller or metal roller with sealed bearing. Its shaft is fixed with a detachable pin shaft so that it can be replaced after wear. At the same time, the second groove 506 should reserve enough rotation clearance for the second guide wheel 507 to prevent the second guide wheel 507 from getting stuck after dust accumulates. Furthermore, such as Figure 2 , Figure 3 and Figure 5As shown, a set of wing bolts 602 are threaded to both ends of the protective box 103. The lifting frame 203 has corresponding insertion holes 601 on both ends. When the lifting frame 203 moves to the upper position corresponding to the parking state, the insertion holes 601 and wing bolts 602 are in corresponding positions. The wing bolts 602 can be manually rotated into the insertion holes 601 and restrict the lifting frame 203 from moving up and down relative to the protective box 103, thus forming a mechanical limiting structure specifically for parking and handling. After the wing bolts 602 exit the insertion holes 601, their inner ends preferably completely leave the vertical movement path of the lifting frame 203 to prevent normal takeoff or... During descent, mechanical interference occurs with the lifting frame 203. The wing bolt 602 can also be equipped with an anti-disengagement ring, so that it remains on the protective box 103 after exiting the insertion hole 601 without falling off or being lost. It should be clear that this structure can indirectly maintain the storage state of the outrigger assembly and the camera 105 by locking the lifting frame 203, without the need to set a separate transport lock for the camera 105. As an alternative, the wing bolt 602 can be replaced with a hand-tightening locking screw with a threaded connection section, an elastic positioning pin, or a rotary limit pin, as long as it can restrict the movement of the lifting frame 203 in the locked state and can exit the movement path of the lifting frame 203 in the unlocked state.

[0029] like Figures 1 to 11As shown, this invention discloses a grain warehouse-specific fixed-point hovering inspection drone. During operation, in its parked state, the support plate 205 contacts the ground or parking platform. The weight of the drone's main body 101 acts downwards through the protective box 103 relative to the support rod 204 and the optical bar 201, causing the lifting frame 203 to be positioned above the protective box 103 and compressing the first spring 202. At this time, the tension spring 302 holds the lifting seat 106 and camera 105 inside the protective box 103. A gap remains between the pressure plate 206 and the lifting seat 106. The two sets of moving blocks 404 move away from the sides under the action of the second spring 403, and the locking plate 504 exits the locking slots 405 on both sides of the lifting seat 106. When a grain warehouse inspection task needs to be performed, the butterfly-shaped... Bolt 602 has exited the socket 601 and completely left the movement path of the lifting frame 203. Subsequently, the multiple wings 102 of the main body 101 of the inspection drone are activated, causing the entire drone to gradually leave the ground. After the support plate 205 loses its ground constraint, the first spring 202 releases its elastic potential energy and pushes the lifting frame 203, the light bar 201, the support rod 204, and the support plate 205 to move downward relative to the protective box 103. In the initial stage, the lifting frame 203 first completes the empty travel between the pressure plate 206 and the lifting seat 106. Therefore, the camera 105 will not extend immediately at the moment the drone leaves the ground. When the pressure plate 206 continues to descend and the positioning rod 207 enters the corresponding positioning slot 208, the pressure plate 206 and the lifting seat 106 form a stable contact. As the lifting... As frame 203 descends further, pressure plate 206 overcomes the pull-back force of tension spring 302, pushing lifting seat 106 and camera 105 to descend synchronously. Telescopic rod 301 extends adaptively, and camera 105 gradually moves through square opening 104 to below protective box 103. Simultaneously, guide plates 407 on both sides move downwards with lifting frame 203 and, via guide wheels 408, push two sets of moving blocks 404 to overcome the elastic force of spring 403 and move towards square opening 104. Locking plate 504 enters square opening 104 along with moving blocks 404. As lifting seat 106 continues to descend, it first contacts the inclined end 505 on locking plate 504 and pushes locking plate 504 temporarily retract into slot 501. When slot 405 descends to the position corresponding to locking plate 504, locking plate 504... 04. Under the action of spring 503, the camera enters the slot 405 and mechanically locks the lifting seat 106. At this time, the camera 105 is in the inspection and shooting position below the protective box 103. The positioning rod 207, positioning slot 208, telescopic rod 301, and side plates 504 together restrict the lifting seat 106 from making obvious vertical movement and lateral swing. The inspection drone body 101 can then perform fixed-point hovering and inspection shooting in the grain warehouse according to its existing flight control and positioning control methods. When the inspection is completed and the descent begins, the support plate 205 first contacts the ground. As the inspection drone body 101 continues to descend, the support rod 204 and the light bar 201 push the lifting frame 203 to gradually move upward relative to the protective box 103 and compress the spring 202.The guide plate 407 moves upward synchronously and gradually releases the inward pushing restriction on the moving block 404. Under the action of the second spring 403, the two sets of moving blocks 404 move away from each other to the sides. The second guide wheel 507 rolls along the bearing surface of the slot 405, allowing the card plate 504 to smoothly exit the slot 405 under the pull-back load of the tension spring 302. After the card plate 504 is completely exited, the lifting seat 106 moves upward quickly a short preset distance under the action of the tension spring 302 and flexibly contacts the pressure plate 206 through the buffer pad 209. This small distance of rebound is used to eliminate the unlocking gap and not to complete the entire camera retraction stroke. Subsequently, the lifting seat 106 continues to press against the pressure plate 206 under the action of the tension spring 302, and moves upward synchronously as the pressure plate 206 and the lifting frame 203 continue to rise slowly. The camera 105 moves from the square opening 1 04. Re-entering the protective box 103, the lifting seat 106 stops rising after reaching the storage position. The outrigger assembly can still move upward a short distance relative to the protective box 103, further compressing the first spring 202, thus forming a landing buffer stroke. When the inspection drone body 101 is completely stationary and needs to be moved, the butterfly bolts 602 on both sides are manually rotated to enter the corresponding sockets 601, locking the lifting frame 203 in the upper position. Even if the staff lifts the inspection drone body 101 off the ground, the first spring 202 cannot push the outrigger assembly down, and the camera 105 remains inside the protective box 103, thus completing the complete cycle of delayed takeoff extension, flight positioning locking, automatic unlocking and recovery upon landing, and mechanical locking during handling.

[0030] The main function achieved by this invention is to use the up-and-down movement of the outrigger assembly during the take-off and landing of the inspection drone body 101 to drive the camera 105 to extend or retract. After the camera 105 is extended, it is fixed by the locking assembly. When landing, the locking assembly is automatically released, allowing the camera 105 to re-enter the protective box 103. Thus, the automatic extension and retraction of the camera 105 can be achieved without setting a separate drive mechanism, and the stability and protection effect of the camera 105 during inspection and parking are improved.

[0031] The installation, connection, or setting method of the grain depot-specific fixed-point hovering inspection drone of the present invention is a common mechanical method. As long as it can achieve its beneficial effect, it can be implemented. The inspection drone body (101) and camera (105) of the grain depot-specific fixed-point hovering inspection drone of the present invention are purchased from the market. Technical personnel in this industry only need to install and operate it according to the accompanying instruction manual, without the need for technical personnel in this field to make creative efforts.

[0032] As an alternative implementation, the first telescopic rod 301 can adopt a guide rod and guide sleeve structure that can limit the lateral displacement of the lifting seat 106. The first guide wheel 408 and the second guide wheel 507 can also adopt a rolling bearing structure that can reduce the friction at the corresponding contact position. The wing bolt 602 can also adopt a hand-tightening screw or other threaded locking parts that can enter the insertion hole 601 and limit the movement of the lifting frame 203. The above replacements do not change the basic working principle of the outrigger assembly driving the camera 105 to extend or retract as the inspection drone body 101 rises and falls.

[0033] Although embodiments of the present invention have been shown and described, those skilled in the art can make changes, modifications, substitutions, and variations to the above structures without departing from the principles of the present invention. For example, the number of light bars 201 and springs 202 can be changed according to the size of the main body 101 of the inspection drone, some sliding guide structures can be replaced with slide rail structures with the same guiding function, or the specific shapes of the protective box 103 and the lifting frame 203 can be adjusted according to the actual installation space. As long as the lifting movement of the support leg assembly is still used to extend and retract the camera 105, the above changes are equivalent implementations of the technical concept of the present invention, and the scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A special fixed-point hovering inspection drone for grain warehouses, comprising a protective box (103) disposed at the bottom of the main body (101) of the inspection drone, wherein the bottom of the protective box (103) is provided with a square opening (104), characterized in that, The protective box (103) is equipped with a lifting seat (106) that can be raised and lowered inside. A camera (105) is installed at the bottom of the lifting seat (106). It also includes a support leg assembly installed on the protective box (103). The support leg assembly is linked and cooperates with the lifting seat (106) so that when the support leg assembly is raised and lowered relative to the protective box (103), it drives the lifting seat (106) to move between the storage position inside the protective box (103) and the inspection position below the square opening (104).

2. The grain depot-specific fixed-point hovering inspection drone as described in claim 1, characterized in that, The outrigger assembly includes a lifting frame (203), which is slidably disposed inside the protective box (103). Multiple sets of No. 1 springs (202) are provided at the top of the lifting frame (203) and the bottom of the protective box (103). Multiple sets of light bars (201) are provided at the bottom of the lifting frame (203). The light bars (201) are slidably connected to the protective box (103). A pressure plate (206) is provided inside the lifting frame (203).

3. The grain depot-specific fixed-point hovering inspection drone as described in claim 1, characterized in that, The top of the lifting seat (106) is provided with two sets of No. 1 telescopic rods (301). Each set of No. 1 telescopic rods (301) is fitted with a set of tension springs (302) on the outside. The tops of the No. 1 telescopic rods (301) and tension springs (302) are fixedly connected to the top of the inside of the protective box (103).

4. The grain depot-specific fixed-point hovering inspection drone as described in claim 2, characterized in that, A positioning rod (207) is provided at the bottom of the pressure plate (206), and a positioning groove (208) is provided at the top of the lifting seat (106).

5. The grain depot-specific fixed-point hovering inspection drone as described in claim 2, characterized in that, It also includes a movable block (404), with a set of sliders (401) on each side of the movable block (404). The bottom of the protective box (103) has two sets of strip openings, with a square opening (104) between the two sets of strip openings. Inside each set of strip openings, two sets of guide rods (402) are horizontally fixed. Each set of guide rods (402) is slidably connected to a set of sliders (401). A second spring (403) is fitted on the outside of each guide rod (402). 3) Make the two sets of moving blocks (404) mirror each other away. A set of slots (405) are provided on both sides of the lifting seat (106). A set of guide plates (407) are provided on both sides of the bottom of the lifting frame (203). The two sets of guide plates (407) are in contact with the two sets of moving blocks (404) respectively. The two sets of moving blocks (404) are provided with a locking component on the two sets of moving blocks (404) respectively. Each set of strip openings is connected to the square opening (104) through the insertion port.

6. The grain depot-specific fixed-point hovering inspection drone as described in claim 5, characterized in that, The locking assembly includes a slot (501). Two sets of moving blocks (404) are respectively provided with a slot (501) at their close ends. A set of locking plates (504) are slidably arranged inside each set of slots (501). A set of No. 3 telescopic rods (502) and a set of No. 3 springs (503) are respectively arranged between the locking plates (504) and the slots (501). A set of inclined ends (505) is provided at the top of each set of locking plates (504). The two sets of inclined ends (505) are symmetrically arranged.

7. The grain depot-specific fixed-point hovering inspection drone as described in claim 5, characterized in that, Two sets of movable blocks (404) are provided with a set of first grooves (406) at the top of their opposite ends. Each set of first grooves (406) is provided with a set of first guide wheels (408) inside. The outer wall of the first guide wheel (408) is in contact with the guide plate (407).

8. The grain depot-specific fixed-point hovering inspection drone as described in claim 2, characterized in that, A buffer pad (209) is provided at the top of the lifting seat (106).

9. A grain depot-specific fixed-point hovering inspection drone as described in claim 6, characterized in that, The bottom of the card plate (504) is provided with a second groove (506), and a second guide wheel (507) is rotatably arranged inside the second groove (506). The bottom of the second guide wheel (507) is lower than the bottom of the card plate (504).

10. A grain depot-specific fixed-point hovering inspection drone as described in claim 2, characterized in that, The protective box (103) is threaded to a set of butterfly bolts (602) at both ends, and a set of insertion holes (601) are provided at both ends of the lifting frame (203).

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